gtsam  4.1.0
gtsam
gtsam::noiseModel::Base Class Referenceabstract

Detailed Description

noiseModel::Base is the abstract base class for all noise models.

Noise models must implement a 'whiten' function to normalize an error vector, and an 'unwhiten' function to unnormalize an error vector.

+ Inheritance diagram for gtsam::noiseModel::Base:

Public Member Functions

 Base (size_t dim=1)
 primary constructor More...
 
virtual bool isConstrained () const
 true if a constrained noise model, saves slow/clumsy dynamic casting
 
virtual bool isUnit () const
 true if a unit noise model, saves slow/clumsy dynamic casting
 
size_t dim () const
 Dimensionality.
 
virtual void print (const std::string &name="") const =0
 
virtual bool equals (const Base &expected, double tol=1e-9) const =0
 
virtual Vector sigmas () const
 Calculate standard deviations.
 
virtual Vector whiten (const Vector &v) const =0
 Whiten an error vector.
 
virtual Matrix Whiten (const Matrix &H) const =0
 Whiten a matrix.
 
virtual Vector unwhiten (const Vector &v) const =0
 Unwhiten an error vector.
 
virtual double squaredMahalanobisDistance (const Vector &v) const
 Squared Mahalanobis distance v'*R'*R*v = <R*v,R*v>
 
virtual double mahalanobisDistance (const Vector &v) const
 Mahalanobis distance.
 
virtual double loss (const double squared_distance) const
 loss function, input is Mahalanobis distance
 
virtual void WhitenSystem (std::vector< Matrix > &A, Vector &b) const =0
 
virtual void WhitenSystem (Matrix &A, Vector &b) const =0
 
virtual void WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const =0
 
virtual void WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const =0
 
virtual void whitenInPlace (Vector &v) const
 in-place whiten, override if can be done more efficiently
 
virtual void unwhitenInPlace (Vector &v) const
 in-place unwhiten, override if can be done more efficiently
 
virtual void whitenInPlace (Eigen::Block< Vector > &v) const
 in-place whiten, override if can be done more efficiently
 
virtual void unwhitenInPlace (Eigen::Block< Vector > &v) const
 in-place unwhiten, override if can be done more efficiently
 
virtual Vector unweightedWhiten (const Vector &v) const
 Useful function for robust noise models to get the unweighted but whitened error.
 
virtual double weight (const Vector &v) const
 get the weight from the effective loss function on residual vector v
 

Public Types

typedef boost::shared_ptr< Baseshared_ptr
 

Protected Attributes

size_t dim_
 

Friends

class boost::serialization::access
 Serialization function.
 

Constructor & Destructor Documentation

◆ Base()

gtsam::noiseModel::Base::Base ( size_t  dim = 1)
inline

primary constructor

Parameters
dimis the dimension of the model

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