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gtsam
3.2.0
gtsam
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gtsam
3.2.0
gtsam
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Unit: i.i.d.
unit-variance noise on all m dimensions.
Inheritance diagram for gtsam::noiseModel::Unit:Public Member Functions | |
| virtual void | print (const std::string &name) const |
| virtual double | Mahalanobis (const Vector &v) const |
| Mahalanobis distance v'*R'*R*v = <R*v,R*v> | |
| virtual Vector | whiten (const Vector &v) const |
| Whiten an error vector. | |
| virtual Vector | unwhiten (const Vector &v) const |
| Unwhiten an error vector. | |
| virtual Matrix | Whiten (const Matrix &H) const |
| Multiply a derivative with R (derivative of whiten) Equivalent to whitening each column of the input matrix. | |
| virtual void | WhitenInPlace (Matrix &H) const |
| In-place version. | |
| virtual void | WhitenInPlace (Eigen::Block< Matrix > H) const |
| In-place version. | |
| virtual void | whitenInPlace (Vector &v) const |
| in-place whiten, override if can be done more efficiently | |
| virtual void | unwhitenInPlace (Vector &v) const |
| in-place unwhiten, override if can be done more efficiently | |
| virtual void | whitenInPlace (Eigen::Block< Vector > &v) const |
| in-place whiten, override if can be done more efficiently | |
| virtual void | unwhitenInPlace (Eigen::Block< Vector > &v) const |
| in-place unwhiten, override if can be done more efficiently | |
| Public Member Functions inherited from gtsam::noiseModel::Isotropic | |
| double | sigma () const |
| Return standard deviation. | |
| Public Member Functions inherited from gtsam::noiseModel::Diagonal | |
| const Vector & | sigmas () const |
| Return standard deviations (sqrt of diagonal) | |
| double | sigma (size_t i) const |
| const Vector & | invsigmas () const |
| Return sqrt precisions. | |
| double | invsigma (size_t i) const |
| const Vector & | precisions () const |
| Return precisions. | |
| double | precision (size_t i) const |
| virtual Matrix | R () const |
| Return R itself, but note that Whiten(H) is cheaper than R*H. | |
| Public Member Functions inherited from gtsam::noiseModel::Gaussian | |
| virtual bool | equals (const Base &expected, double tol=1e-9) const |
| virtual double | distance (const Vector &v) const |
| virtual void | WhitenSystem (std::vector< Matrix > &A, Vector &b) const |
| Whiten a system, in place as well. | |
| virtual void | WhitenSystem (Matrix &A, Vector &b) const |
| virtual void | WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const |
| virtual void | WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const |
| virtual boost::shared_ptr < Diagonal > | QR (Matrix &Ab) const |
| Apply appropriately weighted QR factorization to the system [A b] Q' * [A b] = [R d] Dimensions: (r*m) * m*(n+1) = r*(n+1) More... | |
| virtual bool | isConstrained () const |
| Simple check for constrained-ness FIXME Find a better way of handling this. | |
| Public Member Functions inherited from gtsam::noiseModel::Base | |
| Base (size_t dim=1) | |
| primary constructor More... | |
| size_t | dim () const |
| Dimensionality. | |
Static Public Member Functions | |
| static shared_ptr | Create (size_t dim) |
| Create a unit covariance noise model. | |
| Static Public Member Functions inherited from gtsam::noiseModel::Isotropic | |
| static shared_ptr | Sigma (size_t dim, double sigma, bool smart=true) |
| An isotropic noise model created by specifying a standard devation sigma. | |
| static shared_ptr | Variance (size_t dim, double variance, bool smart=true) |
| An isotropic noise model created by specifying a variance = sigma^2. More... | |
| static shared_ptr | Precision (size_t dim, double precision, bool smart=true) |
| An isotropic noise model created by specifying a precision. | |
| Static Public Member Functions inherited from gtsam::noiseModel::Diagonal | |
| static shared_ptr | Sigmas (const Vector &sigmas, bool smart=true) |
| A diagonal noise model created by specifying a Vector of sigmas, i.e. More... | |
| static shared_ptr | Variances (const Vector &variances, bool smart=true) |
| A diagonal noise model created by specifying a Vector of variances, i.e. More... | |
| static shared_ptr | Precisions (const Vector &precisions, bool smart=true) |
| A diagonal noise model created by specifying a Vector of precisions, i.e. More... | |
| Static Public Member Functions inherited from gtsam::noiseModel::Gaussian | |
| static shared_ptr | SqrtInformation (const Matrix &R, bool smart=true) |
| A Gaussian noise model created by specifying a square root information matrix. More... | |
| static shared_ptr | Information (const Matrix &M, bool smart=true) |
| A Gaussian noise model created by specifying an information matrix. More... | |
| static shared_ptr | Covariance (const Matrix &covariance, bool smart=true) |
| A Gaussian noise model created by specifying a covariance matrix. More... | |
Public Types | |
| typedef boost::shared_ptr< Unit > | shared_ptr |
| Public Types inherited from gtsam::noiseModel::Isotropic | |
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typedef boost::shared_ptr < Isotropic > | shared_ptr |
| Public Types inherited from gtsam::noiseModel::Diagonal | |
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typedef boost::shared_ptr < Diagonal > | shared_ptr |
| Public Types inherited from gtsam::noiseModel::Gaussian | |
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typedef boost::shared_ptr < Gaussian > | shared_ptr |
| Public Types inherited from gtsam::noiseModel::Base | |
| typedef boost::shared_ptr< Base > | shared_ptr |
Protected Member Functions | |
| Unit (size_t dim=1) | |
| Protected Member Functions inherited from gtsam::noiseModel::Isotropic | |
| Isotropic (size_t dim, double sigma) | |
| protected constructor takes sigma | |
| Protected Member Functions inherited from gtsam::noiseModel::Diagonal | |
| Diagonal () | |
| protected constructor - no initializations | |
| Diagonal (const Vector &sigmas) | |
| constructor to allow for disabling initialization of invsigmas | |
| Protected Member Functions inherited from gtsam::noiseModel::Gaussian | |
| Gaussian (size_t dim=1, const boost::optional< Matrix > &sqrt_information=boost::none) | |
| protected constructor takes square root information matrix | |
Friends | |
| class | boost::serialization::access |
| Serialization function. | |
Additional Inherited Members | |
| Protected Attributes inherited from gtsam::noiseModel::Isotropic | |
| double | sigma_ |
| double | invsigma_ |
| Protected Attributes inherited from gtsam::noiseModel::Diagonal | |
| Vector | sigmas_ |
| Standard deviations (sigmas), their inverse and inverse square (weights/precisions) These are all computed at construction: the idea is to use one shared model where computation is done only once, the common use case in many problems. | |
| Vector | invsigmas_ |
| Vector | precisions_ |
| Protected Attributes inherited from gtsam::noiseModel::Gaussian | |
| boost::optional< Matrix > | sqrt_information_ |
| Matrix square root of information matrix (R) | |
| Protected Attributes inherited from gtsam::noiseModel::Base | |
| size_t | dim_ |
1.8.6 
