GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <LinearInequality.h>
Public Types | |
typedef LinearInequality | This |
Typedef to this class. | |
typedef JacobianFactor | Base |
Typedef to base class. | |
typedef std::shared_ptr< This > | shared_ptr |
shared_ptr to this class | |
typedef VerticalBlockMatrix::Block | ABlock |
typedef VerticalBlockMatrix::constBlock | constABlock |
typedef ABlock::ColXpr | BVector |
typedef constABlock::ConstColXpr | constBVector |
typedef KeyVector::iterator | iterator |
Iterator over keys. | |
typedef KeyVector::const_iterator | const_iterator |
Const iterator over keys. | |
Public Member Functions | |
LinearInequality () | |
LinearInequality (const HessianFactor &hf) | |
LinearInequality (const JacobianFactor &jf, Key dualKey) | |
LinearInequality (Key i1, const RowVector &A1, double b, Key dualKey) | |
LinearInequality (Key i1, const RowVector &A1, Key i2, const RowVector &A2, double b, Key dualKey) | |
LinearInequality (Key i1, const RowVector &A1, Key i2, const RowVector &A2, Key i3, const RowVector &A3, double b, Key dualKey) | |
template<typename TERMS > | |
LinearInequality (const TERMS &terms, double b, Key dualKey) | |
~LinearInequality () override | |
bool | equals (const GaussianFactor &lf, double tol=1e-9) const override |
void | print (const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override |
GaussianFactor::shared_ptr | clone () const override |
Key | dualKey () const |
dual key | |
bool | active () const |
return true if this constraint is active | |
void | activate () |
Make this inequality constraint active. | |
void | inactivate () |
Make this inequality constraint inactive. | |
Vector | error_vector (const VectorValues &c) const |
double | error (const VectorValues &c) const override |
double | dotProductRow (const VectorValues &p) const |
Vector | unweighted_error (const VectorValues &c) const |
Matrix | augmentedInformation () const override |
Matrix | information () const override |
void | hessianDiagonalAdd (VectorValues &d) const override |
Add the current diagonal to a VectorValues instance. | |
void | hessianDiagonal (double *d) const override |
Raw memory access version of hessianDiagonal. | |
std::map< Key, Matrix > | hessianBlockDiagonal () const override |
Return the block diagonal of the Hessian for this factor. | |
std::pair< Matrix, Vector > | jacobian () const override |
Returns (dense) A,b pair associated with factor, bakes in the weights. | |
std::pair< Matrix, Vector > | jacobianUnweighted () const |
Returns (dense) A,b pair associated with factor, does not bake in weights. | |
Matrix | augmentedJacobian () const override |
Matrix | augmentedJacobianUnweighted () const |
const VerticalBlockMatrix & | matrixObject () const |
VerticalBlockMatrix & | matrixObject () |
GaussianFactor::shared_ptr | negate () const override |
bool | isConstrained () const |
DenseIndex | getDim (const_iterator variable) const override |
size_t | rows () const |
size_t | cols () const |
const SharedDiagonal & | get_model () const |
SharedDiagonal & | get_model () |
const constBVector | getb () const |
BVector | getb () |
constABlock | getA (const_iterator variable) const |
constABlock | getA () const |
ABlock | getA (iterator variable) |
ABlock | getA () |
void | updateHessian (const KeyVector &keys, SymmetricBlockMatrix *info) const override |
Vector | operator* (const VectorValues &x) const |
void | transposeMultiplyAdd (double alpha, const Vector &e, VectorValues &x) const |
void | multiplyHessianAdd (double alpha, const VectorValues &x, VectorValues &y) const override |
void | multiplyHessianAdd (double alpha, const double *x, double *y, const std::vector< size_t > &accumulatedDims) const |
VectorValues | gradientAtZero () const override |
A'*b for Jacobian. | |
void | gradientAtZero (double *d) const override |
A'*b for Jacobian (raw memory version) | |
Vector | gradient (Key key, const VectorValues &x) const override |
Compute the gradient wrt a key at any values. | |
JacobianFactor | whiten () const |
std::pair< std::shared_ptr< GaussianConditional >, shared_ptr > | eliminate (const Ordering &keys) |
void | setModel (bool anyConstrained, const Vector &sigmas) |
std::shared_ptr< GaussianConditional > | splitConditional (size_t nrFrontals) |
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 |
VectorValues | hessianDiagonal () const |
Return the diagonal of the Hessian for this factor. | |
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 | |
Advanced Interface | |
template<typename CONTAINER > | |
static DenseIndex | Slot (const CONTAINER &keys, Key key) |
Protected Member Functions | |
template<typename TERMS > | |
void | fillTerms (const TERMS &terms, const Vector &b, const SharedDiagonal &noiseModel) |
Internal function to fill blocks and set dimensions. | |
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 | |
VerticalBlockMatrix | Ab_ |
noiseModel::Diagonal::shared_ptr | model_ |
KeyVector | keys_ |
The keys involved in this factor. | |
This class defines a linear inequality constraint Ax-b <= 0, inheriting JacobianFactor with the special Constrained noise model
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inline |
default constructor for I/O
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inlineexplicit |
Conversion from HessianFactor
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inlineexplicit |
Conversion from JacobianFactor
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inline |
Construct unary factor
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inline |
Construct binary factor
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inline |
Construct ternary factor
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inline |
Construct an n-ary factor
TERMS | A container whose value type is std::pair<Key, Matrix>, specifying the collection of keys and matrices making up the factor. In this inequality factor, each matrix must have only one row!! |
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inlineoverride |
Virtual destructor
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overridevirtualinherited |
Return the augmented information matrix represented by this GaussianFactor. The augmented information matrix contains the information matrix with an additional column holding the information vector, and an additional row holding the transpose of the information vector. The lower-right entry contains the constant error term (when \( \delta x = 0 \)). The augmented information matrix is described in more detail in HessianFactor, which in fact stores an augmented information matrix.
