gtsam  4.1.0
gtsam
gtsam::LinearizedHessianFactor Class Reference

Detailed Description

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

+ Inheritance diagram for gtsam::LinearizedHessianFactor:

Public Member Functions

 LinearizedHessianFactor ()
 default constructor for serialization
 
 LinearizedHessianFactor (const HessianFactor::shared_ptr &hessian, const Values &lin_points)
 Use this constructor with the ordering used to linearize the graph. More...
 
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
 
double constantTerm () const
 Return the constant term \( f \) as described above. More...
 
constColumn linearTerm (const_iterator j) const
 Return the part of linear term \( g \) as described above corresponding to the requested variable. More...
 
constColumn linearTerm () const
 Return the complete linear term \( g \) as described above. More...
 
Matrix squaredTerm (const_iterator j1, const_iterator j2) const
 Return a copy of the block at (j1,j2) of the <emph>upper-triangular part</emph> of the squared term \( H \), no data is copied. More...
 
Eigen::SelfAdjointView< constBlock, Eigen::Upper > squaredTerm () const
 Return the <emph>upper-triangular part</emph> of the full squared term, as described above. More...
 
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
 
- 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 LinearizedHessianFactor This
 
typedef boost::shared_ptr< LinearizedHessianFactorshared_ptr
 shared pointer for convenience
 
typedef SymmetricBlockMatrix::Block Block
 hessian block data types More...
 
typedef SymmetricBlockMatrix::constBlock constBlock
 A block from the Hessian matrix (const version)
 
typedef SymmetricBlockMatrix::Block::ColXpr Column
 A column containing the linear term h.
 
typedef SymmetricBlockMatrix::constBlock::ColXpr constColumn
 A column containing the linear term h (const version)
 
- 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

SymmetricBlockMatrix info_
 The block view of the full information matrix, s.t. More...
 
- 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...
 

Member Typedef Documentation

◆ Block

typedef SymmetricBlockMatrix::Block gtsam::LinearizedHessianFactor::Block

hessian block data types

A block from the Hessian matrix

Constructor & Destructor Documentation

◆ LinearizedHessianFactor()

gtsam::LinearizedHessianFactor::LinearizedHessianFactor ( const HessianFactor::shared_ptr hessian,
const Values lin_points 
)

Use this constructor with the ordering used to linearize the graph.

Parameters
hessianA hessian factor
lin_pointsThe linearization points for, at least, the variables used by this factor

Member Function Documentation

◆ clone()

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

Reimplemented from gtsam::NonlinearFactor.

◆ constantTerm()

double gtsam::LinearizedHessianFactor::constantTerm ( ) const
inline

Return the constant term \( f \) as described above.

Returns
The constant term \( f \)

◆ linearTerm() [1/2]

constColumn gtsam::LinearizedHessianFactor::linearTerm ( ) const
inline

Return the complete linear term \( g \) as described above.

Returns
The linear term \( g \)

◆ linearTerm() [2/2]

constColumn gtsam::LinearizedHessianFactor::linearTerm ( const_iterator  j) const
inline

Return the part of linear term \( g \) as described above corresponding to the requested variable.

Parameters
jWhich block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.
Returns
The linear term \( g \)

◆ squaredTerm() [1/2]

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::LinearizedHessianFactor::squaredTerm ( ) const
inline

Return the <emph>upper-triangular part</emph> of the full squared term, as described above.

See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.

◆ squaredTerm() [2/2]

Matrix gtsam::LinearizedHessianFactor::squaredTerm ( const_iterator  j1,
const_iterator  j2 
) const
inline

Return a copy of the block at (j1,j2) of the <emph>upper-triangular part</emph> of the squared term \( H \), no data is copied.

See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.

Parameters
j1Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.
j2Which block column to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.
Returns
A copy of the requested block.

Member Data Documentation

◆ info_

SymmetricBlockMatrix gtsam::LinearizedHessianFactor::info_
protected

The block view of the full information matrix, s.t.

the quadratic error is 0.5*[x -1]'H[x -1]


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