|
|
| BoundingConstraint1 (Key key, double threshold, bool isGreaterThan, double mu=1000.0) |
| | flag for greater/less than
|
| |
|
double | threshold () const |
| |
|
bool | isGreaterThan () const |
| |
|
virtual double | value (const X &x, boost::optional< Matrix & > H=boost::none) const =0 |
| | function producing a scalar value to compare to the threshold Must have optional argument for derivative with 1xN matrix, where N = X::dim()
|
| |
|
bool | active (const Values &c) const |
| | active when constraint NOT met
|
| |
| Vector | evaluateError (const X &x, boost::optional< Matrix & > H=boost::none) const |
| | Override this method to finish implementing a unary factor. More...
|
| |
|
| NoiseModelFactor1 () |
| | Default constructor for I/O only.
|
| |
|
Key | key () const |
| |
| | NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1) |
| | Constructor. More...
|
| |
|
virtual Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const |
| | Calls the 1-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
|
| |
|
| NoiseModelFactor () |
| | Default constructor for I/O only.
|
| |
|
virtual | ~NoiseModelFactor () |
| | Destructor.
|
| |
|
template<typename CONTAINER > |
| | NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) |
| | Constructor.
|
| |
|
virtual void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| | Print.
|
| |
|
virtual bool | equals (const NonlinearFactor &f, double tol=1e-9) const |
| | Check if two factors are equal.
|
| |
|
virtual size_t | dim () const |
| | get the dimension of the factor (number of rows on linearization)
|
| |
|
const SharedNoiseModel & | noiseModel () const |
| | access to the noise model
|
| |
| Vector | whitenedError (const Values &c) const |
| | Vector of errors, whitened This is the raw error, i.e., i.e. More...
|
| |
| virtual double | error (const Values &c) const |
| | Calculate the error of the factor. More...
|
| |
|
boost::shared_ptr< GaussianFactor > | linearize (const Values &x) const |
| | Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
|
| |
|
| NonlinearFactor () |
| | Default constructor for I/O only.
|
| |
|
template<typename CONTAINER > |
| | NonlinearFactor (const CONTAINER &keys) |
| | Constructor from a collection of the keys involved in this factor.
|
| |
|
virtual | ~NonlinearFactor () |
| | Destructor.
|
| |
| virtual shared_ptr | clone () const |
| | Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. More...
|
| |
|
shared_ptr | rekey (const std::map< Key, Key > &rekey_mapping) const |
| | Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.
|
| |
| shared_ptr | rekey (const KeyVector &new_keys) const |
| | Clones a factor and fully replaces its keys. More...
|
| |
| KeyVector & | keys () |
| |
|
iterator | begin () |
| | Iterator at beginning of involved variable keys.
|
| |
|
iterator | end () |
| | Iterator at end of involved variable keys.
|
| |
|
void | print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| | print
|
| |
|
void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| | print only keys
|
| |
|
Key | front () const |
| | First key.
|
| |
|
Key | back () const |
| | Last key.
|
| |
|
const_iterator | find (Key key) const |
| | find
|
| |
|
const KeyVector & | keys () const |
| | Access the factor's involved variable keys.
|
| |
|
const_iterator | begin () const |
| | Iterator at beginning of involved variable keys.
|
| |
|
const_iterator | end () const |
| | Iterator at end of involved variable keys.
|
| |
| size_t | size () const |
| |
Inheritance diagram for gtsam::BoundingConstraint1< VALUE >:
