#include <NonlinearFactor.h>

Inherits gtsam::NonlinearFactor.

Collaboration diagram for gtsam::NoiseModelFactor:

[legend]

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
	NoiseModelFactor ()

	~NoiseModelFactor () override

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)

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

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

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

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

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	clone () 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
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Member Functions
	NoiseModelFactor (const SharedNoiseModel &noiseModel)

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

A nonlinear sum-of-squares factor with a zero-mean noise model implementing the density \( P(z|x) \propto exp -0.5*|z-h(x)|^2_C \) Templated on the parameter type X and the values structure Values There is no return type specified for h(x). Instead, we require the derived class implements \( \mathtt{error\_vector}(x) = h(x)-z \approx A \delta x - b \) This allows a graph to have factors with measurements of mixed type.

The noise model is typically Gaussian, but robust and constrained error models are also supported.

Member Typedef Documentation

◆ shared_ptr

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

Noise model

Constructor & Destructor Documentation

◆ NoiseModelFactor() [1/3]

gtsam::NoiseModelFactor::NoiseModelFactor ( )

inline

Default constructor for I/O only

◆ ~NoiseModelFactor()

gtsam::NoiseModelFactor::~NoiseModelFactor ( )

inlineoverride

Destructor

◆ NoiseModelFactor() [2/3]

template<typename CONTAINER >

gtsam::NoiseModelFactor::NoiseModelFactor	(	const SharedNoiseModel &	noiseModel,
		const CONTAINER &	keys
	)

inline

Constructor

◆ NoiseModelFactor() [3/3]

gtsam::NoiseModelFactor::NoiseModelFactor ( const SharedNoiseModel & noiseModel )

inlineprotected

Constructor - only for subclasses, as this does not set keys.

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()

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

inlinevirtualinherited

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

By default, throws exception if subclass does not implement the function.

Reimplemented in gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::NonlinearEquality2< T >, gtsam::CombinedImuFactor, gtsam::ImuFactor2, gtsam::EssentialMatrixFactor3, gtsam::NonlinearEquality1< VALUE >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::ImuFactor, gtsam::LinearizedHessianFactor, gtsam::PendulumFactorPk1, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::MagFactor3, gtsam::Pose3AttitudeFactor, gtsam::SmartRangeFactor, gtsam::NonlinearEquality< VALUE >, gtsam::AHRSFactor, gtsam::EssentialMatrixFactor2, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::MagFactor2, gtsam::PendulumFactorPk, gtsam::GPSFactor2, gtsam::ProjectionFactorRollingShutter, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::LinearContainerFactor, gtsam::LinearizedJacobianFactor, gtsam::Rot3AttitudeFactor, gtsam::MagFactor1, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::DiscreteEulerPoincareHelicopter, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::RotateDirectionsFactor, gtsam::PendulumFactor2, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::FunctorizedFactor< R, T >, gtsam::PartialPriorFactor< VALUE >, 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 >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::MagPoseFactor< POSE >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::BetweenFactor< VALUE >, gtsam::EssentialMatrixFactor, gtsam::VelocityConstraint, gtsam::PriorFactor< VALUE >, gtsam::GPSFactor, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::BarometricFactor, gtsam::EssentialMatrixConstraint, gtsam::DummyFactor, gtsam::PoseBetweenFactor< POSE >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::PosePriorFactor< POSE >, gtsam::MagFactor, gtsam::PoseTranslationPrior< POSE >, gtsam::PoseRotationPrior< POSE >, gtsam::FullIMUFactor< POSE >, gtsam::AntiFactor, gtsam::RangeFactor< A1, A2, T >, gtsam::IMUFactor< POSE >, gtsam::RelativeElevationFactor, gtsam::PendulumFactor1, gtsam::Reconstruction, gtsam::RotateFactor, and gtsam::VelocityConstraint3.

◆ cloneWithNewNoiseModel()

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

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

◆ dim()

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

overridevirtual

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 >, 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

overridevirtual

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.

◆ 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::NoiseModelFactor::linearize ( const Values & x ) const

overridevirtual

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

overridevirtual

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 >, 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

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

◆ unwhitenedError() [1/2]

virtual Vector gtsam::NoiseModelFactor::unwhitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = `nullptr`
	)		const

pure virtual

Error function without the NoiseModel, \( z-h(x) \). Override this method to finish implementing an N-way factor. If the optional arguments is specified, it should compute both the function evaluation and its derivative(s) in H.

◆ unwhitenedError() [2/2]

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

inline

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

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

◆ whitenedError()

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

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/NonlinearFactor.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ NoiseModelFactor() [1/3]

◆ ~NoiseModelFactor()

◆ NoiseModelFactor() [2/3]

◆ NoiseModelFactor() [3/3]

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]

◆ FromIterators()

◆ FromKeys()

◆ keys()

◆ linearize()

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()

◆ size()

◆ unweightedWhitenedError()

◆ unwhitenedError() [1/2]

◆ unwhitenedError() [2/2]

◆ weight()

◆ whitenedError()