Detailed Description

template<class VALUE1, class VALUE2, class VALUE3, class VALUE4, class VALUE5>
class gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >

A convenient base class for creating your own NoiseModelFactor with 5 variables.

To derive from this class, implement evaluateError().

Inheritance diagram for gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >:

Public Member Functions
	NoiseModelFactor5 ()
	Default Constructor for I/O.

	NoiseModelFactor5 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5)
	Constructor. More...

Key	key1 () const
	methods to retrieve keys

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
	Calls the 5-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...

virtual Vector	evaluateError (const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none, boost::optional< Matrix & > H5=boost::none) const =0
	Override this method to finish implementing a 5-way 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 VALUE1	X1

typedef VALUE2	X2

typedef VALUE3	X3

typedef VALUE4	X4

typedef VALUE5	X5

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 NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >	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

◆ NoiseModelFactor5()

template<class VALUE1 , class VALUE2 , class VALUE3 , class VALUE4 , class VALUE5 >

gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >::NoiseModelFactor5	(	const SharedNoiseModel &	noiseModel,
		Key	j1,
		Key	j2,
		Key	j3,
		Key	j4,
		Key	j5
	)

inline

Constructor.

Parameters

noiseModel	shared pointer to noise model
j1	key of the first variable
j2	key of the second variable
j3	key of the third variable
j4	key of the fourth variable
j5	key of the fifth variable

Member Function Documentation

◆ evaluateError()

template<class VALUE1 , class VALUE2 , class VALUE3 , class VALUE4 , class VALUE5 >

virtual Vector gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >::evaluateError	(	const X1 &	,
		const X2 &	,
		const X3 &	,
		const X4 &	,
		const X5 &	,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`,
		boost::optional< Matrix & >	H4 = `boost::none`,
		boost::optional< Matrix & >	H5 = `boost::none`
	)		const

pure virtual

Override this method to finish implementing a 5-way factor.

If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2, X3).

Implemented in gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, and gtsam::ImuFactor.

◆ unwhitenedError()

template<class VALUE1 , class VALUE2 , class VALUE3 , class VALUE4 , class VALUE5 >

Vector gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >::unwhitenedError	(	const Values &	x,
		boost::optional< std::vector< Matrix > & >	H = `boost::none`
	)		const

inlineoverridevirtual

Calls the 5-key specific version of evaluateError, 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

Detailed Description

Public Member Functions

Public Types

Protected Types

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ NoiseModelFactor5()

Member Function Documentation

◆ evaluateError()

◆ unwhitenedError()