32 class SymmetricBlockMatrix;
53 template<
typename CONTAINER>
62 const std::string& s =
"",
63 const KeyFormatter& formatter = DefaultKeyFormatter)
const override = 0;
97 virtual Matrix augmentedJacobian()
const = 0;
106 virtual std::pair<Matrix,Vector> jacobian()
const = 0;
116 virtual Matrix augmentedInformation()
const = 0;
121 virtual Matrix information()
const = 0;
127 virtual void hessianDiagonalAdd(
VectorValues& d)
const = 0;
130 virtual void hessianDiagonal(
double* d)
const = 0;
133 virtual std::map<Key,Matrix> hessianBlockDiagonal()
const = 0;
150 virtual void updateHessian(
const KeyVector& keys,
164 virtual void gradientAtZero(
double* d)
const = 0;
174 template <
typename CONTAINER>
176 return std::find(keys.begin(), keys.end(), key) - keys.
begin();
182 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION 184 friend class boost::serialization::access;
185 template<
class ARCHIVE>
186 void serialize(ARCHIVE & ar,
const unsigned int ) {
187 ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
Definition: HybridValues.h:38
Concept check for values that can be used in unit tests.
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:113
Definition: Testable.h:152
GaussianFactor This
This class.
Definition: GaussianFactor.h:41
GaussianFactor()
Definition: GaussianFactor.h:49
Definition: VectorValues.h:74
ptrdiff_t DenseIndex
The index type for Eigen objects.
Definition: types.h:108
Definition: GaussianFactor.h:38
Definition: SymmetricBlockMatrix.h:53
Definition: Testable.h:112
GTSAM_EXPORT void print(const Matrix &A, const std::string &s, std::ostream &stream)
typedef and functions to augment Eigen's MatrixXd
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
std::shared_ptr< This > shared_ptr
shared_ptr to this class
Definition: GaussianFactor.h:42
Definition: chartTesting.h:28
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition: Key.h:86
GaussianFactor(const CONTAINER &keys)
Definition: GaussianFactor.h:54
Factor Base
Our base class.
Definition: GaussianFactor.h:43
KeyVector::const_iterator const_iterator
Const iterator over keys.
Definition: Factor.h:82
iterator begin()
Iterator over variables.
Definition: VectorValues.h:236
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:102
The base class for all factors.