Detailed Description

Nonlinear factor base class.

Templated on a values structure type. The values structures are typically more general than just vectors, e.g., Rot3 or Pose3, which are objects in non-linear manifolds (Lie groups).

Inheritance diagram for gtsam::NonlinearFactor:

Standard Constructors
	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.

Testable
virtual void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print

virtual bool	equals (const NonlinearFactor &f, double tol=1e-9) const
	Check if two factors are equal.

Standard Interface
virtual	~NonlinearFactor ()
	Destructor.

virtual double	error (const Values &c) const =0
	Calculate the error of the factor This is typically equal to log-likelihood, e.g. More...

virtual size_t	dim () const =0
	get the dimension of the factor (number of rows on linearization)

virtual bool	active (const Values &c) const
	Checks whether a factor should be used based on a set of values. More...

virtual boost::shared_ptr < GaussianFactor >	linearize (const Values &c) const =0
	linearize to a GaussianFactor

virtual shared_ptr	clone () const
	Create a symbolic factor using the given ordering to determine the variable indices. More...

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.

shared_ptr	rekey (const std::vector< Key > &new_keys) const
	Clones a factor and fully replaces its keys. More...

Public Types
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef FastVector< Key >::iterator	iterator
	Iterator over keys.

typedef FastVector< Key > ::const_iterator	const_iterator
	Const iterator over keys.

Protected Types
typedef Factor	Base

typedef NonlinearFactor	This

Additional Inherited Members
Public Member Functions inherited from gtsam::Factor
Key	front () const
	First key.

Key	back () const
	Last key.

const_iterator	find (Key key) const
	find

const FastVector< Key > &	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

void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print

void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

FastVector< Key > &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable 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=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
FastVector< Key >	keys_
	The keys involved in this factor.

Member Function Documentation

virtual bool gtsam::NonlinearFactor::active ( const Values & c ) const

inlinevirtual

Checks whether a factor should be used based on a set of values.

This is primarily used to implment inequality constraints that require a variable active set. For all others, the default implementation returning true solves this problem.

In an inequality/bounding constraint, this active() returns true when the constraint is NOT fulfilled.

Returns: true if the constraint is active

Reimplemented in gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::AntiFactor, and gtsam::BoundingConstraint1< VALUE >.

virtual shared_ptr gtsam::NonlinearFactor::clone ( ) const

inlinevirtual

Create a symbolic factor using the given ordering to determine the variable indices.

Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses

By default, throws exception if subclass does not implement the function.

Reimplemented in gtsam::NonlinearEquality2< VALUE >, gtsam::EssentialMatrixFactor3, gtsam::NonlinearEquality1< VALUE >, gtsam::NonlinearEquality< VALUE >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::EssentialMatrixFactor2, gtsam::LinearContainerFactor, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::TriangulationFactor< CALIBRATION >, gtsam::RotateDirectionsFactor, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::BetweenFactor< VALUE >, gtsam::BearingRangeFactor< POSE, POINT, ROTATION >, gtsam::EssentialMatrixConstraint, gtsam::EssentialMatrixFactor, gtsam::PriorFactor< VALUE >, gtsam::BearingFactor< POSE, POINT, ROTATION >, gtsam::PoseTranslationPrior< POSE >, gtsam::RangeFactor< POSE, POINT >, gtsam::AntiFactor, gtsam::PoseRotationPrior< POSE >, and gtsam::RotateFactor.

virtual double gtsam::NonlinearFactor::error ( const Values & c ) const

pure virtual

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.

Implemented in gtsam::NoiseModelFactor, gtsam::SmartProjectionPoseFactor< POSE, LANDMARK, CALIBRATION >, gtsam::NonlinearEquality< VALUE >, gtsam::WhiteNoiseFactor, gtsam::AntiFactor, and gtsam::LinearContainerFactor.

shared_ptr gtsam::NonlinearFactor::rekey ( const std::vector< Key > & new_keys ) const

inline

Clones a factor and fully replaces its keys.

Parameters

new_keys is the full replacement set of keys

The documentation for this class was generated from the following file:

/home/cbeall3/git/gtsamB/gtsam/nonlinear/NonlinearFactor.h

Detailed Description

Standard Constructors

Testable

Standard Interface

Public Types

Protected Types

Additional Inherited Members

Member Function Documentation