GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <BetweenFactorEM.h>
Public Types | |
typedef VALUE | T |
typedef std::shared_ptr< BetweenFactorEM > | shared_ptr |
typedef KeyVector::iterator | iterator |
Iterator over keys. | |
typedef KeyVector::const_iterator | const_iterator |
Const iterator over keys. | |
Public Member Functions | |
BetweenFactorEM () | |
BetweenFactorEM (Key key1, Key key2, const VALUE &measured, const SharedGaussian &model_inlier, const SharedGaussian &model_outlier, const double prior_inlier, const double prior_outlier, const bool flag_bump_up_near_zero_probs=false) | |
void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
double | error (const Values &x) const override |
std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
Vector | whitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const |
Vector | whitenedError (const Values &x, std::vector< Matrix > &H) const |
Vector | calcIndicatorProb (const Values &x) const |
Vector | unwhitenedError (const Values &x) const |
void | set_flag_bump_up_near_zero_probs (bool flag) |
bool | get_flag_bump_up_near_zero_probs () const |
SharedGaussian | get_model_inlier () const |
SharedGaussian | get_model_outlier () const |
Matrix | get_model_inlier_cov () const |
Matrix | get_model_outlier_cov () const |
void | updateNoiseModels (const Values &values, const NonlinearFactorGraph &graph) |
void | updateNoiseModels_givenCovs (const Values &values, const Matrix &cov1, const Matrix &cov2, const Matrix &cov12) |
const VALUE & | measured () const |
size_t | dim () 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 bool | active (const Values &) const |
virtual shared_ptr | clone () const |
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. | |
A class for a measurement predicted by "between(config[key1],config[key2])"
VALUE | the Value type |
typedef std::shared_ptr<BetweenFactorEM> gtsam::BetweenFactorEM< VALUE >::shared_ptr |
concept check by type
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inline |
default constructor - only use for serialization
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inline |
Constructor
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inlinevirtualinherited |
Checks whether a factor should be used based on a set of values. This is primarily used to implement inequality constraints that require a variable active set. For all others, the default implementation returning true solves this problem.
In an inequality/bounding constraint, this active() returns true when the constraint is NOT fulfilled.
Reimplemented in gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::AntiFactor, and gtsam::BoundingConstraint1< VALUE >.
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inlineinherited |
Iterator at beginning of involved variable keys
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inlineinherited |
Iterator at beginning of involved variable keys
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inlinevirtualinherited |
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 in gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::NonlinearEquality2< T >, gtsam::CombinedImuFactor, gtsam::ImuFactor2, gtsam::EssentialMatrixFactor3, gtsam::NonlinearEquality1< VALUE >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::ImuFactor, gtsam::LinearizedHessianFactor, gtsam::PendulumFactorPk1, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::MagFactor3, gtsam::Pose3AttitudeFactor, gtsam::SmartRangeFactor, gtsam::NonlinearEquality< VALUE >, gtsam::AHRSFactor, gtsam::EssentialMatrixFactor2, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::MagFactor2, gtsam::PendulumFactorPk, gtsam::GPSFactor2, gtsam::ProjectionFactorRollingShutter, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::LinearContainerFactor, gtsam::LinearizedJacobianFactor, gtsam::Rot3AttitudeFactor, gtsam::MagFactor1, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::DiscreteEulerPoincareHelicopter, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::RotateDirectionsFactor, gtsam::PendulumFactor2, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::FunctorizedFactor< R, T >, gtsam::PartialPriorFactor< VALUE >, gtsam::FunctorizedFactor< Vector, ParameterMatrix< M > >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< T, ParameterMatrix< traits< T >::dimension > >, gtsam::FunctorizedFactor< double, ParameterMatrix< P > >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::MagPoseFactor< POSE >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::BetweenFactor< VALUE >, gtsam::EssentialMatrixFactor, gtsam::VelocityConstraint, gtsam::PriorFactor< VALUE >, gtsam::GPSFactor, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::BarometricFactor, gtsam::EssentialMatrixConstraint, gtsam::DummyFactor, gtsam::PoseBetweenFactor< POSE >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::PosePriorFactor< POSE >, gtsam::MagFactor, gtsam::PoseTranslationPrior< POSE >, gtsam::PoseRotationPrior< POSE >, gtsam::FullIMUFactor< POSE >, gtsam::AntiFactor, gtsam::RangeFactor< A1, A2, T >, gtsam::IMUFactor< POSE >, gtsam::RelativeElevationFactor, gtsam::PendulumFactor1, gtsam::Reconstruction, gtsam::RotateFactor, and gtsam::VelocityConstraint3.
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inlineoverridevirtual |
get the dimension of the factor (number of rows on linearization)
Implements gtsam::NonlinearFactor.
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inlineinherited |
Iterator at end of involved variable keys
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inlineinherited |
Iterator at end of involved variable keys
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inlineoverridevirtual |
equals
Reimplemented from gtsam::NonlinearFactor.
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inlineoverridevirtual |
implement functions needed to derive from Factor
Reimplemented from gtsam::NonlinearFactor.
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overridevirtualinherited |
All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.
Reimplemented from gtsam::Factor.
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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.
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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.
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inlineinherited |
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inlineoverridevirtual |
Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \)
Implements gtsam::NonlinearFactor.
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inline |
return the measured
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inlineoverridevirtual |
implement functions needed for Testable print
Reimplemented from gtsam::NonlinearFactor.
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virtualinherited |
Creates a shared_ptr clone of the factor with different keys using a map from old->new keys
Reimplemented in gtsam::LinearContainerFactor.
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virtualinherited |
Clones a factor and fully replaces its keys
new_keys | is the full replacement set of keys |
Reimplemented in gtsam::LinearContainerFactor.
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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.
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inlineinherited |