gtsam  4.1.0
gtsam
gtsam::KarcherMeanFactor< T > Class Template Reference

Detailed Description

template<class T>
class gtsam::KarcherMeanFactor< T >

The KarcherMeanFactor creates a constraint on all SO(n) variables with given keys that the Karcher mean (see above) will stay the same.

Note the mean itself is irrelevant to the constraint and is not a parameter: the constraint is implemented as enforcing that the sum of local updates is equal to zero, hence creating a rank-dim constraint. Note it is implemented as a soft constraint, as typically it is used to fix a gauge freedom.

+ Inheritance diagram for gtsam::KarcherMeanFactor< T >:

Public Member Functions

template<typename CONTAINER >
 KarcherMeanFactor (const CONTAINER &keys, int d=D, boost::optional< double > beta=boost::none)
 Construct from given keys. More...
 
virtual ~KarcherMeanFactor ()
 Destructor.
 
double error (const Values &c) const override
 Calculate the error of the factor: always zero.
 
size_t dim () const override
 get the dimension of the factor (number of rows on linearization)
 
boost::shared_ptr< GaussianFactorlinearize (const Values &c) const override
 linearize to a GaussianFactor
 
- 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 void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 print
 
virtual bool equals (const NonlinearFactor &f, double tol=1e-9) const
 Check if two factors are equal.
 
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...
 
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.
 
shared_ptr rekey (const KeyVector &new_keys) const
 Clones a factor and fully replaces its keys. More...
 
- Public Member Functions inherited from gtsam::Factor
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
 
void print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print
 
void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys
 
KeyVectorkeys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 

Additional Inherited Members

- 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.
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- 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.
 

Constructor & Destructor Documentation

◆ KarcherMeanFactor()

template<class T >
template<typename CONTAINER >
gtsam::KarcherMeanFactor< T >::KarcherMeanFactor ( const CONTAINER &  keys,
int  d = D,
boost::optional< double >  beta = boost::none 
)

Construct from given keys.

If parameter beta is given, it acts as a precision = 1/sigma^2, and the Jacobian will be multiplied with 1/sigma = sqrt(beta).


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