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.

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.

## ◆ 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: