template<class BASIS, int M>
class gtsam::VectorEvaluationFactor< BASIS, M >
Unary factor for enforcing BASIS polynomial evaluation on a ParameterMatrix of size (M, N) is equal to a vector-valued measurement at the same point, when using a pseudo-spectral parameterization.
This factors tries to enforce the basis function evaluation f(x;p)
to take on the value z
at location x
, providing a gradient on the parameters p. In a probabilistic estimation context, z
is known as a measurement, and the parameterized basis function can be seen as a measurement prediction function.
- Parameters
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BASIS | The basis class to use e.g. Chebyshev2 |
M | Size of the evaluated state vector. |
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| VectorEvaluationFactor (Key key, const Vector &z, const SharedNoiseModel &model, const size_t N, double x) |
| Construct a new VectorEvaluationFactor object.
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| VectorEvaluationFactor (Key key, const Vector &z, const SharedNoiseModel &model, const size_t N, double x, double a, double b) |
| Construct a new VectorEvaluationFactor object.
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| FunctorizedFactor () |
| default constructor - only use for serialization
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| FunctorizedFactor (Key key, const Vector &z, const SharedNoiseModel &model, const std::function< Vector(ParameterMatrix< M >, boost::optional< Matrix & >)> func) |
| Construct with given x and the parameters of the basis.
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NonlinearFactor::shared_ptr | clone () const override |
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Vector | evaluateError (const ParameterMatrix< M > ¶ms, boost::optional< Matrix & > H=boost::none) const override |
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void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print
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bool | equals (const NonlinearFactor &other, double tol=1e-9) const override |
| Check if two factors are equal.
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template<int I = 1> |
Key | key () const |
| Returns a key.
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| NoiseModelFactorN () |
| Default Constructor for I/O.
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| NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys) |
| Constructor.
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template<typename CONTAINER = std::initializer_list<Key>, typename = IsContainerOfKeys<CONTAINER>> |
| NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys) |
| Constructor.
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Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
| This implements the unwhitenedError virtual function by calling the n-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
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virtual Vector | evaluateError (const ValueTypes &... x, OptionalMatrix< ValueTypes >... H) const =0 |
| Override evaluateError to finish implementing an n-way factor.
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Vector | evaluateError (const ValueTypes &... x) const |
| No-Jacobians requested function overload.
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template<typename... OptionalJacArgs, typename = IndexIsValid<sizeof...(OptionalJacArgs) + 1>> |
Vector | evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const |
| Some (but not all) optional Jacobians are omitted (function overload)
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Key | key1 () const |
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template<int I = 2> |
Key | key2 () const |
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template<int I = 3> |
Key | key3 () const |
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template<int I = 4> |
Key | key4 () const |
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template<int I = 5> |
Key | key5 () const |
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template<int I = 6> |
Key | key6 () const |
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| NoiseModelFactor () |
| Default constructor for I/O only.
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| ~NoiseModelFactor () override |
| Destructor.
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template<typename CONTAINER > |
| NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) |
| Constructor.
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void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| Print.
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bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| Check if two factors are equal.
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size_t | dim () const override |
| get the dimension of the factor (number of rows on linearization)
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const SharedNoiseModel & | noiseModel () const |
| access to the noise model
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Vector | whitenedError (const Values &c) const |
| Vector of errors, whitened This is the raw error, i.e., i.e.
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Vector | unweightedWhitenedError (const Values &c) const |
| Vector of errors, whitened, but unweighted by any loss function.
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double | weight (const Values &c) const |
| Compute the effective weight of the factor from the noise model.
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double | error (const Values &c) const override |
| Calculate the error of the factor.
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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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
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shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
| Creates a shared_ptr clone of the factor with a new noise model.
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| NonlinearFactor () |
| Default constructor for I/O only.
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template<typename CONTAINER > |
| NonlinearFactor (const CONTAINER &keys) |
| Constructor from a collection of the keys involved in this factor.
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void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print
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virtual | ~NonlinearFactor () |
| Destructor.
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double | error (const HybridValues &c) const override |
| All factor types need to implement an error function.
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virtual bool | active (const Values &) const |
| Checks whether a factor should be used based on a set of values.
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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.
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virtual shared_ptr | rekey (const KeyVector &new_keys) const |
| Clones a factor and fully replaces its keys.
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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)
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virtual | ~Factor ()=default |
| Default destructor.
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bool | empty () const |
| Whether the factor is empty (involves zero variables).
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Key | front () const |
| First key.
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Key | back () const |
| Last key.
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const_iterator | find (Key key) const |
| find
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const KeyVector & | keys () const |
| Access the factor's involved variable keys.
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const_iterator | begin () const |
| Iterator at beginning of involved variable keys.
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const_iterator | end () const |
| Iterator at end of involved variable keys.
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size_t | size () const |
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virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print only keys
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bool | equals (const This &other, double tol=1e-9) const |
| check equality
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KeyVector & | keys () |
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iterator | begin () |
| Iterator at beginning of involved variable keys.
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iterator | end () |
| Iterator at end of involved variable keys.
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enum | { N = sizeof...(ValueTypes)
} |
| N is the number of variables (N-way factor)
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template<int I, typename = IndexIsValid<I>> |
using | ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type |
| The type of the I'th template param can be obtained as ValueType.
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typedef boost::shared_ptr< This > | shared_ptr |
| Noise model.
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typedef boost::shared_ptr< This > | shared_ptr |
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typedef KeyVector::iterator | iterator |
| Iterator over keys.
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typedef KeyVector::const_iterator | const_iterator |
| Const iterator over keys.
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using | Base = NoiseModelFactor |
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using | This = NoiseModelFactorN< ValueTypes... > |
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template<typename T > |
using | OptionalMatrix = boost::optional< Matrix & > |
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template<typename T > |
using | KeyType = Key |
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template<typename From , typename To > |
using | IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type |
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template<int I> |
using | IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type |
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template<typename Container > |
using | ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type |
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template<typename Container > |
using | IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key > |
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typedef NonlinearFactor | Base |
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typedef NoiseModelFactor | This |
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typedef Factor | Base |
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typedef NonlinearFactor | This |
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| NoiseModelFactor (const SharedNoiseModel &noiseModel) |
| Constructor - only for subclasses, as this does not set keys.
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| Factor () |
| Default constructor for I/O.
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template<typename CONTAINER > |
| Factor (const CONTAINER &keys) |
| Construct factor from container of keys.
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template<typename ITERATOR > |
| Factor (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys.
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template<typename CONTAINER > |
static Factor | FromKeys (const CONTAINER &keys) |
| Construct factor from container of keys.
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template<typename ITERATOR > |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys.
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SharedNoiseModel | noiseModel_ |
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KeyVector | keys_ |
| The keys involved in this factor.
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