gtsam 4.1.1
gtsam
gtsam::NonlinearEquality< VALUE > Class Template Reference

Detailed Description

template<class VALUE>
class gtsam::NonlinearEquality< VALUE >

An equality factor that forces either one variable to a constant, or a set of variables to be equal to each other.

Depending on flag, throws an error at linearization if the constraints are not met.

Switchable implementation:

  • ALLLOW_ERROR : if we allow that there can be nonzero error, does not throw, and uses gain
  • ONLY_EXACT : throws error at linearization if not at exact feasible point, and infinite error
+ Inheritance diagram for gtsam::NonlinearEquality< VALUE >:

Standard Constructors

 NonlinearEquality (Key j, const T &feasible, const CompareFunction &_compare=std::bind(traits< T >::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9))
 Constructor - forces exact evaluation.
 
 NonlinearEquality (Key j, const T &feasible, double error_gain, const CompareFunction &_compare=std::bind(traits< T >::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9))
 Constructor - allows inexact evaluation.
 

Testable

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...
 

Standard Interface

double error (const Values &c) const override
 Actual error function calculation. More...
 
Vector evaluateError (const T &xj, boost::optional< Matrix & > H=boost::none) const override
 Error function. More...
 
GaussianFactor::shared_ptr linearize (const Values &x) const override
 Linearize is over-written, because base linearization tries to whiten. More...
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 

Public Member Functions

 NonlinearEquality ()
 Default constructor - only for serialization.
 
- Public Member Functions inherited from gtsam::NoiseModelFactor1< VALUE >
 NoiseModelFactor1 ()
 Default constructor for I/O only.
 
 ~NoiseModelFactor1 () override
 
Key key () const
 
 NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)
 Constructor. More...
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Calls the 1-key specific version of evaluateError below, which is pure virtual so must be implemented in the derived class. More...
 
- 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 SharedNoiseModelnoiseModel () 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< GaussianFactorlinearize (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.
 
KeyVectorkeys ()
 
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 KeyVectorkeys () 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 Attributes

CompareFunction compare_
 

Public Types

typedef VALUE T
 
using CompareFunction = std::function< bool(const T &, const T &)>
 Function that compares two values.
 
- Public Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef VALUE X
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 Noise model.
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::Factor
typedef KeyVector::iterator iterator
 Iterator over keys.
 
typedef KeyVector::const_iterator const_iterator
 Const iterator over keys.
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor1< VALUE > 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 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
 
- 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...
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 

Member Function Documentation

◆ clone()

template<class VALUE >
gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearEquality< VALUE >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ equals()

template<class VALUE >
bool gtsam::NonlinearEquality< VALUE >::equals ( const NonlinearFactor f,
double  tol = 1e-9 
) const
inlineoverridevirtual

Check if two factors are equal.

Reimplemented from gtsam::NonlinearFactor.

◆ error()

template<class VALUE >
double gtsam::NonlinearEquality< VALUE >::error ( const Values c) const
inlineoverridevirtual

Actual error function calculation.

Implements gtsam::NonlinearFactor.

◆ evaluateError()

template<class VALUE >
Vector gtsam::NonlinearEquality< VALUE >::evaluateError ( const T &  xj,
boost::optional< Matrix & >  H = boost::none 
) const
inlineoverridevirtual

Error function.

Implements gtsam::NoiseModelFactor1< VALUE >.

◆ linearize()

template<class VALUE >
GaussianFactor::shared_ptr gtsam::NonlinearEquality< VALUE >::linearize ( const Values x) const
inlineoverridevirtual

Linearize is over-written, because base linearization tries to whiten.

Implements gtsam::NonlinearFactor.

◆ print()

template<class VALUE >
void gtsam::NonlinearEquality< VALUE >::print ( const std::string &  s = "",
const KeyFormatter formatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

print

Reimplemented from gtsam::Factor.


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