#include <MagFactor.h>

Inheritance diagram for gtsam::MagFactor2:

[legend]

Collaboration diagram for gtsam::MagFactor2:

[legend]

Public Types
enum
	N is the number of variables (N-way factor)

using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

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
	MagFactor2 (Key key1, Key key2, const Point3 &measured, const Rot3 &nRb, const SharedNoiseModel &model)

NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const Point3 &nM, const Point3 &bias, OptionalMatrixType H1, OptionalMatrixType H2) const override
	vector of errors More...

Key	key () const

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

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

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

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

shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

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

Virtual methods
virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Convenience method overloads
Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

Shortcut functions `key1()` -> `key<1>()`
Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Key	key6 () 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 ()

Protected Types
using	Base = NoiseModelFactor

using	This = NoiseModelFactorN< ValueTypes... >

using	OptionalMatrixTypeT = Matrix *

using	KeyType = Key

using	MatrixTypeT = Matrix

SFINAE aliases
using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix &>::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix *>

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

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
SharedNoiseModel	noiseModel_

KeyVector	keys_
	The keys involved in this factor.

Detailed Description

Factor to calibrate local Earth magnetic field as well as magnetometer bias This version uses model measured bM = bRn * nM + bias and optimizes for both nM and the bias, where nM is in units defined by magnetometer

Member Typedef Documentation

◆ AreAllMatrixPtrs

using gtsam::NoiseModelFactorN< ValueTypes >::AreAllMatrixPtrs = std::enable_if_t<(... && (IsMatrixPointer<Args>::value || IsNullpointer<Args>::value)), Ret>

protectedinherited

A helper alias to check if a list of args are all pointers to a matrix or not. It will be used to choose the right overload of evaluateError.

◆ AreAllMatrixRefs

using gtsam::NoiseModelFactorN< ValueTypes >::AreAllMatrixRefs = std::enable_if_t<(... && std::is_convertible<Args, Matrix&>::value), Ret>

protectedinherited

A helper alias to check if a list of args are all references to a matrix or not. It will be used to choose the right overload of evaluateError.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::NoiseModelFactor::shared_ptr

inherited

Noise model

◆ ValueType

using gtsam::NoiseModelFactorN< ValueTypes >::ValueType = typename std::tuple_element<I - 1, std::tuple<ValueTypes...> >::type

inherited

The type of the I'th template param can be obtained as ValueType. I is 1-indexed for backwards compatibility/consistency! So for example,

using Factor = NoiseModelFactorN<Pose3, Point3>;
Factor::ValueType<1>  // Pose3
Factor::ValueType<2>  // Point3
// Factor::ValueType<0> // ERROR!  Will not compile.
// Factor::ValueType<3> // ERROR!  Will not compile.

You can also use the shortcuts X1, ..., X6 which are the same as ValueType<1>, ..., ValueType<6> respectively (see detail::NoiseModelFactorAliases).

Note that, if your class is templated AND you want to use ValueType<1> inside your class, due to dependent types you need the template keyword: typename MyFactor<T>::template ValueType<1>.

Constructor & Destructor Documentation

◆ MagFactor2()

gtsam::MagFactor2::MagFactor2	(	Key	key1,
		Key	key2,
		const Point3 &	measured,
		const Rot3 &	nRb,
		const SharedNoiseModel &	model
	)

inline

Constructor

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::MagFactor2::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ 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

◆ equals()

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

overridevirtualinherited

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::InvDepthFactorVariant3b, gtsam::ProjectionFactorRollingShutter, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::TriangulationFactor< CAMERA >, 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::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::BetweenFactor< VALUE >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::PriorFactor< VALUE >, gtsam::SmartRangeFactor, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::PoseBetweenFactor< POSE >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InvDepthFactorVariant2, gtsam::OrientedPlane3DirectionPrior, gtsam::PoseTranslationPrior< POSE >, gtsam::InvDepthFactorVariant3a, gtsam::EssentialMatrixConstraint, gtsam::InvDepthFactorVariant1, gtsam::PosePriorFactor< POSE >, gtsam::BiasedGPSFactor, gtsam::ShonanFactor< d >, gtsam::PoseRotationPrior< POSE >, gtsam::FullIMUFactor< POSE >, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::RelativeElevationFactor, and gtsam::IMUFactor< POSE >.

◆ 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.

◆ evaluateError() [1/5]

Vector gtsam::MagFactor2::evaluateError	(	const Point3 &	nM,
		const Point3 &	bias,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

vector of errors

Parameters

nM	(unknown) local earth magnetic field vector, in nav frame
bias	(unknown) 3D bias

◆ evaluateError() [2/5]

virtual Vector gtsam::NoiseModelFactorN< ValueTypes >::evaluateError	(	const ValueTypes &...	x,
		OptionalMatrixTypeT< ValueTypes >...	H
	)		const

pure virtualinherited

Override evaluateError to finish implementing an n-way factor.

Both the x and H arguments are written here as parameter packs, but when overriding this method, you probably want to explicitly write them out. For example, for a 2-way factor with variable types Pose3 and Point3, you should implement:

Vector evaluateError(
    const Pose3& x1, const Point3& x2,
    OptionalMatrixType H1 = OptionalNone,
    OptionalMatrixType H2 = OptionalNone) const override { ... }

If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in the requested variables.

