gtsam  4.1.0
gtsam
BinaryJacobianFactor.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
21 #pragma once
22 
25 #include <gtsam/base/timing.h>
26 
27 namespace gtsam {
28 
32 template<int M, int N1, int N2>
34 
36  BinaryJacobianFactor(Key key1, const Eigen::Matrix<double, M, N1>& A1,
37  Key key2, const Eigen::Matrix<double, M, N2>& A2,
38  const Eigen::Matrix<double, M, 1>& b, //
39  const SharedDiagonal& model = SharedDiagonal()) :
40  JacobianFactor(key1, A1, key2, A2, b, model) {
41  }
42 
43  inline Key key1() const {
44  return keys_[0];
45  }
46  inline Key key2() const {
47  return keys_[1];
48  }
49 
50  // Fixed-size matrix update
51  void updateHessian(const KeyVector& infoKeys,
52  SymmetricBlockMatrix* info) const override {
53  gttic(updateHessian_BinaryJacobianFactor);
54  // Whiten the factor if it has a noise model
55  const SharedDiagonal& model = get_model();
56  if (model && !model->isUnit()) {
57  if (model->isConstrained())
58  throw std::invalid_argument(
59  "BinaryJacobianFactor::updateHessian: cannot update information with "
60  "constrained noise model");
61  BinaryJacobianFactor whitenedFactor(key1(), model->Whiten(getA(begin())),
62  key2(), model->Whiten(getA(end())), model->whiten(getb()));
63  whitenedFactor.updateHessian(infoKeys, info);
64  } else {
65  // First build an array of slots
66  DenseIndex slot1 = Slot(infoKeys, key1());
67  DenseIndex slot2 = Slot(infoKeys, key2());
68  DenseIndex slotB = info->nBlocks() - 1;
69 
70  const Matrix& Ab = Ab_.matrix();
71  Eigen::Block<const Matrix, M, N1> A1(Ab, 0, 0);
72  Eigen::Block<const Matrix, M, N2> A2(Ab, 0, N1);
73  Eigen::Block<const Matrix, M, 1> b(Ab, 0, N1 + N2);
74 
75  // We perform I += A'*A to the upper triangle
76  info->diagonalBlock(slot1).rankUpdate(A1.transpose());
77  info->updateOffDiagonalBlock(slot1, slot2, A1.transpose() * A2);
78  info->updateOffDiagonalBlock(slot1, slotB, A1.transpose() * b);
79  info->diagonalBlock(slot2).rankUpdate(A2.transpose());
80  info->updateOffDiagonalBlock(slot2, slotB, A2.transpose() * b);
81  info->updateDiagonalBlock(slotB, b.transpose() * b);
82  }
83  }
84 };
85 
86 template<int M, int N1, int N2>
87 struct traits<BinaryJacobianFactor<M, N1, N2> > : Testable<
88  BinaryJacobianFactor<M, N1, N2> > {
89 };
90 
91 } //namespace gtsam
gtsam::JacobianFactor::getA
constABlock getA() const
Get a view of the A matrix, not weighted by noise.
Definition: JacobianFactor.h:301
gtsam::SymmetricBlockMatrix::updateOffDiagonalBlock
void updateOffDiagonalBlock(DenseIndex I, DenseIndex J, const XprType &xpr)
Update an off diagonal block.
Definition: SymmetricBlockMatrix.h:233
timing.h
Timing utilities.
gtsam::JacobianFactor::getb
const constBVector getb() const
Get a view of the r.h.s.
Definition: JacobianFactor.h:295
JacobianFactor.h
gtsam::traits
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
gtsam::Key
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:61
gtsam::BinaryJacobianFactor::updateHessian
void updateHessian(const KeyVector &infoKeys, SymmetricBlockMatrix *info) const override
Update an information matrix by adding the information corresponding to this factor (used internally ...
Definition: BinaryJacobianFactor.h:51
gtsam::SymmetricBlockMatrix::nBlocks
DenseIndex nBlocks() const
Block count.
Definition: SymmetricBlockMatrix.h:125
gtsam::Factor::keys_
KeyVector keys_
The keys involved in this factor.
Definition: Factor.h:72
gtsam::Factor::begin
const_iterator begin() const
Iterator at beginning of involved variable keys.
Definition: Factor.h:121
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
gtsam::Testable
A helper that implements the traits interface for GTSAM types.
Definition: Testable.h:150
gtsam::JacobianFactor::get_model
const SharedDiagonal & get_model() const
get a copy of model
Definition: JacobianFactor.h:289
gtsam::JacobianFactor
A Gaussian factor in the squared-error form.
Definition: JacobianFactor.h:91
gtsam::SymmetricBlockMatrix::updateDiagonalBlock
void updateDiagonalBlock(DenseIndex I, const XprType &xpr)
Increment the diagonal block by the values in xpr. Only reads the upper triangular part of xpr.
Definition: SymmetricBlockMatrix.h:217
gtsam::DenseIndex
ptrdiff_t DenseIndex
The index type for Eigen objects.
Definition: types.h:67
gtsam::VerticalBlockMatrix::matrix
const Matrix & matrix() const
Access to full matrix (including any portions excluded by rowStart(), rowEnd(), and firstBlock())
Definition: VerticalBlockMatrix.h:187
gtsam::SymmetricBlockMatrix::diagonalBlock
Eigen::SelfAdjointView< Block, Eigen::Upper > diagonalBlock(DenseIndex J)
Return the J'th diagonal block as a self adjoint view.
Definition: SymmetricBlockMatrix.h:140
gtsam::KeyVector
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition: Key.h:86
gtsam::Factor::end
const_iterator end() const
Iterator at end of involved variable keys.
Definition: Factor.h:124
gtsam::BinaryJacobianFactor
A binary JacobianFactor specialization that uses fixed matrix math for speed.
Definition: BinaryJacobianFactor.h:33
gtsam::SymmetricBlockMatrix
Definition: SymmetricBlockMatrix.h:52
SymmetricBlockMatrix.h
Access to matrices via blocks of pre-defined sizes.
gtsam::BinaryJacobianFactor::BinaryJacobianFactor
BinaryJacobianFactor(Key key1, const Eigen::Matrix< double, M, N1 > &A1, Key key2, const Eigen::Matrix< double, M, N2 > &A2, const Eigen::Matrix< double, M, 1 > &b, const SharedDiagonal &model=SharedDiagonal())
Constructor.
Definition: BinaryJacobianFactor.h:36