gtsam 4.1.1
gtsam

Implement the Reconstruction equation: \( g_{k+1} = g_k \exp (h\xi_k) \), where \( h \): timestep (parameter) \( g_{k+1}, g_{k} \): poses at the current and the next timestep \( \xi_k \): the bodyfixed velocity (Lie algebra) It is somewhat similar to BetweenFactor, but treats the bodyfixed velocity \( \xi_k \) as a variable.
So it is a threeway factor. Note: this factor is necessary if one needs to smooth the entire graph. It's not needed in sequential update method.
Public Member Functions  
Reconstruction (Key gKey1, Key gKey, Key xiKey, double h, double mu=1000.0)  
gtsam::NonlinearFactor::shared_ptr  clone () const override 
Public Member Functions inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector6 >  
NoiseModelFactor3 ()  
Default Constructor for I/O.  
NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3)  
Constructor. More...  
Key  key1 () const 
methods to retrieve keys  
Key  key2 () const 
Key  key3 () const 
Vector  unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override 
Calls the 3key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...  
virtual Vector  evaluateError (const X1 &, const X2 &, const X3 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const=0 
Override this method to finish implementing a trinary factor. More...  
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. More...  
bool  equals (const NonlinearFactor &f, double tol=1e9) const override 
Check if two factors are equal. More...  
size_t  dim () const override 
get the dimension of the factor (number of rows on linearization) More...  
const SharedNoiseModel &  noiseModel () const 
access to the noise model  
virtual Vector  unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const =0 
Error function without the NoiseModel, \( zh(x) \). More...  
Vector  whitenedError (const Values &c) const 
Vector of errors, whitened This is the raw error, i.e., i.e. More...  
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. More...  
boost::shared_ptr< GaussianFactor >  linearize (const Values &x) const override 
Linearize a nonlinearFactorN to get a GaussianFactor, \( Axb \approx h(x+\delta x)z = h(x) + A \delta x  z \) Hence \( b = z  h(x) =  \mathtt{error\_vector}(x) \). More...  
shared_ptr  cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const 
Creates a shared_ptr clone of the factor with a new noise model.  
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 
Additional Inherited Members  
Public Types inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector6 >  
typedef Pose3  X1 
typedef Pose3  X2 
typedef Vector6  X3 
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.  
Protected Types inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector6 >  
typedef NoiseModelFactor  Base 
typedef NoiseModelFactor3< Pose3, Pose3, Vector6 >  This 
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.  
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=1e9) 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::NoiseModelFactor  
SharedNoiseModel  noiseModel_ 
Protected Attributes inherited from gtsam::Factor  
KeyVector  keys_ 
The keys involved in this factor.  

inlineoverridevirtual 
Reimplemented from gtsam::NonlinearFactor.