Detailed Description

This is the base class for all factor types.

It is templated on a KEY type, which will be the type used to label variables. Key types currently in use in gtsam are Index with symbolic (IndexFactor, SymbolicFactorGraph) and Gaussian factors (GaussianFactor, JacobianFactor, HessianFactor, GaussianFactorGraph), and Key with nonlinear factors (NonlinearFactor, NonlinearFactorGraph). though currently only IndexFactor and IndexConditional derive from this class, using Index keys. This class does not store any data other than its keys. Derived classes store data such as matrices and probability tables.

Note that derived classes must redefine the ConditionalType and shared_ptr typedefs to refer to the associated conditional and shared_ptr types of the derived class. See IndexFactor, JacobianFactor, etc. for examples.

This class is not virtual for performance reasons - derived symbolic classes, IndexFactor and IndexConditional, need to be created and destroyed quickly during symbolic elimination. GaussianFactor and NonlinearFactor are virtual.

Inheritance diagram for gtsam::Factor:

Advanced Interface
class	boost::serialization::access
	Serialization function.

KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

Standard Constructors
	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...

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...

Testable
bool	equals (const This &other, double tol=1e-9) const
	check equality

virtual void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print More...

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

Standard Interface
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

Public Member Functions
virtual	~Factor ()=default
	Default destructor.

Public Types
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Attributes
KeyVector	keys_
	The keys involved in this factor.

Constructor & Destructor Documentation

◆ Factor() [1/2]

template<typename CONTAINER >

gtsam::Factor::Factor ( const CONTAINER & keys )

inlineexplicitprotected

Construct factor from container of keys.

This constructor is used internally from derived factor constructors, either from a container of keys or from a boost::assign::list_of.

◆ Factor() [2/2]

template<typename ITERATOR >

gtsam::Factor::Factor	(	ITERATOR	first,
		ITERATOR	last
	)

inlineprotected

Construct factor from iterator keys.

This constructor may be used internally from derived factor constructors, although our code currently does not use this.

Member Function Documentation

◆ FromIterators()

template<typename ITERATOR >

static Factor gtsam::Factor::FromIterators	(	ITERATOR	first,
		ITERATOR	last
	)

inlinestaticprotected

Construct factor from iterator keys.

This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

◆ FromKeys()

template<typename CONTAINER >

static Factor gtsam::Factor::FromKeys ( const CONTAINER & keys )

inlinestaticprotected

Construct factor from container of keys.

This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

◆ keys()

KeyVector & gtsam::Factor::keys ( )

inline

Returns: keys involved in this factor

◆ print()

void gtsam::Factor::print	(	const std::string &	s = `"Factor"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

virtual

print

Reimplemented in gtsam::GaussianConditional, gtsam::GaussianDensity, gtsam::WhiteNoiseFactor, gtsam::PoseToPointFactor, gtsam::AHRSFactor, gtsam::CustomFactor, gtsam::PriorFactor< VALUE >, gtsam::BinaryMeasurement< T >, gtsam::BinaryMeasurement< Rot >, gtsam::BinaryMeasurement< Unit3 >, gtsam::ShonanFactor< d >, gtsam::AntiFactor, gtsam::BetweenFactor< VALUE >, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::BetweenFactorEM< VALUE >, gtsam::BiasedGPSFactor, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::PoseBetweenFactor< POSE >, gtsam::PosePriorFactor< POSE >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::FullIMUFactor< POSE >, gtsam::IMUFactor< POSE >, gtsam::VelocityConstraint, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::HessianFactor, gtsam::JacobianFactor, gtsam::AllDiff, gtsam::BinaryAllDiff, gtsam::Domain, gtsam::SingleValue, gtsam::LinearCost, gtsam::LinearEquality, gtsam::LinearInequality, gtsam::GaussianFactor, gtsam::Rot3AttitudeFactor, gtsam::Pose3AttitudeFactor, gtsam::CombinedImuFactor, gtsam::GPSFactor, gtsam::GPSFactor2, gtsam::ImuFactor, gtsam::ImuFactor2, gtsam::MagPoseFactor< POSE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type >, gtsam::FunctorizedFactor< R, T >, gtsam::FunctorizedFactor< double, ParameterMatrix< P > >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< T, ParameterMatrix< traits< T >::dimension > >, gtsam::FunctorizedFactor< Vector, ParameterMatrix< M > >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::NonlinearEquality< VALUE >, gtsam::NonlinearEquality1< VALUE >, gtsam::NonlinearFactor, gtsam::NoiseModelFactor, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::EssentialMatrixConstraint, gtsam::EssentialMatrixFactor, gtsam::EssentialMatrixFactor2, gtsam::EssentialMatrixFactor3, gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::PoseRotationPrior< POSE >, gtsam::PoseTranslationPrior< POSE >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::RegularImplicitSchurFactor< CAMERA >, gtsam::RotateFactor, gtsam::RotateDirectionsFactor, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::LinearizedJacobianFactor, gtsam::LinearizedHessianFactor, gtsam::DummyFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorRollingShutter, gtsam::RelativeElevationFactor, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartRangeFactor, gtsam::SmartStereoProjectionFactor, gtsam::SmartStereoProjectionFactorPP, gtsam::SmartStereoProjectionPoseFactor, gtsam::LinearContainerFactor, gtsam::BearingFactor< A1, A2, T >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::RangeFactor< A1, A2, T >, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::DiscreteFactor, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InvDepthFactorVariant1, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3b, gtsam::InvDepthFactorVariant3a, gtsam::LocalOrientedPlane3Factor, gtsam::OrientedPlane3DirectionPrior, gtsam::OrientedPlane3Factor, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::SymbolicFactor, and gtsam::SymbolicConditional.

◆ printKeys()

void gtsam::Factor::printKeys	(	const std::string &	s = `"Factor"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

virtual

print only keys

Reimplemented in gtsam::SymbolicFactor.

◆ size()

size_t gtsam::Factor::size ( ) const

inline

Returns: the number of variables involved in this factor

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

/Users/dellaert/git/github/gtsam/inference/Factor.h
/Users/dellaert/git/github/gtsam/inference/Factor.cpp

Detailed Description

Advanced Interface

Standard Constructors

Testable

Standard Interface

Public Member Functions

Public Types

Protected Attributes