Parameters

	x	The values of the variables to evaluate the error for. Passed in as separate arguments.
[out]	H	The Jacobian with respect to each variable (optional).

◆ evaluateError() [3/5]

Vector gtsam::NoiseModelFactorN< ValueTypes >::evaluateError	(	const ValueTypes &...	x,
		MatrixTypeT< ValueTypes > &...	H
	)		const

inlineinherited

If all the optional arguments are matrices then redirect the call to the one which takes pointers. 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 NoiseModelFactorN<list the value types here>::evaluateError;

◆ evaluateError() [4/5]

Vector gtsam::NoiseModelFactorN< ValueTypes >::evaluateError ( const ValueTypes &... x ) const

inlineinherited

No-Jacobians requested function overload. This specializes the version below to avoid recursive calls since this is commonly used.

e.g. const Vector error = factor.evaluateError(pose, point);

◆ evaluateError() [5/5]

AreAllMatrixRefs<Vector, OptionalJacArgs...> gtsam::NoiseModelFactorN< ValueTypes >::evaluateError	(	const ValueTypes &...	x,
		OptionalJacArgs &&...	H
	)		const

inlineinherited

Some (but not all) optional Jacobians are omitted (function overload) and the jacobians are l-value references to matrices. e.g. const Vector error = factor.evaluateError(pose, point, Hpose);

◆ 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.

◆ key()

Key gtsam::NoiseModelFactorN< ValueTypes >::key ( ) const

inlineinherited

Returns a key. Usage: key<I>() returns the I'th key. I is 1-indexed for backwards compatibility/consistency! So for example,

NoiseModelFactorN<Pose3, Point3> factor(noise, key1, key2);
key<1>()  // = key1
key<2>()  // = key2
// key<0>()  // ERROR!  Will not compile
// key<3>()  // ERROR!  Will not compile

Note that, if your class is templated AND you are trying to call key<1> inside your class, due to dependent types you need the template keyword: this->key1().

◆ keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns: keys involved in this factor

◆ linearize()

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

overridevirtualinherited

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.

Reimplemented in gtsam::TriangulationFactor< CAMERA >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, and gtsam::ExpressionFactor< double >.

◆ print()

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

overridevirtualinherited

Print

Reimplemented from gtsam::NonlinearFactor.

Reimplemented in gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::EssentialMatrixFactor3, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::InvDepthFactorVariant3b, gtsam::EssentialMatrixFactor2, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::ProjectionFactorRollingShutter, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, 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::RotateDirectionsFactor, gtsam::VelocityConstraint, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::BetweenFactor< VALUE >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::EssentialMatrixFactor, gtsam::PoseTranslationPrior< POSE >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::SmartRangeFactor, gtsam::PriorFactor< VALUE >, gtsam::GaussMarkov1stOrderFactor< VALUE >, gtsam::RangeFactor< A1, A2, T >, gtsam::OrientedPlane3DirectionPrior, gtsam::EssentialMatrixConstraint, gtsam::PoseRotationPrior< POSE >, gtsam::InvDepthFactor3< POSE, LANDMARK, INVDEPTH >, gtsam::InvDepthFactorVariant2, gtsam::InvDepthFactorVariant3a, gtsam::LocalOrientedPlane3Factor, gtsam::PoseBetweenFactor< POSE >, gtsam::InvDepthFactorVariant1, gtsam::FullIMUFactor< POSE >, gtsam::PosePriorFactor< POSE >, gtsam::ShonanFactor< d >, gtsam::RelativeElevationFactor, gtsam::IMUFactor< POSE >, gtsam::BiasedGPSFactor, gtsam::BearingFactor< A1, A2, T >, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::RotateFactor, and gtsam::OrientedPlane3Factor.

◆ 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]

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;

◆ unwhitenedError() [2/2]

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

inlineoverridevirtualinherited

This implements the unwhitenedError virtual function by calling the n-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.

Example usage:

gtsam::Values values;
values.insert(...) // populate values
std::vector<Matrix> Hs(2); // this will be an optional output argument
const Vector error = factor.unwhitenedError(values, Hs);

Parameters

[in]	x	A Values object containing the values of all the variables used in this factor
[out]	H	A vector of (dynamic) matrices whose size should be equal to n. The Jacobians w.r.t. each variable will be output in this parameter.

Implements gtsam::NoiseModelFactor.

◆ 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/navigation/MagFactor.h

Public Types

Public Member Functions

Protected Types

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ AreAllMatrixPtrs

◆ AreAllMatrixRefs

◆ shared_ptr

◆ ValueType

Constructor & Destructor Documentation

◆ MagFactor2()

Member Function Documentation

◆ active()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clone()

◆ cloneWithNewNoiseModel()

◆ dim()

◆ end() [1/2]

◆ end() [2/2]

◆ equals()

◆ error() [1/2]

◆ error() [2/2]

◆ evaluateError() [1/5]

◆ evaluateError() [2/5]

◆ evaluateError() [3/5]

◆ evaluateError() [4/5]

◆ evaluateError() [5/5]

◆ FromIterators()

◆ FromKeys()

◆ key()

◆ keys()

◆ linearize()

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()

◆ size()

◆ unweightedWhitenedError()

◆ unwhitenedError() [1/2]

◆ unwhitenedError() [2/2]

◆ weight()

◆ whitenedError()