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. | |
| virtual | ~NonlinearFactorGraph () |
| Destructor. | |
| void | print (const std::string &str="NonlinearFactorGraph: ", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print More... | |
| 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. | |
| void | saveGraph (const std::string &file, const Values &values=Values(), const GraphvizFormatting &graphvizFormatting=GraphvizFormatting(), const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| Write the graph in GraphViz format to file for visualization. More... | |
| 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< SymbolicFactorGraph > | symbolic () 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< GaussianFactorGraph > | linearize (const Values &linearizationPoint) const |
| Linearize a nonlinear factor graph. | |
| boost::shared_ptr< HessianFactor > | linearizeToHessianFactor (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< HessianFactor > | linearizeToHessianFactor (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... | |
| Public Member Functions inherited from gtsam::FactorGraph< NonlinearFactor > | |
| virtual | ~FactorGraph ()=default |
| Default destructor. | |
| 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, typenameCLIQUE::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. | |
| 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). | |
| sharedFactor & | at (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). | |
| sharedFactor & | operator[] (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< NonlinearFactor > | Base |
| typedef NonlinearFactorGraph | This |
| typedef boost::shared_ptr< This > | shared_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< NonlinearFactor > | sharedFactor |
| 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< sharedFactor > | factors_ |
| concept check, makes sure FACTOR defines print and equals More... | |
Member Function Documentation
◆ addExpressionFactor()
template<typename T >
|
inline |
Directly add ExpressionFactor that implements |h(x)-z|^2_R.
- Parameters
-
h expression that implements measurement function z measurement R model
The documentation for this class was generated from the following file:
- /Users/dellaert/git/github/gtsam/nonlinear/ExpressionFactorGraph.h
