Detailed Description

Binary factor between two Pose3 variables induced by an EssentialMatrix measurement.

Inheritance diagram for gtsam::EssentialMatrixConstraint:

Public Member Functions
	EssentialMatrixConstraint ()
	default constructor - only use for serialization
	EssentialMatrixConstraint (Key key1, Key key2, const EssentialMatrix &measuredE, const SharedNoiseModel &model)
	Constructor.
gtsam::NonlinearFactor::shared_ptr	clone () const override
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	implement functions needed for Testable
bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override
	equals
Vector	evaluateError (const Pose3 &p1, const Pose3 &p2, boost::optional< Matrix & > Hp1=boost::none, boost::optional< Matrix & > Hp2=boost::none) const override
	implement functions needed to derive from Factor
const EssentialMatrix &	measured () const
	return the measured
Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Pose3 >
Key	key () const
	Returns a key.
	NoiseModelFactorN ()
	Default Constructor for I/O.
	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
	Constructor.
	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
	Constructor.
Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
	This implements the unwhitenedError virtual function by calling the n-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrix< ValueTypes >... H) const=0
	Override evaluateError to finish implementing an n-way factor.
Vector	evaluateError (const ValueTypes &... x) const
	No-Jacobians requested function overload.
Vector	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
	Some (but not all) optional Jacobians are omitted (function overload).
Key	key1 () const
Key	key2 () const
Key	key3 () const
Key	key4 () const
Key	key5 () const
Key	key6 () const
Public Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor ()
	Default constructor for I/O only.
	~NoiseModelFactor () override
	Destructor.
template<typename CONTAINER>
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	Print.
bool	equals (const NonlinearFactor &f, double tol=1e-9) const override
	Check if two factors are equal.
size_t	dim () const override
	get the dimension of the factor (number of rows on linearization)
const SharedNoiseModel &	noiseModel () 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.
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.
boost::shared_ptr< GaussianFactor >	linearize (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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
	Creates a shared_ptr clone of the factor with a new noise model.
	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.
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print
virtual	~NonlinearFactor ()
	Destructor.
double	error (const HybridValues &c) const override
	All factor types need to implement an error function.
virtual bool	active (const Values &) const
	Checks whether a factor should be used based on a set of values.
virtual 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.
virtual shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys.
virtual bool	sendable () const
	Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock).
Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.
bool	empty () const
	Whether the factor is empty (involves zero variables).
Key	front () const
	First key.
Key	back () const
	Last key.
const_iterator	find (Key key) const
	find
const KeyVector &	keys () 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
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
bool	equals (const This &other, double tol=1e-9) const
	check equality
KeyVector &	keys ()
iterator	begin ()
	Iterator at beginning of involved variable keys.
iterator	end ()
	Iterator at end of involved variable keys.

Public Types
typedef boost::shared_ptr< EssentialMatrixConstraint >	shared_ptr
	The measurement is an essential matrix.
Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Pose3 >
enum
	N is the number of variables (N-way factor).
using	ValueType
	The type of the I'th template param can be obtained as ValueType.
Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.
Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_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::NoiseModelFactorN< Pose3, Pose3 >
using	Base
using	This
using	OptionalMatrix
using	KeyType
using	IsConvertible
using	IndexIsValid
using	ContainerElementType
using	IsContainerOfKeys
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 inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
	Constructor - only for subclasses, as this does not set keys.
	Factor ()
	Default constructor for I/O.
template<typename CONTAINER>
	Factor (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.
template<typename CONTAINER>
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys.
template<typename ITERATOR>
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys.
Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Constructor & Destructor Documentation

◆ EssentialMatrixConstraint()

gtsam::EssentialMatrixConstraint::EssentialMatrixConstraint	(	Key	key1,
		Key	key2,
		const EssentialMatrix &	measuredE,
		const SharedNoiseModel &	model )

inline

Constructor.

Parameters

key1	key for first pose
key2	key for second pose
measuredE	measured EssentialMatrix
model	noise model, 5D !

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::EssentialMatrixConstraint::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ equals()

bool gtsam::EssentialMatrixConstraint::equals	(	const NonlinearFactor &	expected,
		double	tol = 1e-9 ) const

overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

Vector gtsam::EssentialMatrixConstraint::evaluateError	(	const Pose3 &	p1,
		const Pose3 &	p2,
		boost::optional< Matrix & >	Hp1 = boost::none,
		boost::optional< Matrix & >	Hp2 = boost::none ) const

override

implement functions needed to derive from Factor

vector of errors

◆ print()

void gtsam::EssentialMatrixConstraint::print	(	const std::string &	s = "",
		const KeyFormatter &	keyFormatter = DefaultKeyFormatter ) const

overridevirtual

implement functions needed for Testable

print

Reimplemented from gtsam::Factor.

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

/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/slam/EssentialMatrixConstraint.h
/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/slam/EssentialMatrixConstraint.cpp

Detailed Description

Public Member Functions

Public Types

Friends