gtsam  4.1.0
gtsam
gtsam::LinearizedJacobianFactor Class Reference

Detailed Description

A factor that takes a linear, Jacobian factor and inserts it into a nonlinear graph.

+ Inheritance diagram for gtsam::LinearizedJacobianFactor:

Public Member Functions

 LinearizedJacobianFactor ()
 default constructor for serialization
 
 LinearizedJacobianFactor (const JacobianFactor::shared_ptr &jacobian, const Values &lin_points)
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print function
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 equals function with optional tolerance
 
const constBVector b () const
 
const constABlock A () const
 
const constABlock A (Key key) const
 
size_t dim () const override
 get the dimension of the factor (number of rows on linearization)
 
double error (const Values &c) const override
 Calculate the error of the factor.
 
boost::shared_ptr< GaussianFactorlinearize (const Values &c) const override
 linearize to a GaussianFactor Reimplemented from NoiseModelFactor to directly copy out the matrices and only update the RHS b with an updated residual
 
Vector error_vector (const Values &c) const
 (A*x-b)
 
- Public Member Functions inherited from gtsam::LinearizedGaussianFactor
 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 ~NonlinearFactor ()
 Destructor.
 
virtual bool active (const Values &) const
 Checks whether a factor should be used based on a set of values. 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 LinearizedGaussianFactor Base
 base type
 
typedef LinearizedJacobianFactor This
 
typedef boost::shared_ptr< LinearizedJacobianFactorshared_ptr
 shared pointer for convenience
 
typedef VerticalBlockMatrix::Block ABlock
 
typedef VerticalBlockMatrix::constBlock constABlock
 
typedef VerticalBlockMatrix::Block::ColXpr BVector
 
typedef VerticalBlockMatrix::constBlock::ConstColXpr constBVector
 
- Public Types inherited from gtsam::LinearizedGaussianFactor
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

VerticalBlockMatrix Ab_
 
- Protected Attributes inherited from gtsam::LinearizedGaussianFactor
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

◆ LinearizedJacobianFactor()

gtsam::LinearizedJacobianFactor::LinearizedJacobianFactor ( const JacobianFactor::shared_ptr jacobian,
const Values lin_points 
)
Parameters
jacobianA jacobian factor
lin_pointsThe linearization points for, at least, the variables used by this factor

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::LinearizedJacobianFactor::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.


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