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gtsam::LinearizedGaussianFactor Class Reference
Detailed Description
A base factor class for the Jacobian and Hessian linearized factors.
Inheritance diagram for gtsam::LinearizedGaussianFactor:
Public Member Functions | |
| LinearizedGaussianFactor () | |
| default constructor for serialization | |
| LinearizedGaussianFactor (const GaussianFactor::shared_ptr &gaussian, const Values &lin_points) | |
| const Values & | linearizationPoint () const |
| 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. | |
| virtual double | error (const Values &c) const |
| double | error (const HybridValues &c) const override |
| All factor types need to implement an error function. | |
| virtual size_t | dim () const =0 |
| get the dimension of the factor (number of rows on linearization) | |
| virtual bool | active (const Values &) const |
| Checks whether a factor should be used based on a set of values. | |
| virtual boost::shared_ptr< GaussianFactor > | linearize (const Values &c) const =0 |
| linearize to a GaussianFactor | |
| 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. | |
Public Types | |
| typedef NonlinearFactor | Base |
| base type | |
| typedef LinearizedGaussianFactor | This |
| typedef boost::shared_ptr< LinearizedGaussianFactor > | shared_ptr |
| shared pointer for convenience | |
| 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 Attributes | |
| Values | lin_points_ |
| linearization points for error calculation | |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. | |
Friends | |
| class | boost::serialization::access |
| Serialization function. | |
Additional Inherited Members | |
| 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. | |
Constructor & Destructor Documentation
◆ LinearizedGaussianFactor()
| gtsam::LinearizedGaussianFactor::LinearizedGaussianFactor | ( | const GaussianFactor::shared_ptr & | gaussian, |
| const Values & | lin_points ) |
- Parameters
-
gaussian A jacobian or hessian factor lin_points The linearization points for, at least, the variables used by this factor
The documentation for this class was generated from the following files:
- /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam_unstable/nonlinear/LinearizedFactor.h
- /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam_unstable/nonlinear/LinearizedFactor.cpp
