gtsam  4.1.0
gtsam
gtsam::PartialPriorFactor< VALUE > Class Template Reference

Detailed Description

template<class VALUE>
class gtsam::PartialPriorFactor< VALUE >

A class for a soft partial prior on any Lie type, with a mask over Expmap parameters.

Note that this will use Logmap() to find a tangent space parameterization for the variable attached, so this may fail for highly nonlinear manifolds.

The prior vector used in this factor is stored in compressed form, such that it only contains values for measurements that are to be compared, and they are in the same order as VALUE::Logmap(). The mask will determine which components to extract in the error function.

For practical use, it would be good to subclass this factor and have the class type construct the mask.

Template Parameters
VALUEis the type of variable the prior effects
+ Inheritance diagram for gtsam::PartialPriorFactor< VALUE >:

Public Member Functions

 PartialPriorFactor (Key key, size_t idx, double prior, const SharedNoiseModel &model)
 Single Element Constructor: acts on a single parameter specified by idx.
 
 PartialPriorFactor (Key key, const std::vector< size_t > &mask, const Vector &prior, const SharedNoiseModel &model)
 Indices Constructor: specify the mask with a set of indices.
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 implement functions needed for Testable More...
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 equals
 
Vector evaluateError (const T &p, boost::optional< Matrix & > H=boost::none) const override
 implement functions needed to derive from Factor More...
 
const Vector & prior () const
 
const std::vector< size_t > & mask () const
 
const Matrix & H () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor1< VALUE >
 NoiseModelFactor1 ()
 Default constructor for I/O only.
 
virtual ~NoiseModelFactor1 ()
 
Key key () const
 
 NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)
 Constructor. More...
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Calls the 1-key specific version of evaluateError below, which is pure virtual so must be implemented in the derived class.
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor ()
 Default constructor for I/O only.
 
virtual ~NoiseModelFactor ()
 Destructor.
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 Constructor.
 
size_t dim () const override
 get the dimension of the factor (number of rows on linearization)
 
const SharedNoiseModelnoiseModel () const
 access to the noise model
 
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< GaussianFactorlinearize (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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
 
- 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 VALUE T
 
- Public Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef VALUE X
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 Noise model.
 
- 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

typedef NoiseModelFactor1< VALUE > Base
 
typedef PartialPriorFactor< VALUE > This
 
- Protected Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor1< VALUE > 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
 

Protected Member Functions

 PartialPriorFactor ()
 default constructor - only use for serialization
 
 PartialPriorFactor (Key key, const SharedNoiseModel &model)
 constructor with just minimum requirements for a factor - allows more computation in the constructor. More...
 
void fillH ()
 Constructs the jacobian matrix in place.
 
- 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
 

Protected Attributes

Vector prior_
 measurement on tangent space parameters, in compressed form
 
std::vector< size_t > mask_
 indices of values to constrain in compressed prior vector
 
Matrix H_
 Constant Jacobian - computed at creation.
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- 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

◆ PartialPriorFactor()

template<class VALUE >
gtsam::PartialPriorFactor< VALUE >::PartialPriorFactor ( Key  key,
const SharedNoiseModel model 
)
inlineprotected

constructor with just minimum requirements for a factor - allows more computation in the constructor.

This should only be used by subclasses

Member Function Documentation

◆ clone()

template<class VALUE >
gtsam::NonlinearFactor::shared_ptr gtsam::PartialPriorFactor< VALUE >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

template<class VALUE >
Vector gtsam::PartialPriorFactor< VALUE >::evaluateError ( const T &  p,
boost::optional< Matrix & >  H = boost::none 
) const
inlineoverridevirtual

implement functions needed to derive from Factor

vector of errors

Implements gtsam::NoiseModelFactor1< VALUE >.

◆ print()

template<class VALUE >
void gtsam::PartialPriorFactor< VALUE >::print ( const std::string &  s,
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

implement functions needed for Testable

print

Reimplemented from gtsam::NoiseModelFactor.


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