#include <AntiFactor.h>

Inheritance diagram for gtsam::AntiFactor:

Collaboration diagram for gtsam::AntiFactor:

Public Types
typedef std::shared_ptr< AntiFactor >	shared_ptr

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
	AntiFactor ()

	AntiFactor (NonlinearFactor::shared_ptr factor)

gtsam::NonlinearFactor::shared_ptr	clone () const override

void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override

double	error (const Values &c) const override

size_t	dim () const override

bool	active (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &c) const override

Testable
bool	equals (const This &other, double tol=1e-9) const
	check equality

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

Standard Interface
double	error (const HybridValues &c) const override

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

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 KeyVector &	keys () const
	Access the factor's involved variable keys.

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

Advanced Interface
KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Static Protected Member Functions
Standard Constructors
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

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

Protected Attributes
KeyVector	keys_
	The keys involved in this factor.

Detailed Description

A class for downdating an existing factor from a graph. The AntiFactor returns the same linearized Hessian matrices of the original factor, but with the opposite sign. This effectively cancels out any affects of the original factor during optimization."

Constructor & Destructor Documentation

◆ AntiFactor() [1/2]

gtsam::AntiFactor::AntiFactor ( )

inline

default constructor - only use for serialization

◆ AntiFactor() [2/2]

gtsam::AntiFactor::AntiFactor ( NonlinearFactor::shared_ptr factor )

inline

constructor - Creates the equivalent AntiFactor from an existing factor

Member Function Documentation

◆ active()

bool gtsam::AntiFactor::active ( const Values & c ) const

inlineoverridevirtual

Checks whether this factor should be used based on a set of values. The AntiFactor will have the same 'active' profile as the original factor.

Reimplemented from gtsam::NonlinearFactor.

◆ begin() [1/2]

const_iterator gtsam::Factor::begin ( ) const

inlineinherited

Iterator at beginning of involved variable keys

◆ begin() [2/2]

iterator gtsam::Factor::begin ( )

inlineinherited

Iterator at beginning of involved variable keys

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::AntiFactor::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ dim()

size_t gtsam::AntiFactor::dim ( ) const

inlineoverridevirtual

get the dimension of the factor (same as the original factor)

Implements gtsam::NonlinearFactor.

◆ end() [1/2]

const_iterator gtsam::Factor::end ( ) const

inlineinherited

Iterator at end of involved variable keys

◆ end() [2/2]

iterator gtsam::Factor::end ( )

inlineinherited

Iterator at end of involved variable keys

◆ equals()

bool gtsam::AntiFactor::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

◆ error() [1/2]

double gtsam::AntiFactor::error ( const Values & c ) const

inlineoverridevirtual

implement functions needed to derive from Factor Calculate the error of the factor For the AntiFactor, this will have the same magnitude of the original factor, but the opposite sign.

Reimplemented from gtsam::NonlinearFactor.

◆ error() [2/2]

double gtsam::NonlinearFactor::error ( const HybridValues & c ) const

overridevirtualinherited

All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.

Reimplemented from gtsam::Factor.

◆ FromIterators()

template<typename ITERATOR >

static Factor gtsam::Factor::FromIterators	(	ITERATOR	first,
		ITERATOR	last
	)

inlinestaticprotectedinherited

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 )

inlinestaticprotectedinherited

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 ( )

inlineinherited

Returns: keys involved in this factor

◆ linearize()

std::shared_ptr<GaussianFactor> gtsam::AntiFactor::linearize ( const Values & c ) const

inlineoverridevirtual

Linearize to a GaussianFactor. The AntiFactor always returns a Hessian Factor with the same Hessian matrices as the original factor (even if the original factor returns a Jacobian instead of a full Hessian), but with the opposite sign. This effectively cancels the effect of the original factor on the factor graph.

Implements gtsam::NonlinearFactor.

◆ print()

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

inlineoverridevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NonlinearFactor.

◆ rekey() [1/2]

virtual shared_ptr gtsam::NonlinearFactor::rekey ( const std::map< Key, Key > & rekey_mapping ) const

virtualinherited

Creates a shared_ptr clone of the factor with different keys using a map from old->new keys

Reimplemented in gtsam::LinearContainerFactor.

◆ rekey() [2/2]

virtual shared_ptr gtsam::NonlinearFactor::rekey ( const KeyVector & new_keys ) const

virtualinherited

Clones a factor and fully replaces its keys

Parameters

new_keys is the full replacement set of keys

Reimplemented in gtsam::LinearContainerFactor.

◆ sendable()

virtual bool gtsam::NonlinearFactor::sendable ( ) const

inlinevirtualinherited

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)

Reimplemented in gtsam::CustomFactor.

◆ size()

size_t gtsam::Factor::size ( ) const

inlineinherited

Returns: the number of variables involved in this factor

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/slam/AntiFactor.h

Public Types

Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AntiFactor() [1/2]

◆ AntiFactor() [2/2]

Member Function Documentation

◆ active()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clone()

◆ dim()

◆ end() [1/2]

◆ end() [2/2]

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ FromIterators()

◆ FromKeys()

◆ keys()

◆ linearize()

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()

◆ size()