Detailed Description

template<class VALUE>
class gtsam::PartialPriorFactor< VALUE >

A class for a soft partial prior on any Lie type, with a mask over Expmap parameters.

Note that this will use Logmap() to find a tangent space parameterization for the variable attached, so this may fail for highly nonlinear manifolds.

The prior vector used in this factor is stored in compressed form, such that it only contains values for measurements that are to be compared, and they are in the same order as VALUE::Logmap(). The mask will determine which components to extract in the error function.

For practical use, it would be good to subclass this factor and have the class type construct the mask.

Template Parameters

VALUE is the type of variable the prior effects

Inheritance diagram for gtsam::PartialPriorFactor< VALUE >:

Public Member Functions
	PartialPriorFactor (Key key, size_t idx, double prior, const SharedNoiseModel &model)
	Single Element Constructor: acts on a single parameter specified by idx.

	PartialPriorFactor (Key key, const std::vector< size_t > &mask, const Vector &prior, const SharedNoiseModel &model)
	Indices Constructor: specify the mask with a set of indices.

virtual gtsam::NonlinearFactor::shared_ptr	clone () const

virtual void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	implement functions needed for Testable More...

virtual bool	equals (const NonlinearFactor &expected, double tol=1e-9) const
	equals

Vector	evaluateError (const T &p, boost::optional< Matrix & > H=boost::none) const
	implement functions needed to derive from Factor More...

const Vector &	prior () const

const std::vector< bool > &	mask () const

const Matrix &	H () const

Public Member Functions inherited from gtsam::NoiseModelFactor1< VALUE >
	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.

Public Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor ()
	Default constructor for I/O only.

virtual	~NoiseModelFactor ()
	Destructor.

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.

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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \).

Public Member Functions inherited from gtsam::NonlinearFactor
	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...

Public Member Functions inherited from gtsam::Factor
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.

Public Types
typedef VALUE	T

Public Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef VALUE	X

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Types
typedef NoiseModelFactor1< VALUE >	Base

typedef PartialPriorFactor< VALUE >	This

Protected Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< VALUE >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions
	PartialPriorFactor ()
	default constructor - only use for serialization

	PartialPriorFactor (Key key, const SharedNoiseModel &model)
	constructor with just minimum requirements for a factor - allows more computation in the constructor. More...

void	fillH ()
	Constructs the jacobian matrix in place.

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
	Constructor - only for subclasses, as this does not set keys.

Protected Member Functions inherited from gtsam::Factor
	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

Protected Attributes
Vector	prior_
	measurement on tangent space parameters, in compressed form

std::vector< size_t >	mask_
	indices of values to constrain in compressed prior vector

Matrix	H_
	Constant Jacobian - computed at creation.

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Static Protected Member Functions inherited from gtsam::Factor
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...

Constructor & Destructor Documentation

◆ PartialPriorFactor()

template<class VALUE>

gtsam::PartialPriorFactor< VALUE >::PartialPriorFactor	(	Key	key,
		const SharedNoiseModel &	model
	)

inlineprotected

constructor with just minimum requirements for a factor - allows more computation in the constructor.

This should only be used by subclasses

Member Function Documentation

◆ clone()

template<class VALUE>

virtual gtsam::NonlinearFactor::shared_ptr gtsam::PartialPriorFactor< VALUE >::clone ( ) const

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

template<class VALUE>

Vector gtsam::PartialPriorFactor< VALUE >::evaluateError	(	const T &	p,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlinevirtual

implement functions needed to derive from Factor

vector of errors

Implements gtsam::NoiseModelFactor1< VALUE >.

◆ print()

template<class VALUE>

virtual void gtsam::PartialPriorFactor< VALUE >::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlinevirtual

implement functions needed for Testable

print

Reimplemented from gtsam::NoiseModelFactor.

The documentation for this class was generated from the following file:

/Users/dellaert/git/gtsam/gtsam_unstable/slam/PartialPriorFactor.h

Detailed Description

template<class VALUE> class gtsam::PartialPriorFactor< VALUE >

Public Member Functions

Public Types

Protected Types

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ PartialPriorFactor()

Member Function Documentation

◆ clone()

◆ evaluateError()

◆ print()

template<class VALUE>
class gtsam::PartialPriorFactor< VALUE >