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gtsam::KarcherMeanFactor< T > Class Template Reference
Detailed Description
template<class T>
class gtsam::KarcherMeanFactor< T >
class gtsam::KarcherMeanFactor< T >
The KarcherMeanFactor creates a constraint on all SO(n) variables with given keys that the Karcher mean (see above) will stay the same.
Note the mean itself is irrelevant to the constraint and is not a parameter: the constraint is implemented as enforcing that the sum of local updates is equal to zero, hence creating a rank-dim constraint. Note it is implemented as a soft constraint, as typically it is used to fix a gauge freedom.
Inheritance diagram for gtsam::KarcherMeanFactor< T >:
Public Member Functions | |
| template<typename CONTAINER> | |
| KarcherMeanFactor (const CONTAINER &keys, int d=D, boost::optional< double > beta=boost::none) | |
| Construct from given keys. | |
| ~KarcherMeanFactor () override | |
| Destructor. | |
| double | error (const Values &c) const override |
| Calculate the error of the factor: always zero. | |
| size_t | dim () const override |
| get the dimension of the factor (number of rows on linearization) | |
| boost::shared_ptr< GaussianFactor > | linearize (const Values &c) const override |
| linearize to a GaussianFactor | |
| 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 bool | equals (const NonlinearFactor &f, double tol=1e-9) const |
| Check if two factors are equal. | |
| 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 | clone () const |
| Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. | |
| 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. | |
Additional Inherited Members | |
| 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. | |
| Protected Types inherited from gtsam::NonlinearFactor | |
| typedef Factor | Base |
| typedef NonlinearFactor | This |
| 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::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. | |
Constructor & Destructor Documentation
◆ KarcherMeanFactor()
template<class T>
template<typename CONTAINER>
| gtsam::KarcherMeanFactor< T >::KarcherMeanFactor | ( | const CONTAINER & | keys, |
| int | d = D, | ||
| boost::optional< double > | beta = boost::none ) |
Construct from given keys.
If parameter beta is given, it acts as a precision = 1/sigma^2, and the Jacobian will be multiplied with 1/sigma = sqrt(beta).
Member Function Documentation
◆ dim()
template<class T>
|
inlineoverridevirtual |
get the dimension of the factor (number of rows on linearization)
Implements gtsam::NonlinearFactor.
◆ error()
template<class T>
|
inlineoverridevirtual |
Calculate the error of the factor: always zero.
Reimplemented from gtsam::NonlinearFactor.
◆ linearize()
template<class T>
|
inlineoverridevirtual |
linearize to a GaussianFactor
Implements gtsam::NonlinearFactor.
The documentation for this class was generated from the following files:
- /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/slam/KarcherMeanFactor.h
- /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/slam/KarcherMeanFactor-inl.h
