gtsam  4.1.0
gtsam
gtsam::ExpressionFactorGraph Class Reference

Detailed Description

Factor graph that supports adding ExpressionFactors directly.

+ Inheritance diagram for gtsam::ExpressionFactorGraph:

Public Member Functions

Adding Factors
template<typename T >
void addExpressionFactor (const Expression< T > &h, const T &z, const SharedNoiseModel &R)
 Directly add ExpressionFactor that implements |h(x)-z|^2_R. More...
 
- Public Member Functions inherited from gtsam::NonlinearFactorGraph
 NonlinearFactorGraph ()
 Default constructor.
 
template<typename ITERATOR >
 NonlinearFactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)
 Construct from iterator over factors.
 
template<class CONTAINER >
 NonlinearFactorGraph (const CONTAINER &factors)
 Construct from container of factors (shared_ptr or plain objects)
 
template<class DERIVEDFACTOR >
 NonlinearFactorGraph (const FactorGraph< DERIVEDFACTOR > &graph)
 Implicit copy/downcast constructor to override explicit template container constructor.
 
void print (const std::string &str="NonlinearFactorGraph: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 print
 
void printErrors (const Values &values, const std::string &str="NonlinearFactorGraph: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter, const std::function< bool(const Factor *, double, size_t)> &printCondition=[](const Factor *, double, size_t) {return true;}) const
 print errors along with factors
 
bool equals (const NonlinearFactorGraph &other, double tol=1e-9) const
 Test equality.
 
void saveGraph (std::ostream &stm, const Values &values=Values(), const GraphvizFormatting &graphvizFormatting=GraphvizFormatting(), const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 Write the graph in GraphViz format for visualization.
 
double error (const Values &values) const
 unnormalized error, \( 0.5 \sum_i (h_i(X_i)-z)^2/\sigma^2 \) in the most common case
 
double probPrime (const Values &values) const
 Unnormalized probability. More...
 
boost::shared_ptr< SymbolicFactorGraphsymbolic () const
 Create a symbolic factor graph.
 
Ordering orderingCOLAMD () const
 Compute a fill-reducing ordering using COLAMD.
 
Ordering orderingCOLAMDConstrained (const FastMap< Key, int > &constraints) const
 Compute a fill-reducing ordering with constraints using CCOLAMD. More...
 
boost::shared_ptr< GaussianFactorGraphlinearize (const Values &linearizationPoint) const
 Linearize a nonlinear factor graph.
 
boost::shared_ptr< HessianFactorlinearizeToHessianFactor (const Values &values, const Dampen &dampen=nullptr) const
 Instead of producing a GaussianFactorGraph, pre-allocate and linearize directly into a HessianFactor. More...
 
boost::shared_ptr< HessianFactorlinearizeToHessianFactor (const Values &values, const Ordering &ordering, const Dampen &dampen=nullptr) const
 Instead of producing a GaussianFactorGraph, pre-allocate and linearize directly into a HessianFactor. More...
 
Values updateCholesky (const Values &values, const Dampen &dampen=nullptr) const
 Linearize and solve in one pass. More...
 
Values updateCholesky (const Values &values, const Ordering &ordering, const Dampen &dampen=nullptr) const
 Linearize and solve in one pass. More...
 
NonlinearFactorGraph clone () const
 Clone() performs a deep-copy of the graph, including all of the factors.
 
NonlinearFactorGraph rekey (const std::map< Key, Key > &rekey_mapping) const
 Rekey() performs a deep-copy of all of the factors, and changes keys according to a mapping. More...
 
template<typename T >
void addExpressionFactor (const SharedNoiseModel &R, const T &z, const Expression< T > &h)
 Directly add ExpressionFactor that implements |h(x)-z|^2_R. More...
 
template<typename T >
void addPrior (Key key, const T &prior, const SharedNoiseModel &model=nullptr)
 Convenience method which adds a PriorFactor to the factor graph. More...
 
template<typename T >
void addPrior (Key key, const T &prior, const Matrix &covariance)
 Convenience method which adds a PriorFactor to the factor graph. More...
 
boost::shared_ptr< HessianFactorlinearizeToHessianFactor (const Values &values, boost::none_t, const Dampen &dampen=nullptr) const
 
Values updateCholesky (const Values &values, boost::none_t, const Dampen &dampen=nullptr) const
 
- Public Member Functions inherited from gtsam::FactorGraph< NonlinearFactor >
void reserve (size_t size)
 Reserve space for the specified number of factors if you know in advance how many there will be (works like FastVector::reserve).
 
IsDerived< DERIVEDFACTOR > push_back (boost::shared_ptr< DERIVEDFACTOR > factor)
 Add a factor directly using a shared_ptr.
 
IsDerived< DERIVEDFACTOR > push_back (const DERIVEDFACTOR &factor)
 Add a factor by value, will be copy-constructed (use push_back with a shared_ptr to avoid the copy).
 
IsDerived< DERIVEDFACTOR > emplace_shared (Args &&... args)
 Emplace a shared pointer to factor of given type.
 
IsDerived< DERIVEDFACTOR > add (boost::shared_ptr< DERIVEDFACTOR > factor)
 add is a synonym for push_back.
 
std::enable_if< std::is_base_of< FactorType, DERIVEDFACTOR >::value, boost::assign::list_inserter< RefCallPushBack< This > > >::type operator+= (boost::shared_ptr< DERIVEDFACTOR > factor)
 += works well with boost::assign list inserter.
 
