gtsam 4.2.0
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gtsam::ReferenceFrameFactor< POINT, TRANSFORM > Class Template Reference

Detailed Description

template<class POINT, class TRANSFORM>
class gtsam::ReferenceFrameFactor< POINT, TRANSFORM >

A constraint between two landmarks in separate maps Templated on: Point : Type of landmark Transform : Transform variable class.

The transform is defined as transforming global to local: l = lTg * g

The Point and Transform concepts must be Lie types, and the transform relationship "Point = transformFrom(Transform, Point)" must exist.

To implement this function in new domains, specialize a new version of Point transform_point<Transform,Point>(transform, global, Dtrans, Dglobal) to use the correct point and transform types.

This base class should be specialized to implement the cost function for specific classes of landmarks

+ Inheritance diagram for gtsam::ReferenceFrameFactor< POINT, TRANSFORM >:

Public Member Functions

 ReferenceFrameFactor (Key globalKey, Key transKey, Key localKey, const noiseModel::Base::shared_ptr &model)
 General constructor with arbitrary noise model (constrained or otherwise)
 
 ReferenceFrameFactor (double mu, Key globalKey, Key transKey, Key localKey)
 Construct a hard frame of reference reference constraint with equal mu values for each degree of freedom.
 
 ReferenceFrameFactor (Key globalKey, Key transKey, Key localKey, double sigma=1e-2)
 Simple soft constraint constructor for frame of reference, with equal weighting for each degree of freedom.
 
NonlinearFactor::shared_ptr clone () const override
 Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses.
 
Vector evaluateError (const Point &global, const Transform &trans, const Point &local, boost::optional< Matrix & > Dforeign=boost::none, boost::optional< Matrix & > Dtrans=boost::none, boost::optional< Matrix & > Dlocal=boost::none) const override
 Combined cost and derivative function using boost::optional.
 
void print (const std::string &s="", const gtsam::KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 Print.
 
Key global_key () const
 
Key transform_key () const
 
Key local_key () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< POINT, TRANSFORM, POINT >
Key key () const
 Returns a key.
 
 NoiseModelFactorN ()
 Default Constructor for I/O.
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
 Constructor.
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
 Constructor.
 
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.
 
virtual Vector evaluateError (const ValueTypes &... x, OptionalMatrix< ValueTypes >... H) const=0
 Override evaluateError to finish implementing an n-way factor.
 
Vector evaluateError (const ValueTypes &... x) const
 No-Jacobians requested function overload.
 
Vector evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 Some (but not all) optional Jacobians are omitted (function overload)
 
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Key key6 () const
 
- 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.
 
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.
 
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 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.
 
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)
 
- 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.
 

Public Types

typedef NoiseModelFactorN< POINT, TRANSFORM, POINT > Base
 
typedef ReferenceFrameFactor< POINT, TRANSFORM > This
 
typedef POINT Point
 
typedef TRANSFORM Transform
 
- Public Types inherited from gtsam::NoiseModelFactorN< POINT, TRANSFORM, POINT >
enum  
 N is the number of variables (N-way factor)
 
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.
 
- 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

 ReferenceFrameFactor ()
 default constructor for serialization only
 
- 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.
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< POINT, TRANSFORM, POINT >
using Base = NoiseModelFactor
 
using This = NoiseModelFactorN< ValueTypes... >
 
using OptionalMatrix = boost::optional< Matrix & >
 
using KeyType = Key
 
using IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type
 
using IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type
 
using ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type
 
using IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- 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.
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 

Member Function Documentation

◆ clone()

template<class POINT , class TRANSFORM >
NonlinearFactor::shared_ptr gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::clone ( ) const
inlineoverridevirtual

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 from gtsam::NonlinearFactor.

◆ print()

template<class POINT , class TRANSFORM >
void gtsam::ReferenceFrameFactor< POINT, TRANSFORM >::print ( const std::string &  s = "",
const gtsam::KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

Print.

Reimplemented from gtsam::NoiseModelFactor.


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