gtsam::Factor Class Reference

Inheritance diagram for gtsam::Factor:

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

Standard Constructors
	Factor ()
	Default constructor for I/O.
template<typename CONTAINER>
	Factor (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.
template<typename CONTAINER>
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.

Public Member Functions
virtual	~Factor ()=default
	Default destructor.
Standard Interface
bool	empty () const
	Whether the factor is empty (involves zero variables).
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.
virtual double	error (const HybridValues &c) const
	All factor types need to implement an error function.
size_t	size () const
Testable
virtual void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
bool	equals (const This &other, double tol=1e-9) const
	check equality
Advanced Interface
KeyVector &	keys ()
iterator	begin ()
	Iterator at beginning of involved variable keys.
iterator	end ()
	Iterator at end of involved variable keys.

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

error()

double gtsam::Factor::error ( const HybridValues & c ) const

virtual

All factor types need to implement an error function.

In factor graphs, this is the negative log-likelihood.

Reimplemented in gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::DiscreteFactor, gtsam::GaussianFactor, gtsam::GaussianMixture, gtsam::GaussianMixtureFactor, gtsam::HessianFactor, gtsam::HybridConditional, gtsam::JacobianFactor, gtsam::MixtureFactor, gtsam::NonlinearFactor, gtsam::SymbolicConditional, and gtsam::SymbolicFactor.

FromIterators()

