#include <LinearContainerFactor.h>

Inheritance diagram for gtsam::LinearContainerFactor:

Collaboration diagram for gtsam::LinearContainerFactor:

Public Types
typedef std::shared_ptr< This >	shared_ptr

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
	LinearContainerFactor ()

	LinearContainerFactor (const JacobianFactor &factor, const Values &linearizationPoint=Values())

	LinearContainerFactor (const HessianFactor &factor, const Values &linearizationPoint=Values())

	LinearContainerFactor (const GaussianFactor::shared_ptr &factor, const Values &linearizationPoint=Values())

const GaussianFactor::shared_ptr &	factor () const

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

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

double	error (const Values &c) const override

size_t	dim () const override

const std::optional< Values > &	linearizationPoint () const

GaussianFactor::shared_ptr	linearize (const Values &c) const override

GaussianFactor::shared_ptr	negateToGaussian () const

NonlinearFactor::shared_ptr	negateToNonlinear () const

NonlinearFactor::shared_ptr	clone () const override

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

NonlinearFactor::shared_ptr	rekey (const KeyVector &new_keys) const override

bool	hasLinearizationPoint () const
	Casting syntactic sugar.

bool	isJacobian () const

bool	isHessian () const

std::shared_ptr< JacobianFactor >	toJacobian () const

std::shared_ptr< HessianFactor >	toHessian () 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 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 Member Functions
static NonlinearFactorGraph	ConvertLinearGraph (const GaussianFactorGraph &linear_graph, const Values &linearizationPoint=Values())

Protected Types
typedef NonlinearFactor	Base

typedef LinearContainerFactor	This

Protected Member Functions
	LinearContainerFactor (const GaussianFactor::shared_ptr &factor, const std::optional< Values > &linearizationPoint)

void	initializeLinearizationPoint (const Values &linearizationPoint)

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
GaussianFactor::shared_ptr	factor_

std::optional< Values >	linearizationPoint_

KeyVector	keys_
	The keys involved in this factor.

Detailed Description

Dummy version of a generic linear factor to be injected into a nonlinear factor graph

This factor does have the ability to perform relinearization under small-angle and linearity assumptions if a linearization point is added.

Constructor & Destructor Documentation

◆ LinearContainerFactor() [1/5]

gtsam::LinearContainerFactor::LinearContainerFactor	(	const GaussianFactor::shared_ptr &	factor,
		const std::optional< Values > &	linearizationPoint
	)

protected

direct copy constructor

◆ LinearContainerFactor() [2/5]

gtsam::LinearContainerFactor::LinearContainerFactor ( )

inline

Default constructor - necessary for serialization

◆ LinearContainerFactor() [3/5]

gtsam::LinearContainerFactor::LinearContainerFactor	(	const JacobianFactor &	factor,
		const Values &	linearizationPoint = `Values()`
	)

Primary constructor: store a linear factor with optional linearization point

◆ LinearContainerFactor() [4/5]

gtsam::LinearContainerFactor::LinearContainerFactor	(	const HessianFactor &	factor,
		const Values &	linearizationPoint = `Values()`
	)

Primary constructor: store a linear factor with optional linearization point

◆ LinearContainerFactor() [5/5]

gtsam::LinearContainerFactor::LinearContainerFactor	(	const GaussianFactor::shared_ptr &	factor,
		const Values &	linearizationPoint = `Values()`
	)

Constructor from shared_ptr

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()

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

inlineoverridevirtual

Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses

Clones the underlying linear factor

Reimplemented from gtsam::NonlinearFactor.

◆ ConvertLinearGraph()

static NonlinearFactorGraph gtsam::LinearContainerFactor::ConvertLinearGraph	(	const GaussianFactorGraph &	linear_graph,
		const Values &	linearizationPoint = `Values()`
	)

static

Utility function for converting linear graphs to nonlinear graphs consisting of LinearContainerFactors.

◆ dim()

size_t gtsam::LinearContainerFactor::dim ( ) const

overridevirtual

get the dimension of the factor: rows of linear 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::LinearContainerFactor::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

overridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

◆ error() [1/2]

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

overridevirtual

Calculate the nonlinear error for the factor, where the error is computed by passing the delta between linearization point and c, where delta = linearizationPoint_.localCoordinates(c), into the error function of the stored linear factor.

Returns: nonlinear error if linearizationPoint present, zero otherwise

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.

◆ isJacobian()

bool gtsam::LinearContainerFactor::isJacobian ( ) const

Simple checks whether this is a Jacobian or Hessian factor

◆ keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns: keys involved in this factor

◆ linearizationPoint()

const std::optional<Values>& gtsam::LinearContainerFactor::linearizationPoint ( ) const

inline

Extract the linearization point used in recalculating error

◆ linearize()

GaussianFactor::shared_ptr gtsam::LinearContainerFactor::linearize ( const Values & c ) const

overridevirtual

Linearize to a GaussianFactor, with method depending on the presence of a linearizationPoint

With no linearization point, returns a cloned version of the stored linear factor.
With a linearization point provided, returns a relinearized version of the linearized factor.

The relinearization approach used computes a linear delta between the original linearization point and the new values c, where delta = linearizationPoint_.localCoordinates(c), and substitutes this change into the system. This substitution is only really valid for linear variable manifolds, and for any variables based on a non-commutative manifold (such as Pose2, Pose3), the relinearized version will be effective for only small angles.

TODO: better approximation of relinearization TODO: switchable modes for approximation technique

Implements gtsam::NonlinearFactor.

◆ negateToGaussian()

GaussianFactor::shared_ptr gtsam::LinearContainerFactor::negateToGaussian ( ) const

Creates an anti-factor directly

◆ negateToNonlinear()

NonlinearFactor::shared_ptr gtsam::LinearContainerFactor::negateToNonlinear ( ) const

Creates the equivalent anti-factor as another LinearContainerFactor.

◆ print()

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

overridevirtual

print

Reimplemented from gtsam::Factor.

◆ rekey() [1/2]

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

overridevirtual

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

Reimplemented from gtsam::NonlinearFactor.

◆ rekey() [2/2]

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

overridevirtual

Clones a factor and fully replaces its keys

Parameters

new_keys is the full replacement set of keys

Reimplemented from gtsam::NonlinearFactor.

◆ 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

◆ toHessian()

std::shared_ptr<HessianFactor> gtsam::LinearContainerFactor::toHessian ( ) const

Casts to HessianFactor

◆ toJacobian()

std::shared_ptr<JacobianFactor> gtsam::LinearContainerFactor::toJacobian ( ) const

Casts to JacobianFactor

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/LinearContainerFactor.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LinearContainerFactor() [1/5]

◆ LinearContainerFactor() [2/5]

◆ LinearContainerFactor() [3/5]

◆ LinearContainerFactor() [4/5]

◆ LinearContainerFactor() [5/5]

Member Function Documentation

◆ active()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clone()

◆ ConvertLinearGraph()

◆ dim()

◆ end() [1/2]

◆ end() [2/2]

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ FromIterators()

◆ FromKeys()

◆ isJacobian()

◆ keys()

◆ linearizationPoint()

◆ linearize()

◆ negateToGaussian()

◆ negateToNonlinear()

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()

◆ size()

◆ toHessian()

◆ toJacobian()