Implements gtsam::GaussianFactor.
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overridevirtualinherited |
Return (dense) matrix associated with factor. The returned system is an augmented matrix: [A b] weights are baked in
Implements gtsam::GaussianFactor.
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inherited |
Return (dense) matrix associated with factor. The returned system is an augmented matrix: [A b] weights are not baked in
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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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inlineoverridevirtual |
Clone this LinearInequality
Reimplemented from gtsam::JacobianFactor.
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inlineinherited |
return the number of columns in the corresponding linear system
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inline |
dot product of row s with the corresponding vector in p
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inherited |
Eliminate the requested variables.
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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::JacobianFactor.
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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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inlineoverridevirtual |
Special error for single-valued inequality constraints.
Reimplemented from gtsam::JacobianFactor.
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inline |
Special error_vector for constraints (A*x-b)
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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 |
get a copy of model
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inlineinherited |
get a copy of model (non-const version)
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inlineinherited |
Get a view of the A matrix for the variable pointed to by the given key iterator
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inlineinherited |
Get a view of the A matrix, not weighted by noise
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inlineinherited |
Get a view of the A matrix for the variable pointed to by the given key iterator (non-const version)
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inlineinherited |
Get a view of the A matrix
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inlineinherited |
Get a view of the r.h.s. vector b, not weighted by noise
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inlineinherited |
Get a view of the r.h.s. vector b (non-const version)
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inlineoverridevirtualinherited |
Return the dimension of the variable pointed to by the given key iterator todo: Remove this in favor of keeping track of dimensions with variables?
Implements gtsam::GaussianFactor.
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overridevirtualinherited |
Return the non-augmented information matrix represented by this GaussianFactor.
Implements gtsam::GaussianFactor.
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inlineinherited |
is noise model constrained ?
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inlineinherited |
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inlineinherited |
Return the full augmented Jacobian matrix of this factor as a VerticalBlockMatrix object.
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inlineinherited |
Mutable access to the full augmented Jacobian matrix of this factor as a VerticalBlockMatrix object.
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overridevirtualinherited |
y += alpha * A'*A*x
Implements gtsam::GaussianFactor.
Reimplemented in gtsam::RegularJacobianFactor< D >.
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inherited |
Raw memory access version of multiplyHessianAdd y += alpha * A'*A*x Requires the vector accumulatedDims to tell the dimension of each variable: e.g.: x0 has dim 3, x2 has dim 6, x3 has dim 2, then accumulatedDims is [0 3 9 11 13] NOTE: size of accumulatedDims is size of keys + 1!! TODO(frank): we should probably kill this if no longer needed
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overridevirtualinherited |
Construct the corresponding anti-factor to negate information stored stored in this factor.
Implements gtsam::GaussianFactor.
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inherited |
Return A*x
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inlineoverridevirtual |
Reimplemented from gtsam::JacobianFactor.
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inlineinherited |
return the number of rows in the corresponding linear system
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inherited |
set noiseModel correctly
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inlineinherited |
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inherited |
splits a pre-factorized factor into a conditional, and changes the current factor to be the remaining component. Performs same operation as eliminate(), but without running QR. NOTE: looks at dimension of noise model to determine how many rows to keep.
nrFrontals | number of keys to eliminate |
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inherited |
x += alpha * A'*e. If x is initially missing any values, they are created and assumed to start as zero vectors.
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overridevirtualinherited |
Update an information matrix by adding the information corresponding to this factor (used internally during elimination).
scatter | A mapping from variable index to slot index in this HessianFactor |
info | The information matrix to be updated |
Implements gtsam::GaussianFactor.
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inherited |
Return a whitened version of the factor, i.e. with unit diagonal noise model.