A factor that takes a linear, Hessian factor and inserts it into a nonlinear graph.
|
| LinearizedHessianFactor () |
| default constructor for serialization
|
|
| LinearizedHessianFactor (const HessianFactor::shared_ptr &hessian, const Values &lin_points) |
| Use this constructor with the ordering used to linearize the graph. More...
|
|
virtual gtsam::NonlinearFactor::shared_ptr | clone () const |
|
virtual void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| print function
|
|
virtual bool | equals (const NonlinearFactor &expected, double tol=1e-9) const |
| equals function with optional tolerance
|
|
double | constantTerm () const |
| Return the constant term \( f \) as described above. More...
|
|
constColumn | linearTerm (const_iterator j) const |
| Return the part of linear term \( g \) as described above corresponding to the requested variable. More...
|
|
constColumn | linearTerm () const |
| Return the complete linear term \( g \) as described above. More...
|
|
Matrix | squaredTerm (const_iterator j1, const_iterator j2) const |
| Return a copy of the block at (j1,j2) of the <emph>upper-triangular part</emph> of the squared term \( H \), no data is copied. More...
|
|
Eigen::SelfAdjointView< constBlock, Eigen::Upper > | squaredTerm () const |
| Return the <emph>upper-triangular part</emph> of the full squared term, as described above. More...
|
|
size_t | dim () const |
| get the dimension of the factor (number of rows on linearization)
|
|
double | error (const Values &c) const |
| Calculate the error of the factor.
|
|
boost::shared_ptr< GaussianFactor > | linearize (const Values &c) const |
| linearize to a GaussianFactor Reimplemented from NoiseModelFactor to directly copy out the matrices and only update the RHS b with an updated residual
|
|
| LinearizedGaussianFactor () |
| default constructor for serialization
|
|
| LinearizedGaussianFactor (const GaussianFactor::shared_ptr &gaussian, const Values &lin_points) |
|
const Values & | linearizationPoint () const |
|
| 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 bool | active (const Values &) const |
| Checks whether a factor should be used based on a set of values. 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...
|
|
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 |
|
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
|
|
KeyVector & | keys () |
|
iterator | begin () |
| Iterator at beginning of involved variable keys.
|
|
iterator | end () |
| Iterator at end of involved variable keys.
|
|
|
typedef Factor | Base |
|
typedef NonlinearFactor | This |
|
| Factor () |
| Default constructor for I/O.
|
|
template<typename CONTAINER > |
| Factor (const CONTAINER &keys) |
| Construct factor from container of keys. More...
|
|
template<typename ITERATOR > |
| Factor (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys. More...
|
|
bool | equals (const This &other, double tol=1e-9) const |
| check equality
|
|
template<typename CONTAINER > |
static Factor | FromKeys (const CONTAINER &keys) |
| Construct factor from container of keys. More...
|
|
template<typename ITERATOR > |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys. More...
|
|