gtsam 4.1.1 gtsam
EqualityFactorGraph.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
9
10 * -------------------------------------------------------------------------- */
11
19#pragma once
20
23
24namespace gtsam {
25
30class EqualityFactorGraph: public FactorGraph<LinearEquality> {
31public:
32 typedef boost::shared_ptr<EqualityFactorGraph> shared_ptr;
33
35 template <class... Args> void add(Args &&... args) {
36 emplace_shared<LinearEquality>(std::forward<Args>(args)...);
37 }
38
40 double error(const VectorValues& x) const {
41 double total_error = 0.;
42 for (const sharedFactor& factor : *this) {
43 if (factor)
44 total_error += factor->error(x);
45 }
47 }
48};
49
51template<> struct traits<EqualityFactorGraph> : public Testable<
52 EqualityFactorGraph> {
53};
54
55} // \ namespace gtsam
56
Factor Graph Base Class.
LinearEquality derived from Base with constrained noise model.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
A helper that implements the traits interface for GTSAM types.
Definition: Testable.h:151
A factor graph is a bipartite graph with factor nodes connected to variable nodes.
Definition: FactorGraph.h:93
boost::shared_ptr< LinearEquality > sharedFactor
Shared pointer to a factor.
Definition: FactorGraph.h:97
This class represents a collection of vector-valued variables associated each with a unique integer i...
Definition: VectorValues.h:74
Collection of all Linear Equality constraints Ax=b of a Programming problem as a Factor Graph.
Definition: EqualityFactorGraph.h:30
double error(const VectorValues &x) const
Compute error of a guess.
Definition: EqualityFactorGraph.h:40