template<typename ITERATOR>

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>

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::AHRSFactor, gtsam::AllDiff, gtsam::AntiFactor, gtsam::BarometricFactor, gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >, gtsam::BearingFactor< A1, A2, T >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::BearingRangeFactor< Pose, Point2 >, gtsam::BearingRangeFactor< Pose2, Point2 >, gtsam::BearingRangeFactor< Pose3, Point3 >, gtsam::BetweenFactor< VALUE >, gtsam::BetweenFactor< Point2 >, gtsam::BetweenFactor< Point3 >, gtsam::BetweenFactor< Pose2 >, gtsam::BetweenFactor< Pose3 >, gtsam::BetweenFactor< Rot2 >, gtsam::BetweenFactor< Rot3 >, gtsam::BetweenFactorEM< VALUE >, gtsam::BiasedGPSFactor, gtsam::BinaryAllDiff, gtsam::BinaryMeasurement< T >, gtsam::CombinedImuFactor, gtsam::CustomFactor, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::DiscreteDistribution, gtsam::DiscreteFactor, gtsam::DiscreteLookupTable, gtsam::Domain, gtsam::DummyFactor, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::EssentialMatrixConstraint, gtsam::EssentialMatrixFactor2, gtsam::EssentialMatrixFactor3, gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::EssentialMatrixFactor, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >, gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type >, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::FullIMUFactor< POSE >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::FunctorizedFactor< R, T >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, ParameterMatrix< P > >, gtsam::FunctorizedFactor< double, typename BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< T, ParameterMatrix< traits< T >::dimension > >, gtsam::FunctorizedFactor< Vector, ParameterMatrix< M > >, gtsam::GaussianConditional, gtsam::GaussianDensity, gtsam::GaussianFactor, gtsam::GaussianMixture, gtsam::GaussianMixtureFactor, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::GeneralSFMFactor2< gtsam::Cal3_S2 >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::GeneralSFMFactor< gtsam::PinholeCameraCal3_S2, gtsam::Point3 >, gtsam::GeneralSFMFactor< gtsam::PinholeCameraCal3DS2, gtsam::Point3 >, gtsam::GeneralSFMFactor< SfmCamera, Point3 >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GenericProjectionFactor< Pose3, Point3, Cal3_S2 >, gtsam::GenericProjectionFactor< Pose3, Point3, Cal3DS2 >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::GenericStereoFactor< gtsam::Pose3, gtsam::Point3 >, gtsam::GPSFactor2, gtsam::GPSFactor, gtsam::HessianFactor, gtsam::HybridConditional, gtsam::HybridFactor, gtsam::ImuFactor2, gtsam::IMUFactor< POSE >, gtsam::ImuFactor, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InvDepthFactorVariant1, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3a, gtsam::InvDepthFactorVariant3b, gtsam::JacobianFactor, gtsam::LinearContainerFactor, gtsam::LinearCost, gtsam::LinearEquality, gtsam::LinearInequality, gtsam::LinearizedHessianFactor, gtsam::LinearizedJacobianFactor, gtsam::LocalOrientedPlane3Factor, gtsam::MagPoseFactor< POSE >, gtsam::MixtureFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::NoiseModelFactor, gtsam::NonlinearEquality1< VALUE >, gtsam::NonlinearEquality< VALUE >, gtsam::NonlinearEquality< Cal3_S2 >, gtsam::NonlinearEquality< Cal3DS2 >, gtsam::NonlinearEquality< CalibratedCamera >, gtsam::NonlinearEquality< PinholeCameraCal3_S2 >, gtsam::NonlinearEquality< Point2 >, gtsam::NonlinearEquality< Point3 >, gtsam::NonlinearEquality< Pose2 >, gtsam::NonlinearEquality< Pose3 >, gtsam::NonlinearEquality< Rot2 >, gtsam::NonlinearEquality< Rot3 >, gtsam::NonlinearEquality< StereoCamera >, gtsam::NonlinearEquality< StereoPoint2 >, gtsam::NonlinearFactor, gtsam::OrientedPlane3DirectionPrior, gtsam::OrientedPlane3Factor, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::Pose3AttitudeFactor, gtsam::PoseBetweenFactor< POSE >, gtsam::PosePriorFactor< POSE >, gtsam::PoseRotationPrior< POSE >, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::PoseTranslationPrior< POSE >, gtsam::PriorFactor< VALUE >, gtsam::PriorFactor< Cal3_S2 >, gtsam::PriorFactor< Cal3DS2 >, gtsam::PriorFactor< CalibratedCamera >, gtsam::PriorFactor< PinholeCameraCal3_S2 >, gtsam::PriorFactor< Point2 >, gtsam::PriorFactor< Point3 >, gtsam::PriorFactor< Pose2 >, gtsam::PriorFactor< Pose3 >, gtsam::PriorFactor< Rot2 >, gtsam::PriorFactor< Rot3 >, gtsam::PriorFactor< StereoCamera >, gtsam::PriorFactor< StereoPoint2 >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorRollingShutter, gtsam::RangeFactor< A1, A2, T >, gtsam::RangeFactor< A1, A2 >, gtsam::RangeFactor< CalibratedCamera, CalibratedCamera >, gtsam::RangeFactor< CalibratedCamera, Point3 >, gtsam::RangeFactor< PinholeCameraCal3_S2, PinholeCameraCal3_S2 >, gtsam::RangeFactor< PinholeCameraCal3_S2, Point3 >, gtsam::RangeFactor< Pose2, Point2 >, gtsam::RangeFactor< Pose2, Pose2 >, gtsam::RangeFactor< Pose3, Point3 >, gtsam::RangeFactor< Pose3, Pose3 >, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::RangeFactorWithTransform< A1, A2 >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::RegularImplicitSchurFactor< CAMERA >, gtsam::RelativeElevationFactor, gtsam::Rot3AttitudeFactor, gtsam::RotateDirectionsFactor, gtsam::RotateFactor, gtsam::ShonanFactor< d >, gtsam::ShonanFactor< 2 >, gtsam::ShonanFactor< 3 >, gtsam::SingleValue, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< Camera >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::SmartProjectionPoseFactor< Cal3_S2 >, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartRangeFactor, gtsam::SmartStereoProjectionFactor, gtsam::SmartStereoProjectionFactorPP, gtsam::SmartStereoProjectionPoseFactor, gtsam::SymbolicConditional, gtsam::SymbolicFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::TriangulationFactor< CAMERA >, gtsam::VelocityConstraint, and gtsam::WhiteNoiseFactor.

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

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

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/inference/Factor.h
• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/inference/Factor.cpp