gtsam 4.2.0
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gtsam::CustomFactor Class Reference
+ Inheritance diagram for gtsam::CustomFactor:

Public Member Functions

 CustomFactor ()=default
 Default Constructor for I/O.
 
 CustomFactor (const SharedNoiseModel &noiseModel, const KeyVector &keys, const CustomErrorFunction &errorFunction)
 Constructor.
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Calls the errorFunction closure, which is a std::function object One can check if a derivative is needed in the errorFunction by checking the length of Jacobian array.
 
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print
 
bool sendable () const override
 Mark not sendable.
 
- 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.
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 Check if two factors are equal.
 
size_t dim () const override
 get the dimension of the factor (number of rows on linearization)
 
const SharedNoiseModelnoiseModel () const
 access to the noise model
 
Vector whitenedError (const Values &c) const
 Vector of errors, whitened This is the raw error, i.e., i.e.
 
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.
 
boost::shared_ptr< GaussianFactorlinearize (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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
 
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.
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print
 
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 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.
 
- 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 KeyVectorkeys () 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
 
KeyVectorkeys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 

Protected Types

using Base = NoiseModelFactor
 
using This = CustomFactor
 
- 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 Attributes

CustomErrorFunction error_function_
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 Noise model.
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_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 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.
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys.
 
- Static Protected Member Functions inherited from gtsam::Factor
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

◆ CustomFactor()

gtsam::CustomFactor::CustomFactor ( const SharedNoiseModel noiseModel,
const KeyVector keys,
const CustomErrorFunction &  errorFunction 
)
inline

Constructor.

Parameters
noiseModelshared pointer to noise model
keyskeys of the variables
errorFunctionthe error functional

Member Function Documentation

◆ print()

void gtsam::CustomFactor::print ( const std::string &  s,
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
overridevirtual

print

Reimplemented from gtsam::Factor.

◆ sendable()

bool gtsam::CustomFactor::sendable ( ) const
inlineoverridevirtual

Mark not sendable.

Reimplemented from gtsam::NonlinearFactor.

◆ unwhitenedError()

Vector gtsam::CustomFactor::unwhitenedError ( const Values x,
boost::optional< std::vector< Matrix > & >  H = boost::none 
) const
overridevirtual

Calls the errorFunction closure, which is a std::function object One can check if a derivative is needed in the errorFunction by checking the length of Jacobian array.

Implements gtsam::NoiseModelFactor.


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