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. More...

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 More...

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< 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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \). More...

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) More...

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...

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. More...

virtual shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys. More...

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) More...

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.

KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

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

Public Types
typedef VALUE	T

typedef boost::shared_ptr< TransformBtwRobotsUnaryFactorEM >	shared_ptr
	concept check by type

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::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

◆ clone()

template<class VALUE >

NonlinearFactor::shared_ptr gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::clone ( ) const

inlineoverridevirtual

Clone.

Reimplemented from gtsam::NonlinearFactor.

◆ dim()

template<class VALUE >

size_t gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::dim ( ) const

inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

◆ equals()

template<class VALUE >

bool gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

◆ 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.

◆ linearize()

template<class VALUE >

boost::shared_ptr< GaussianFactor > gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::linearize ( const Values & x ) const

inlineoverridevirtual

Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).

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:

/Users/dellaert/git/github/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h

Public Member Functions

Public Types

Friends

Additional Inherited Members

Member Function Documentation

◆ clone()

◆ dim()

◆ equals()

◆ error()

◆ linearize()

◆ print()