#include <NonlinearFactor.h>

Inheritance diagram for gtsam::NonlinearFactor:

[legend]

Collaboration diagram for gtsam::NonlinearFactor:

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.

Protected Types
typedef Factor	Base

typedef NonlinearFactor	This

Protected Attributes
KeyVector	keys_
	The keys involved in this factor.

Standard Constructors
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

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

Testable
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

bool	equals (const This &other, double tol=1e-9) const
	check equality

Advanced Interface
KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Standard Constructors
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

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

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

Standard Interface
virtual double	error (const Values &c) const

double	error (const HybridValues &c) const override

virtual size_t	dim () const =0

virtual bool	active (const Values &) const

virtual std::shared_ptr< GaussianFactor >	linearize (const Values &c) const =0

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

Detailed Description

Nonlinear factor base class

This is the base class for all factor types, as well as conditionals, which are implemented as specialized factors. This class does not store any data other than its keys. Derived classes store data such as matrices and probability tables.

The error method is used to evaluate the factor, and is the only method that is required to be implemented in derived classes, although it has a default implementation that throws an exception.

There are five broad classes of factors that derive from Factor:

Nonlinear factors, such as NoiseModelFactor, which represent a nonlinear likelihood function over a set of variables.
Gaussian factors, such as

Constructor & Destructor Documentation

◆ NonlinearFactor() [1/2]

gtsam::NonlinearFactor::NonlinearFactor ( )

inline

Default constructor for I/O only

◆ NonlinearFactor() [2/2]

template<typename CONTAINER >

gtsam::NonlinearFactor::NonlinearFactor ( const CONTAINER & keys )

inline

Constructor from a collection of the keys involved in this factor

Member Function Documentation

◆ active()

virtual bool gtsam::NonlinearFactor::active ( const Values & ) const

inlinevirtual

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

inlinevirtual

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< P > >, 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.

◆ dim()

virtual size_t gtsam::NonlinearFactor::dim ( ) const

pure virtual

get the dimension of the factor (number of rows on linearization)

Implemented in gtsam::BetweenFactorEM< VALUE >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::LinearizedHessianFactor, gtsam::NoiseModelFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > >, gtsam::LinearizedJacobianFactor, gtsam::WhiteNoiseFactor, gtsam::ShonanGaugeFactor, gtsam::LinearContainerFactor, gtsam::AntiFactor, gtsam::KarcherMeanFactor< T >, and gtsam::DummyFactor.

◆ 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()

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

virtual

Check if two factors are equal

Reimplemented in gtsam::CombinedImuFactor, gtsam::ImuFactor2, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::NoiseModelFactor, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::ImuFactor, gtsam::LinearizedHessianFactor, gtsam::InvDepthFactorVariant3b, gtsam::Pose3AttitudeFactor, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > >, gtsam::AHRSFactor, gtsam::ProjectionFactorRollingShutter, gtsam::GPSFactor2, gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >, gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS >, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::SmartStereoProjectionFactorPP, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::LinearizedJacobianFactor, gtsam::Rot3AttitudeFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::NonlinearEquality< VALUE >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::SmartStereoProjectionPoseFactor, gtsam::SmartStereoProjectionFactor, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::TriangulationFactor< CAMERA >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::FunctorizedFactor< R, T >, 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::SmartProjectionPoseFactor< CALIBRATION >, gtsam::MagPoseFactor< POSE >, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::PartialPriorFactor< VALUE >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::BetweenFactor< VALUE >, gtsam::BetweenFactorEM< VALUE >, gtsam::ExpressionFactor< T >, 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::GPSFactor, gtsam::InvDepthFactorVariant2, gtsam::OrientedPlane3DirectionPrior, gtsam::PoseTranslationPrior< POSE >, gtsam::InvDepthFactorVariant3a, gtsam::BarometricFactor, gtsam::EssentialMatrixConstraint, gtsam::InvDepthFactorVariant1, gtsam::PosePriorFactor< POSE >, gtsam::BiasedGPSFactor, gtsam::ShonanFactor< d >, gtsam::PoseRotationPrior< POSE >, gtsam::LinearContainerFactor, gtsam::AntiFactor, gtsam::FullIMUFactor< POSE >, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::RelativeElevationFactor, gtsam::IMUFactor< POSE >, and gtsam::DummyFactor.

◆ error()

double gtsam::NonlinearFactor::error ( const HybridValues & c ) const

overridevirtual

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.

◆ keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns: keys involved in this factor

◆ linearize()

virtual std::shared_ptr<GaussianFactor> gtsam::NonlinearFactor::linearize ( const Values & c ) const

pure virtual

linearize to a GaussianFactor

Implemented in gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartStereoProjectionFactor, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::NoiseModelFactor, gtsam::SmartStereoProjectionFactorPP, gtsam::LinearizedHessianFactor, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::NonlinearEquality< VALUE >, gtsam::WhiteNoiseFactor, gtsam::TriangulationFactor< CAMERA >, gtsam::LinearizedJacobianFactor, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::BetweenFactorEM< VALUE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::LinearContainerFactor, gtsam::ShonanGaugeFactor, gtsam::AntiFactor, gtsam::KarcherMeanFactor< T >, gtsam::DummyFactor, and gtsam::PinholeFactor.

◆ print()

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Reimplemented in gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::EssentialMatrixFactor3, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::NoiseModelFactor, gtsam::LinearizedHessianFactor, gtsam::SmartProjectionPoseFactorRollingShutter< CAMERA >, gtsam::InvDepthFactorVariant3b, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartFactorBase< StereoCamera >, gtsam::SmartFactorBase< PinholeCamera< Cal3Bundler > >, 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::SmartStereoProjectionFactorPP, gtsam::LinearizedJacobianFactor, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >, gtsam::SmartStereoProjectionPoseFactor, gtsam::WhiteNoiseFactor, gtsam::MultiProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION >, gtsam::SmartStereoProjectionFactor, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::SmartProjectionFactor< 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::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::RotateDirectionsFactor, gtsam::VelocityConstraint, gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >, gtsam::PartialPriorFactor< VALUE >, gtsam::PartialPriorFactor< PoseRTV >, gtsam::BetweenFactor< VALUE >, gtsam::TransformBtwRobotsUnaryFactor< VALUE >, gtsam::BetweenFactorEM< 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::AntiFactor, gtsam::BiasedGPSFactor, gtsam::BearingFactor< A1, A2, T >, gtsam::PoseToPointFactor< POSE, POINT >, gtsam::RotateFactor, gtsam::OrientedPlane3Factor, and gtsam::DummyFactor.

◆ rekey() [1/2]

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

virtual

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

virtual

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

inlinevirtual

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

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

Protected Types

Protected Attributes

Standard Constructors

Standard Interface

Testable

Advanced Interface

Standard Constructors

Testable

Standard Interface

Detailed Description

Constructor & Destructor Documentation

◆ NonlinearFactor() [1/2]

◆ NonlinearFactor() [2/2]

Member Function Documentation

◆ active()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clone()

◆ dim()

◆ end() [1/2]

◆ end() [2/2]

◆ equals()

◆ error()

◆ FromIterators()

◆ FromKeys()

◆ keys()

◆ linearize()

◆ print()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()

◆ size()