#include <ExpressionFactor.h>

Inheritance diagram for gtsam::ExpressionFactorN< T, Args >:

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Collaboration diagram for gtsam::ExpressionFactorN< T, Args >:

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Public Types
using	ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >

typedef std::shared_ptr< ExpressionFactor< T > >	shared_ptr

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
virtual Expression< T >	expression (const ArrayNKeys &keys) const

const T &	measured () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print relies on Testable traits being defined for T

bool	equals (const NonlinearFactor &f, double tol) const override
	equals relies on Testable traits being defined for T

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

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

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

size_t	dim () const override

const SharedNoiseModel &	noiseModel () const
	access to the noise model

Vector	whitenedError (const Values &c) const

Vector	unweightedWhitenedError (const Values &c) const

double	weight (const Values &c) const

double	error (const Values &c) const override

shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

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	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 Public Attributes
static const std::size_t	NARY_EXPRESSION_SIZE = sizeof...(Args)

Protected Types
typedef ExpressionFactor< T >	This

typedef NonlinearFactor	Base

Protected Member Functions
	ExpressionFactorN ()=default
	Default constructor, for serialization.

	ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const T &measurement)
	Constructor takes care of keys, but still need to call initialize.

void	initialize (const Expression< T > &expression)
	Initialize with constructor arguments.

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
T	measured_
	the measurement to be compared with the expression

Expression< T >	expression_
	the expression that is AD enabled

FastVector< int >	dims_
	dimensions of the Jacobian matrices

SharedNoiseModel	noiseModel_

KeyVector	keys_
	The keys involved in this factor.

Static Protected Attributes
static const int	Dim = traits<T>::dimension

Detailed Description

template<typename T, typename... Args>
class gtsam::ExpressionFactorN< T, Args >

N-ary variadic template for ExpressionFactor meant as a base class for N-ary factors. Enforces an 'expression' method with N keys. Derived class (an N-factor!) needs to call 'initialize'.

Does not provide backward compatible 'evaluateError'.

Template Parameters

T	Type for measurements. The rest of template arguments are types for the N key-indexed Values.

Member Function Documentation

◆ active()

virtual bool gtsam::NonlinearFactor::active ( const Values & ) const

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.

Returns: true if the constraint is active

Reimplemented in gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::AntiFactor, and gtsam::BoundingConstraint1< VALUE >.

◆ 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()

template<typename T>

gtsam::NonlinearFactor::shared_ptr gtsam::ExpressionFactor< T >::clone ( ) const

inlineoverridevirtualinherited

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::RangeFactorWithTransform< A1, A2, T >, and gtsam::RangeFactor< A1, A2, T >.

◆ cloneWithNewNoiseModel()

shared_ptr gtsam::NoiseModelFactor::cloneWithNewNoiseModel ( const SharedNoiseModel newNoise ) const

inherited

Creates a shared_ptr clone of the factor with a new noise model

◆ dim()

size_t gtsam::NoiseModelFactor::dim ( ) const

inlineoverridevirtualinherited

get the dimension of the factor (number of rows on linearization)

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

◆ error() [1/2]

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.

◆ error() [2/2]

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

overridevirtualinherited

Calculate the error of the factor. This is the log-likelihood, e.g. \( 0.5(h(x)-z)^2/\sigma^2 \) in case of Gaussian. In this class, we take the raw prediction error \( h(x)-z \), ask the noise model to transform it to \( (h(x)-z)^2/\sigma^2 \), and then multiply by 0.5.

Reimplemented from gtsam::NonlinearFactor.

◆ expression()

template<typename T, typename... Args>

virtual Expression<T> gtsam::ExpressionFactorN< T, Args >::expression ( const ArrayNKeys & keys ) const

inlinevirtual

Recreate expression from given keys_ and measured_, used in load Needed to deserialize a derived 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()

template<typename T>

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

inlineoverridevirtualinherited

linearize to a GaussianFactor

Implements gtsam::NonlinearFactor.

◆ measured()

template<typename T>

const T& gtsam::ExpressionFactor< T >::measured ( ) const

inlineinherited

return the measurement

◆ 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

◆ unweightedWhitenedError()

Vector gtsam::NoiseModelFactor::unweightedWhitenedError ( const Values & c ) const

inherited

Vector of errors, whitened, but unweighted by any loss function

◆ unwhitenedError() [1/2]

template<typename T>

Vector gtsam::ExpressionFactor< T >::unwhitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = `nullptr`
	)		const

inlineoverridevirtualinherited

Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \). We override this method to provide both the function evaluation and its derivative(s) in H.

Implements gtsam::NoiseModelFactor.

◆ unwhitenedError() [2/2]

Vector gtsam::NoiseModelFactor::unwhitenedError	(	const Values &	x,
		std::vector< Matrix > &	H
	)		const

inlineinherited

support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError;

◆ weight()

double gtsam::NoiseModelFactor::weight ( const Values & c ) const

inherited

Compute the effective weight of the factor from the noise model.

◆ whitenedError()

Vector gtsam::NoiseModelFactor::whitenedError ( const Values & c ) const

inherited

Vector of errors, whitened This is the raw error, i.e., i.e. \( (h(x)-z)/\sigma \) in case of a Gaussian

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/nonlinear/ExpressionFactor.h

Public Types

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

template<typename T, typename... Args> class gtsam::ExpressionFactorN< T, Args >

Member Function Documentation

◆ active()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clone()

◆ cloneWithNewNoiseModel()

◆ dim()

◆ end() [1/2]

◆ end() [2/2]

◆ error() [1/2]

◆ error() [2/2]

◆ expression()

◆ FromIterators()

◆ FromKeys()

◆ keys()

◆ linearize()

◆ measured()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()

◆ size()

◆ unweightedWhitenedError()

◆ unwhitenedError() [1/2]

◆ unwhitenedError() [2/2]

◆ weight()

◆ whitenedError()

template<typename T, typename... Args>
class gtsam::ExpressionFactorN< T, Args >