gtsam::NoiseModelFactor1< VALUE > Class Template Referenceabstract
Detailed Description
template<class VALUE>
class gtsam::NoiseModelFactor1< VALUE >
class gtsam::NoiseModelFactor1< VALUE >
A convenient base class for creating your own NoiseModelFactor with 1 variable.
To derive from this class, implement evaluateError().
Templated on a values structure type. The values structures are typically more general than just vectors, e.g., Rot3 or Pose3, which are objects in non-linear manifolds (Lie groups).
Inheritance diagram for gtsam::NoiseModelFactor1< VALUE >:
Public Member Functions | |
Constructors | |
| NoiseModelFactor1 () | |
| Default constructor for I/O only. | |
| ~NoiseModelFactor1 () override | |
| Key | key () const |
| NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1) | |
| Constructor. More... | |
NoiseModelFactor methods | |
| 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... | |
Virtual methods | |
| virtual Vector | evaluateError (const X &x, boost::optional< Matrix & > H=boost::none) const =0 |
| Override this method to finish implementing a unary factor. 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 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 | 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 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 VALUE | X |
| 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 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 |
Friends | |
| class | boost::serialization::access |
| Serialization function. | |
Additional Inherited Members | |
| 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. | |
Constructor & Destructor Documentation
◆ NoiseModelFactor1()
template<class VALUE >
|
inline |
Constructor.
- Parameters
-
noiseModel shared pointer to noise model key1 by which to look up X value in Values
Member Function Documentation
◆ evaluateError()
template<class VALUE >
|
pure virtual |
Override this method to finish implementing a unary factor.
If the optional Matrix reference argument is specified, it should compute both the function evaluation and its derivative in X.
Implemented in gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::EssentialMatrixFactor, gtsam::GPSFactor2, gtsam::OrientedPlane3DirectionPrior, gtsam::FunctorizedFactor< Vector, ParameterMatrix< M > >, gtsam::FunctorizedFactor< double, ParameterMatrix< P > >, gtsam::TriangulationFactor< CAMERA >, gtsam::MagPoseFactor< POSE >, gtsam::PosePriorFactor< POSE >, gtsam::PoseRotationPrior< POSE >, gtsam::PoseTranslationPrior< POSE >, gtsam::Pose3AttitudeFactor, gtsam::GPSFactor, gtsam::FrobeniusPrior< Rot >, gtsam::MagFactor, gtsam::RotateDirectionsFactor, gtsam::Rot3AttitudeFactor, gtsam::MagFactor1, gtsam::RotateFactor, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::FunctorizedFactor< R, T >, gtsam::PriorFactor< VALUE >, gtsam::NonlinearEquality< VALUE >, gtsam::FunctorizedFactor< double, Vector >, gtsam::BoundingConstraint1< VALUE >, and gtsam::NonlinearEquality1< VALUE >.
◆ unwhitenedError()
template<class VALUE >
|
inlineoverridevirtual |
Calls the 1-key specific version of evaluateError below, which is pure virtual so must be implemented in the derived class.
Implements gtsam::NoiseModelFactor.
The documentation for this class was generated from the following file:
- /Users/dellaert/git/github/gtsam/nonlinear/NonlinearFactor.h
