gtsam  4.1.0
gtsam
gtsam::TransformBtwRobotsUnaryFactorEM< VALUE > Class Template Reference
+ Inheritance diagram for gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >:

Public Member Functions

 TransformBtwRobotsUnaryFactorEM ()
 default constructor - only use for serialization
 
 TransformBtwRobotsUnaryFactorEM (Key key, const VALUE &measured, Key keyA, Key keyB, const Values &valA, const Values &valB, const SharedGaussian &model_inlier, const SharedGaussian &model_outlier, const double prior_inlier, const double prior_outlier, const bool flag_bump_up_near_zero_probs=false, const bool start_with_M_step=false)
 Constructor.
 
NonlinearFactor::shared_ptr clone () const override
 Clone.
 
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 implement functions needed for Testable More...
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 equals
 
void setValAValB (const Values &valA, const Values &valB)
 implement functions needed to derive from Factor
 
double error (const Values &x) const override
 Calculate the error of the factor This is typically equal to log-likelihood, e.g. 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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
 
Vector whitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
 
Vector calcIndicatorProb (const Values &x) const
 
Vector calcIndicatorProb (const Values &x, const Vector &err) const
 
Vector unwhitenedError (const Values &x) const
 
SharedGaussian get_model_inlier () const
 
SharedGaussian get_model_outlier () const
 
Matrix get_model_inlier_cov () const
 
Matrix get_model_outlier_cov () const
 
void updateNoiseModels (const Values &values, const Marginals &marginals)
 
void updateNoiseModels (const Values &values, const NonlinearFactorGraph &graph)
 
void updateNoiseModels_givenCovs (const Values &values, const Matrix &cov1, const Matrix &cov2, const Matrix &cov12)
 
size_t dim () const override
 get the dimension of the factor (number of rows on linearization)
 
- 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
 
typedef boost::shared_ptr< TransformBtwRobotsUnaryFactorEMshared_ptr
 concept check by type
 
- 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.
 

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...
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 

Member Function Documentation

◆ error()

template<class VALUE >
double gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::error ( const Values c) const
inlineoverridevirtual

Calculate the error of the factor This is typically equal to log-likelihood, e.g.

\( 0.5(h(x)-z)^2/sigma^2 \) in case of Gaussian. You can override this for systems with unusual noise models.

Implements gtsam::NonlinearFactor.

◆ print()

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

implement functions needed for Testable

print

Reimplemented from gtsam::NonlinearFactor.


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