Detailed Description

Nonlinear factor base class.

Inheritance diagram for gtsam::NonlinearFactor:

Standard Constructors
	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.

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

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

Standard Interface
virtual	~NonlinearFactor ()
	Destructor.

virtual double	error (const Values &c) const =0
	Calculate the error of the factor This is typically equal to log-likelihood, e.g. More...

virtual size_t	dim () const =0
	get the dimension of the factor (number of rows on linearization) More...

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

virtual boost::shared_ptr< GaussianFactor >	linearize (const Values &c) const =0
	linearize to a GaussianFactor More...

virtual shared_ptr	clone () const
	Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. 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 Types
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 Factor	Base

typedef NonlinearFactor	This

Additional Inherited Members
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

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::Factor
KeyVector	keys_
	The keys involved in this factor.

Member Function Documentation

◆ active()

virtual bool gtsam::NonlinearFactor::active ( const Values & ) const

inlinevirtual

Checks whether a factor should be used based on a set of values.

This is primarily used to implement inequality constraints that require a variable active set. For all others, the default implementation returning true solves this problem.

In an inequality/bounding constraint, this active() returns true when the constraint is NOT fulfilled.

Returns: true if the constraint is active

Reimplemented in gtsam::AntiFactor, gtsam::BoundingConstraint1< VALUE >, and gtsam::BoundingConstraint2< VALUE1, VALUE2 >.

◆ clone()

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

inlinevirtual

Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses.

By default, throws exception if subclass does not implement the function.

Reimplemented in gtsam::AHRSFactor, gtsam::Rot3AttitudeFactor, gtsam::Pose3AttitudeFactor, gtsam::CombinedImuFactor, gtsam::GPSFactor, gtsam::GPSFactor2, gtsam::ImuFactor, gtsam::ImuFactor2, gtsam::MagFactor, gtsam::MagFactor1, gtsam::MagFactor2, gtsam::MagFactor3, gtsam::MagPoseFactor< POSE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type >, gtsam::FunctorizedFactor< R, T >, gtsam::FunctorizedFactor< double, ParameterMatrix< P > >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< T, ParameterMatrix< traits< T >::dimension > >, gtsam::FunctorizedFactor< Vector, ParameterMatrix< M > >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::LinearContainerFactor, gtsam::NonlinearEquality< VALUE >, gtsam::NonlinearEquality1< VALUE >, gtsam::NonlinearEquality2< T >, gtsam::PriorFactor< VALUE >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::RangeFactor< A1, A2, T >, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::AntiFactor, gtsam::BetweenFactor< VALUE >, gtsam::EssentialMatrixConstraint, gtsam::EssentialMatrixFactor, gtsam::EssentialMatrixFactor2, gtsam::EssentialMatrixFactor3, gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::PoseRotationPrior< POSE >, gtsam::PoseTranslationPrior< POSE >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::RotateFactor, gtsam::RotateDirectionsFactor, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::FullIMUFactor< POSE >, gtsam::IMUFactor< POSE >, gtsam::PendulumFactor1, gtsam::PendulumFactor2, gtsam::PendulumFactorPk, gtsam::PendulumFactorPk1, gtsam::Reconstruction, gtsam::DiscreteEulerPoincareHelicopter, gtsam::VelocityConstraint, gtsam::VelocityConstraint3, gtsam::LinearizedJacobianFactor, gtsam::LinearizedHessianFactor, gtsam::DummyFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::PoseBetweenFactor< POSE >, gtsam::PosePriorFactor< POSE >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorRollingShutter, gtsam::RelativeElevationFactor, gtsam::SmartRangeFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, and gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >.

◆ dim()

virtual size_t gtsam::NonlinearFactor::dim ( ) const

pure virtual

get the dimension of the factor (number of rows on linearization)

Implemented in gtsam::LinearContainerFactor, gtsam::NoiseModelFactor, gtsam::WhiteNoiseFactor, gtsam::ShonanGaugeFactor, gtsam::AntiFactor, gtsam::KarcherMeanFactor< T >, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::LinearizedJacobianFactor, gtsam::LinearizedHessianFactor, gtsam::BetweenFactorEM< VALUE >, gtsam::DummyFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, and gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >.

◆ equals()

bool gtsam::NonlinearFactor::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

virtual

Check if two factors are equal.

Reimplemented in gtsam::AHRSFactor, gtsam::FullIMUFactor< POSE >, gtsam::IMUFactor< POSE >, gtsam::PoseToPointFactor, gtsam::Rot3AttitudeFactor, gtsam::Pose3AttitudeFactor, gtsam::CombinedImuFactor, gtsam::GPSFactor, gtsam::GPSFactor2, gtsam::ImuFactor, gtsam::ImuFactor2, gtsam::MagPoseFactor< POSE >, gtsam::PriorFactor< VALUE >, gtsam::ShonanFactor< d >, gtsam::AntiFactor, gtsam::BetweenFactor< VALUE >, gtsam::EssentialMatrixConstraint, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::OrientedPlane3DirectionPrior, gtsam::PoseRotationPrior< POSE >, gtsam::PoseTranslationPrior< POSE >, gtsam::LinearizedJacobianFactor, gtsam::LinearizedHessianFactor, gtsam::BiasedGPSFactor, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::PoseBetweenFactor< POSE >, gtsam::PosePriorFactor< POSE >, gtsam::RelativeElevationFactor, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type >, gtsam::LinearContainerFactor, gtsam::NonlinearEquality< VALUE >, gtsam::NoiseModelFactor, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::BetweenFactorEM< VALUE >, gtsam::DummyFactor, gtsam::SmartRangeFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::FunctorizedFactor< R, T >, gtsam::FunctorizedFactor< double, ParameterMatrix< P > >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< T, ParameterMatrix< traits< T >::dimension > >, gtsam::FunctorizedFactor< Vector, ParameterMatrix< M > >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::TriangulationFactor< CAMERA >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InvDepthFactorVariant1, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3a, gtsam::InvDepthFactorVariant3b, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorRollingShutter, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartStereoProjectionFactor, gtsam::SmartStereoProjectionFactorPP, and gtsam::SmartStereoProjectionPoseFactor.