HasDerivedElementType< ITERATOR > push_back (ITERATOR firstFactor, ITERATOR lastFactor)
 Push back many factors with an iterator over shared_ptr (factors are not copied)
 
HasDerivedValueType< ITERATOR > push_back (ITERATOR firstFactor, ITERATOR lastFactor)
 Push back many factors with an iterator (factors are copied)
 
HasDerivedElementType< CONTAINER > push_back (const CONTAINER &container)
 Push back many factors as shared_ptr's in a container (factors are not copied)
 
HasDerivedValueType< CONTAINER > push_back (const CONTAINER &container)
 Push back non-pointer objects in a container (factors are copied).
 
void add (const FACTOR_OR_CONTAINER &factorOrContainer)
 Add a factor or container of factors, including STL collections, BayesTrees, etc.
 
boost::assign::list_inserter< CRefCallPushBack< This > > operator+= (const FACTOR_OR_CONTAINER &factorOrContainer)
 Add a factor or container of factors, including STL collections, BayesTrees, etc.
 
std::enable_if< std::is_base_of< This, typename CLIQUE::FactorGraphType >::value >::type push_back (const BayesTree< CLIQUE > &bayesTree)
 Push back a BayesTree as a collection of factors. More...
 
FactorIndices add_factors (const CONTAINER &factors, bool useEmptySlots=false)
 Add new factors to a factor graph and returns a list of new factor indices, optionally finding and reusing empty factor slots.
 
void print (const std::string &s="FactorGraph", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print out graph
 
bool equals (const This &fg, double tol=1e-9) const
 Check equality.
 
size_t size () const
 return the number of factors (including any null factors set by remove() ).
 
bool empty () const
 Check if the graph is empty (null factors set by remove() will cause this to return false).
 
const sharedFactor at (size_t i) const
 Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).
 
sharedFactorat (size_t i)
 Get a specific factor by index (this checks array bounds and may throw an exception, as opposed to operator[] which does not).
 
const sharedFactor operator[] (size_t i) const
 Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
 
sharedFactoroperator[] (size_t i)
 Get a specific factor by index (this does not check array bounds, as opposed to at() which does).
 
const_iterator begin () const
 Iterator to beginning of factors.
 
const_iterator end () const
 Iterator to end of factors.
 
sharedFactor front () const
 Get the first factor.
 
sharedFactor back () const
 Get the last factor.
 
iterator begin ()
 non-const STL-style begin()
 
iterator end ()
 non-const STL-style end()
 
void resize (size_t size)
 Directly resize the number of factors in the graph. More...
 
void remove (size_t i)
 delete factor without re-arranging indexes by inserting a nullptr pointer
 
void replace (size_t index, sharedFactor factor)
 replace a factor by index
 
iterator erase (iterator item)
 Erase factor and rearrange other factors to take up the empty space.
 
iterator erase (iterator first, iterator last)
 Erase factors and rearrange other factors to take up the empty space.
 
size_t nrFactors () const
 return the number of non-null factors
 
KeySet keys () const
 Potentially slow function to return all keys involved, sorted, as a set.
 
KeyVector keyVector () const
 Potentially slow function to return all keys involved, sorted, as a vector.
 
bool exists (size_t idx) const
 MATLAB interface utility: Checks whether a factor index idx exists in the graph and is a live pointer.
 

Additional Inherited Members

- Public Types inherited from gtsam::NonlinearFactorGraph
typedef FactorGraph< NonlinearFactorBase
 
typedef NonlinearFactorGraph This
 
typedef boost::shared_ptr< Thisshared_ptr
 
typedef std::function< void(const boost::shared_ptr< HessianFactor > &hessianFactor)> Dampen
 typdef for dampen functions used below
 
- Public Types inherited from gtsam::FactorGraph< NonlinearFactor >
typedef NonlinearFactor FactorType
 factor type
 
typedef boost::shared_ptr< NonlinearFactorsharedFactor
 Shared pointer to a factor.
 
typedef sharedFactor value_type
 
typedef FastVector< sharedFactor >::iterator iterator
 
typedef FastVector< sharedFactor >::const_iterator const_iterator
 
- Protected Member Functions inherited from gtsam::FactorGraph< NonlinearFactor >
 FactorGraph ()
 Default constructor.
 
 FactorGraph (ITERATOR firstFactor, ITERATOR lastFactor)
 Constructor from iterator over factors (shared_ptr or plain objects)
 
 FactorGraph (const CONTAINER &factors)
 Construct from container of factors (shared_ptr or plain objects)
 
- Protected Attributes inherited from gtsam::FactorGraph< NonlinearFactor >
FastVector< sharedFactorfactors_
 concept check, makes sure FACTOR defines print and equals More...
 

Member Function Documentation

◆ addExpressionFactor()

template<typename T >
void gtsam::ExpressionFactorGraph::addExpressionFactor ( const Expression< T > &  h,
const T &  z,
const SharedNoiseModel R 
)
inline

Directly add ExpressionFactor that implements |h(x)-z|^2_R.

Parameters
hexpression that implements measurement function
zmeasurement
Rmodel

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