gtsam  4.1.0
gtsam
gtsam::LinearizedGaussianFactor Class Reference

Detailed Description

A base factor class for the Jacobian and Hessian linearized factors.

+ Inheritance diagram for gtsam::LinearizedGaussianFactor:

Public Member Functions

 LinearizedGaussianFactor ()
 default constructor for serialization
 
 LinearizedGaussianFactor (const GaussianFactor::shared_ptr &gaussian, const Values &lin_points)
 
const ValueslinearizationPoint () const
 
- 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 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)
 
virtual bool active (const Values &) const
 Checks whether a factor should be used based on a set of values. More...
 
virtual boost::shared_ptr< GaussianFactorlinearize (const Values &c) const =0
 linearize to a GaussianFactor
 
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.
 

Public Types

typedef NonlinearFactor Base
 base type
 
typedef LinearizedGaussianFactor This
 
typedef boost::shared_ptr< LinearizedGaussianFactorshared_ptr
 shared pointer for convenience
 
- 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 Attributes

Values lin_points_
 linearization points for error calculation
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- 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...
 

Constructor & Destructor Documentation

◆ LinearizedGaussianFactor()

gtsam::LinearizedGaussianFactor::LinearizedGaussianFactor ( const GaussianFactor::shared_ptr gaussian,
const Values lin_points 
)
Parameters
gaussianA jacobian or hessian factor
lin_pointsThe linearization points for, at least, the variables used by this factor

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