◆ error()

virtual double gtsam::NonlinearFactor::error ( const Values & c ) const

pure virtual

Calculate the error of the factor This is typically equal to log-likelihood, e.g.

\( 0.5(h(x)-z)^2/sigma^2 \) in case of Gaussian. You can override this for systems with unusual noise models.

Implemented in gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::LinearContainerFactor, gtsam::NonlinearEquality< VALUE >, gtsam::NoiseModelFactor, gtsam::ShonanGaugeFactor, gtsam::AntiFactor, gtsam::KarcherMeanFactor< T >, gtsam::LinearizedJacobianFactor, gtsam::LinearizedHessianFactor, gtsam::DummyFactor, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartStereoProjectionFactor, gtsam::SmartStereoProjectionFactorPP, gtsam::SmartStereoProjectionPoseFactor, gtsam::WhiteNoiseFactor, gtsam::BetweenFactorEM< VALUE >, and gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >.

◆ linearize()

virtual boost::shared_ptr< GaussianFactor > gtsam::NonlinearFactor::linearize ( const Values & c ) const

pure virtual

linearize to a GaussianFactor

Implemented in gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::LinearContainerFactor, gtsam::ShonanGaugeFactor, gtsam::AntiFactor, gtsam::KarcherMeanFactor< T >, gtsam::LinearizedJacobianFactor, gtsam::LinearizedHessianFactor, gtsam::DummyFactor, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartStereoProjectionFactor, gtsam::SmartStereoProjectionFactorPP, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type >, gtsam::NonlinearEquality< VALUE >, gtsam::NoiseModelFactor, gtsam::WhiteNoiseFactor, gtsam::TriangulationFactor< CAMERA >, gtsam::BetweenFactorEM< VALUE >, and gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >.

◆ print()

void gtsam::NonlinearFactor::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::WhiteNoiseFactor, gtsam::PoseToPointFactor, gtsam::PriorFactor< VALUE >, gtsam::ShonanFactor< d >, gtsam::AntiFactor, gtsam::BetweenFactor< VALUE >, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::BetweenFactorEM< VALUE >, gtsam::BiasedGPSFactor, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::PoseBetweenFactor< POSE >, gtsam::PosePriorFactor< POSE >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::FullIMUFactor< POSE >, gtsam::IMUFactor< POSE >, gtsam::VelocityConstraint, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type >, gtsam::FunctorizedFactor< double, ParameterMatrix< P > >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< T, ParameterMatrix< traits< T >::dimension > >, gtsam::FunctorizedFactor< Vector, ParameterMatrix< M > >, gtsam::NoiseModelFactor, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::EssentialMatrixConstraint, gtsam::EssentialMatrixFactor, gtsam::EssentialMatrixFactor2, gtsam::EssentialMatrixFactor3, gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::PoseRotationPrior< POSE >, gtsam::PoseTranslationPrior< POSE >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::RotateFactor, gtsam::RotateDirectionsFactor, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::LinearizedJacobianFactor, gtsam::LinearizedHessianFactor, gtsam::DummyFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::ProjectionFactorRollingShutter, gtsam::RelativeElevationFactor, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartRangeFactor, gtsam::SmartStereoProjectionFactor, gtsam::SmartStereoProjectionFactorPP, gtsam::SmartStereoProjectionPoseFactor, gtsam::BearingFactor< A1, A2, T >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::RangeFactor< A1, A2, T >, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InvDepthFactorVariant1, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3b, gtsam::InvDepthFactorVariant3a, gtsam::LocalOrientedPlane3Factor, gtsam::OrientedPlane3DirectionPrior, gtsam::OrientedPlane3Factor, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, and gtsam::GeneralSFMFactor2< CALIBRATION >.

◆ rekey() [1/2]

NonlinearFactor::shared_ptr gtsam::NonlinearFactor::rekey ( const KeyVector & new_keys ) const

virtual

Clones a factor and fully replaces its keys.

Parameters

new_keys is the full replacement set of keys

Reimplemented in gtsam::LinearContainerFactor.

◆ rekey() [2/2]

NonlinearFactor::shared_ptr gtsam::NonlinearFactor::rekey ( const std::map< Key, Key > & rekey_mapping ) const

virtual

Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.

Reimplemented in gtsam::LinearContainerFactor.

◆ sendable()

virtual bool gtsam::NonlinearFactor::sendable ( ) const

inlinevirtual

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)

Reimplemented in gtsam::CustomFactor.

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

/Users/dellaert/git/github/gtsam/nonlinear/NonlinearFactor.h
/Users/dellaert/git/github/gtsam/nonlinear/NonlinearFactor.cpp

Detailed Description

Standard Constructors

Testable

Standard Interface

Public Types

Protected Types

Additional Inherited Members

Member Function Documentation

◆ active()

◆ clone()

◆ dim()

◆ equals()

◆ error()

◆ linearize()

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()