gtsam 4.1.1
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. 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< 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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \). 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.
 
KeyVectorkeys ()
 
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 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
 

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

◆ 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: