Detailed Description

template<typename T>
class gtsam::ExpressionFactor< T >

Factor that supports arbitrary expressions via AD.

Arbitrary instances of this template can be directly inserted into a factor graph for optimization. However, to enable the correct (de)serialization of such instances, the user should declare derived classes from this template, implementing expresion(), serialize(), clone(), print(), and defining the corresponding struct traits<NewFactor> : public Testable<NewFactor> {}.

Template Parameters

T	Type for measurements.

Inheritance diagram for gtsam::ExpressionFactor< T >:

Public Member Functions
	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement, const Expression< T > &expression)
	Constructor: creates a factor from a measurement and measurement function. More...

	~ExpressionFactor () override
	Destructor.

const T &	measured () const
	return the measurement

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print relies on Testable traits being defined for T More...

bool	equals (const NonlinearFactor &f, double tol) const override
	equals relies on Testable traits being defined for T More...

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
	Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \). More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const override
	linearize to a GaussianFactor More...

gtsam::NonlinearFactor::shared_ptr	clone () const override

Public Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor ()
	Default constructor for I/O only.

	~NoiseModelFactor () override
	Destructor.

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	Print. More...

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override
	Check if two factors are equal. More...

size_t	dim () const override
	get the dimension of the factor (number of rows on linearization) More...

const SharedNoiseModel &	noiseModel () const
	access to the noise model

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const =0
	Error function without the NoiseModel, \( z-h(x) \). More...

Vector	whitenedError (const Values &c) const
	Vector of errors, whitened This is the raw error, i.e., i.e. More...

Vector	unweightedWhitenedError (const Values &c) const
	Vector of errors, whitened, but unweighted by any loss function.

double	weight (const Values &c) const
	Compute the effective weight of the factor from the noise model.

double	error (const Values &c) const override
	Calculate the error of the factor. More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const override
	Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \). More...

shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
	Creates a shared_ptr clone of the factor with a new noise model.

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
	Default constructor for I/O only.

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
	Constructor from a collection of the keys involved in this factor.

virtual	~NonlinearFactor ()
	Destructor.

virtual bool	active (const Values &) const
	Checks whether a factor should be used based on a set of values. More...

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
	Creates a shared_ptr clone of the factor with different keys using a map from old->new keys. More...

virtual shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys. More...

virtual bool	sendable () const
	Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock) More...

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.

KeyVector &	keys ()

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

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

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

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 Types
typedef boost::shared_ptr< ExpressionFactor< T > >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Types
typedef ExpressionFactor< T >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions
	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement)
	Default constructor, for serialization. More...

void	initialize (const Expression< T > &expression)
	Initialize with constructor arguments.

virtual Expression< T >	expression () const
	Recreate expression from keys_ and measured_, used in load below. More...

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
	Constructor - only for subclasses, as this does not set keys.

Protected Member Functions inherited from gtsam::Factor
	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...

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

Protected Attributes
T	measured_
	the measurement to be compared with the expression

Expression< T >	expression_
	the expression that is AD enabled

FastVector< int >	dims_
	dimensions of the Jacobian matrices

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Static Protected Attributes
static const int	Dim = traits<T>::dimension

Friends
class	boost::serialization::access

Additional Inherited Members
Static Protected Member Functions inherited from gtsam::Factor
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...

Constructor & Destructor Documentation

◆ ExpressionFactor() [1/2]

template<typename T >

gtsam::ExpressionFactor< T >::ExpressionFactor	(	const SharedNoiseModel &	noiseModel,
		const T &	measurement,
		const Expression< T > &	expression
	)

inline

Constructor: creates a factor from a measurement and measurement function.

Parameters

noiseModel	the noise model associated with a measurement
measurement	actual value of the measurement, of type T
expression	predicts the measurement from Values The keys associated with the factor, returned by keys(), are sorted.

◆ ExpressionFactor() [2/2]

template<typename T >

gtsam::ExpressionFactor< T >::ExpressionFactor	(	const SharedNoiseModel &	noiseModel,
		const T &	measurement
	)

inlineprotected

Default constructor, for serialization.

Constructor for serializable derived classes

Member Function Documentation

◆ clone()

template<typename T >

gtsam::NonlinearFactor::shared_ptr gtsam::ExpressionFactor< T >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ equals()

template<typename T >

bool gtsam::ExpressionFactor< T >::equals	(	const NonlinearFactor &	f,
		double	tol
	)		const

inlineoverridevirtual

equals relies on Testable traits being defined for T

Reimplemented from gtsam::NonlinearFactor.

◆ expression()

template<typename T >

virtual Expression< T > gtsam::ExpressionFactor< T >::expression ( ) const

inlineprotectedvirtual

Recreate expression from keys_ and measured_, used in load below.

Needed to deserialize a derived factor

◆ linearize()

template<typename T >

boost::shared_ptr< GaussianFactor > gtsam::ExpressionFactor< T >::linearize ( const Values & c ) const

inlineoverridevirtual

linearize to a GaussianFactor

Implements gtsam::NonlinearFactor.

◆ print()

template<typename T >

void gtsam::ExpressionFactor< T >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print relies on Testable traits being defined for T

Reimplemented from gtsam::Factor.

◆ unwhitenedError()

template<typename T >

Vector gtsam::ExpressionFactor< T >::unwhitenedError	(	const Values &	x,
		boost::optional< std::vector< Matrix > & >	H = `boost::none`
	)		const

inlineoverridevirtual

Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \).

We override this method to provide both the function evaluation and its derivative(s) in H.

Implements gtsam::NoiseModelFactor.

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

/Users/dellaert/git/github/gtsam/nonlinear/Expression.h
/Users/dellaert/git/github/gtsam/nonlinear/ExpressionFactor.h

Detailed Description

Public Member Functions

Public Types

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ExpressionFactor() [1/2]

◆ ExpressionFactor() [2/2]

Member Function Documentation

◆ clone()

◆ equals()

◆ expression()

◆ linearize()

◆ print()

◆ unwhitenedError()