Detailed Description

template<class VALUE>
class gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >

A class for a measurement predicted by "between(config[key1],config[key2])".

Template Parameters

VALUE the Value type

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.
void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	implement functions needed for Testable
bool	equals (const NonlinearFactor &f, double tol=1e-9) const override
	equals
void	setValAValB (const Values &valA, const Values &valB)
	implement functions needed to derive from Factor
double	error (const Values &x) const override
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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
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)
	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.
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	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 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
	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.

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 & x ) const

inlineoverridevirtual

Reimplemented from 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:

/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h

Detailed Description

Public Member Functions

Public Types

Friends

Additional Inherited Members

Member Function Documentation

◆ clone()

◆ dim()

◆ equals()

◆ error()

◆ linearize()

◆ print()