#include <LinearizedFactor.h>

Inheritance diagram for gtsam::LinearizedHessianFactor:

Collaboration diagram for gtsam::LinearizedHessianFactor:

[legend]

Public Types
typedef LinearizedGaussianFactor	Base

typedef LinearizedHessianFactor	This

typedef std::shared_ptr< LinearizedHessianFactor >	shared_ptr

typedef SymmetricBlockMatrix::Block	Block
	A block from the Hessian matrix. More...

typedef SymmetricBlockMatrix::constBlock	constBlock
	A block from the Hessian matrix (const version)

typedef SymmetricBlockMatrix::Block::ColXpr	Column
	A column containing the linear term h.

typedef SymmetricBlockMatrix::constBlock::ColXpr	constColumn
	A column containing the linear term h (const version)

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
	LinearizedHessianFactor ()

	LinearizedHessianFactor (const HessianFactor::shared_ptr &hessian, const Values &lin_points)

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	constantTerm () const

constColumn	linearTerm (const_iterator j) const

constColumn	linearTerm () const

Matrix	squaredTerm (const_iterator j1, const_iterator j2) const

Eigen::SelfAdjointView< constBlock, Eigen::Upper >	squaredTerm () const

size_t	dim () const override

double	error (const Values &c) const override

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

const Values &	linearizationPoint () 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 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
SymmetricBlockMatrix	info_

Values	lin_points_

KeyVector	keys_
	The keys involved in this factor.

Detailed Description

A factor that takes a linear, Hessian factor and inserts it into a nonlinear graph.

Member Typedef Documentation

◆ Base

typedef LinearizedGaussianFactor gtsam::LinearizedHessianFactor::Base

base type

◆ Block

typedef SymmetricBlockMatrix::Block gtsam::LinearizedHessianFactor::Block

A block from the Hessian matrix.

hessian block data types

◆ shared_ptr

typedef std::shared_ptr<LinearizedHessianFactor> gtsam::LinearizedHessianFactor::shared_ptr

shared pointer for convenience

Constructor & Destructor Documentation

◆ LinearizedHessianFactor() [1/2]

gtsam::LinearizedHessianFactor::LinearizedHessianFactor ( )

default constructor for serialization

◆ LinearizedHessianFactor() [2/2]

gtsam::LinearizedHessianFactor::LinearizedHessianFactor	(	const HessianFactor::shared_ptr &	hessian,
		const Values &	lin_points
	)

Use this constructor with the ordering used to linearize the graph

Parameters

hessian	A hessian factor
lin_points	The linearization points for, at least, the variables used by this factor

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()

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ constantTerm()

double gtsam::LinearizedHessianFactor::constantTerm ( ) const

inline

Return the constant term \( f \) as described above

Returns: The constant term \( f \)

◆ dim()

size_t gtsam::LinearizedHessianFactor::dim ( ) const

inlineoverridevirtual

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

◆ equals()

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

overridevirtual

equals function with optional tolerance

Reimplemented from gtsam::NonlinearFactor.

◆ 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::LinearizedHessianFactor::error ( const Values & c ) const

overridevirtual

Calculate the error of the factor

Reimplemented from gtsam::NonlinearFactor.

◆ 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::LinearizedHessianFactor::linearize ( const Values & c ) const

overridevirtual

linearize to a GaussianFactor Reimplemented from NoiseModelFactor to directly copy out the matrices and only update the RHS b with an updated residual

Implements gtsam::NonlinearFactor.

◆ linearTerm() [1/2]

constColumn gtsam::LinearizedHessianFactor::linearTerm ( const_iterator j ) const

inline

Return the part of linear term \( g \) as described above corresponding to the requested variable.

Parameters

j	Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.

Returns: The linear term \( g \)

◆ linearTerm() [2/2]

constColumn gtsam::LinearizedHessianFactor::linearTerm ( ) const

inline

Return the complete linear term \( g \) as described above.

Returns: The linear term \( g \)

◆ print()

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

overridevirtual

print function

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

◆ squaredTerm() [1/2]

Matrix gtsam::LinearizedHessianFactor::squaredTerm	(	const_iterator	j1,
		const_iterator	j2
	)		const

inline

Return a copy of the block at (j1,j2) of the upper-triangular part of the squared term \( H \), no data is copied. See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.

Parameters

j1	Which block row to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.
j2	Which block column to get, as an iterator pointing to the slot in this factor. You can use, for example, begin() + 2 to get the 3rd variable in this factor.

Returns: A copy of the requested block.

◆ squaredTerm() [2/2]

Eigen::SelfAdjointView<constBlock, Eigen::Upper> gtsam::LinearizedHessianFactor::squaredTerm ( ) const

inline

Return the upper-triangular part of the full squared term, as described above. See HessianFactor class documentation above to explain that only the upper-triangular part of the information matrix is stored and returned by this function.

Member Data Documentation

◆ info_

SymmetricBlockMatrix gtsam::LinearizedHessianFactor::info_

protected

The block view of the full information matrix, s.t. the quadratic error is 0.5*[x -1]'H[x -1]

◆ lin_points_

Values gtsam::LinearizedGaussianFactor::lin_points_

protectedinherited

linearization points for error calculation

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

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

Public Types

Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ Block

◆ shared_ptr

Constructor & Destructor Documentation

◆ LinearizedHessianFactor() [1/2]

◆ LinearizedHessianFactor() [2/2]

Member Function Documentation

◆ active()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clone()

◆ constantTerm()

◆ dim()

◆ end() [1/2]

◆ end() [2/2]

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ FromIterators()

◆ FromKeys()

◆ keys()

◆ linearize()

◆ linearTerm() [1/2]

◆ linearTerm() [2/2]

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()

◆ size()

◆ squaredTerm() [1/2]

◆ squaredTerm() [2/2]

Member Data Documentation

◆ info_

◆ lin_points_