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

Serialization

class boost::serialization::access
 Serialization function.
 

Standard Constructors

 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.
 

Public Member Functions

virtual ~Factor ()=default
 Default destructor.
 
Standard Interface
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.
 
virtual double error (const HybridValues &c) const
 All factor types need to implement an error function.
 
size_t size () const
 
Testable
virtual void print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print
 
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
 
Advanced Interface
KeyVectorkeys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 

Public Types

typedef KeyVector::iterator iterator
 Iterator over keys.
 
typedef KeyVector::const_iterator const_iterator
 Const iterator over keys.
 

Protected Attributes

KeyVector keys_
 The keys involved in this factor.
 

Constructor & Destructor Documentation

◆ Factor() [1/2]

template<typename CONTAINER >
gtsam::Factor::Factor ( const CONTAINER &  keys)
inlineexplicitprotected

Construct factor from container of keys.

This constructor is used internally from derived factor constructors, either from a container of keys or from a boost::assign::list_of.

◆ Factor() [2/2]

template<typename ITERATOR >
gtsam::Factor::Factor ( ITERATOR  first,
ITERATOR  last 
)
inlineprotected

Construct factor from iterator keys.

This constructor may be used internally from derived factor constructors, although our code currently does not use this.

Member Function Documentation

◆ error()

double gtsam::Factor::error ( const HybridValues c) const
virtual

◆ FromIterators()

template<typename ITERATOR >
static Factor gtsam::Factor::FromIterators ( ITERATOR  first,
ITERATOR  last 
)
inlinestaticprotected

Construct factor from iterator keys.

This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

◆ FromKeys()

template<typename CONTAINER >
static Factor gtsam::Factor::FromKeys ( const CONTAINER &  keys)
inlinestaticprotected

Construct factor from container of keys.

This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

◆ keys()

KeyVector & gtsam::Factor::keys ( )
inline
Returns
keys involved in this factor

◆ print()

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

print

Reimplemented in gtsam::GaussianConditional, gtsam::GaussianDensity, gtsam::WhiteNoiseFactor, gtsam::AHRSFactor, gtsam::CustomFactor, gtsam::PriorFactor< VALUE >, gtsam::BinaryMeasurement< T >, gtsam::BinaryMeasurement< Rot >, gtsam::BinaryMeasurement< Unit3 >, gtsam::ShonanFactor< d >, gtsam::AntiFactor, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >, gtsam::HessianFactor, gtsam::JacobianFactor, gtsam::GaussianFactor, gtsam::MixtureFactor, gtsam::Rot3AttitudeFactor, gtsam::Pose3AttitudeFactor, gtsam::BarometricFactor, gtsam::CombinedImuFactor, gtsam::GPSFactor, gtsam::GPSFactor2, gtsam::ImuFactor, gtsam::ImuFactor2, gtsam::MagPoseFactor< POSE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >, gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type >, gtsam::FunctorizedFactor< R, T >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, ParameterMatrix< P > >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< T, ParameterMatrix< traits< T >::dimension > >, gtsam::FunctorizedFactor< Vector, ParameterMatrix< M > >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::NonlinearEquality< VALUE >, gtsam::NonlinearEquality1< VALUE >, gtsam::NonlinearFactor, gtsam::NoiseModelFactor, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::BetweenFactor< VALUE >, gtsam::EssentialMatrixConstraint, gtsam::EssentialMatrixFactor, gtsam::EssentialMatrixFactor2, gtsam::EssentialMatrixFactor3, gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::PoseRotationPrior< POSE >, gtsam::PoseTranslationPrior< POSE >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::RegularImplicitSchurFactor< CAMERA >, gtsam::RotateFactor, gtsam::RotateDirectionsFactor, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::LinearContainerFactor, gtsam::BearingFactor< A1, A2, T >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::RangeFactor< A1, A2, T >, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::DiscreteLookupTable, gtsam::DiscreteDistribution, gtsam::DiscreteFactor, gtsam::GaussianMixture, gtsam::GaussianMixtureFactor, gtsam::HybridConditional, gtsam::HybridFactor, gtsam::OrientedPlane3DirectionPrior, gtsam::OrientedPlane3Factor, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::SymbolicFactor, and gtsam::SymbolicConditional.

◆ printKeys()

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

print only keys

Reimplemented in gtsam::SymbolicFactor.

◆ size()

size_t gtsam::Factor::size ( ) const
inline
Returns
the number of variables involved in this factor

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