#include <TransformBtwRobotsUnaryFactorEM.h>

Inheritance diagram for gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >:

Collaboration diagram for gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >:

Public Types
typedef VALUE	T

typedef std::shared_ptr< TransformBtwRobotsUnaryFactorEM >	shared_ptr

typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
	TransformBtwRobotsUnaryFactorEM ()

	TransformBtwRobotsUnaryFactorEM (Key key, const VALUE &measured, Key keyA, Key keyB, const Values &valA, const Values &valB, const SharedGaussian &model_inlier, const SharedGaussian &model_outlier, const double prior_inlier, const double prior_outlier, const bool flag_bump_up_near_zero_probs=false, const bool start_with_M_step=false)

NonlinearFactor::shared_ptr	clone () const override

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

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

void	setValAValB (const Values &valA, const Values &valB)

double	error (const Values &x) const override

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

Vector	whitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const

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

Vector	calcIndicatorProb (const Values &x) const

Vector	calcIndicatorProb (const Values &x, const Vector &err) const

Vector	unwhitenedError (const Values &x) const

SharedGaussian	get_model_inlier () const

SharedGaussian	get_model_outlier () const

Matrix	get_model_inlier_cov () const

Matrix	get_model_outlier_cov () const

void	updateNoiseModels (const Values &values, const Marginals &marginals)

void	updateNoiseModels (const Values &values, const NonlinearFactorGraph &graph)

void	updateNoiseModels_givenCovs (const Values &values, const Matrix &cov1, const Matrix &cov2, const Matrix &cov12)

size_t	dim () const override

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
KeyVector	keys_
	The keys involved in this factor.

Detailed Description

template<class VALUE>
class gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >

A class for a measurement predicted by "between(config[key1],config[key2])"

Template Parameters

VALUE the Value type

Member Typedef Documentation

◆ shared_ptr

template<class VALUE >

typedef std::shared_ptr<TransformBtwRobotsUnaryFactorEM> gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::shared_ptr

concept check by type

Constructor & Destructor Documentation

◆ TransformBtwRobotsUnaryFactorEM() [1/2]

template<class VALUE >

gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::TransformBtwRobotsUnaryFactorEM ( )

inline

default constructor - only use for serialization

◆ TransformBtwRobotsUnaryFactorEM() [2/2]

template<class VALUE >

gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::TransformBtwRobotsUnaryFactorEM	(	Key	key,
		const VALUE &	measured,
		Key	keyA,
		Key	keyB,
		const Values &	valA,
		const Values &	valB,
		const SharedGaussian &	model_inlier,
		const SharedGaussian &	model_outlier,
		const double	prior_inlier,
		const double	prior_outlier,
		const bool	flag_bump_up_near_zero_probs = `false`,
		const bool	start_with_M_step = `false`
	)

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()

template<class VALUE >

NonlinearFactor::shared_ptr gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::clone ( ) const

inlineoverridevirtual

Clone

Reimplemented from gtsam::NonlinearFactor.

◆ dim()

template<class VALUE >

size_t gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::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()

template<class VALUE >

bool gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

◆ error()

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.

◆ 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()

template<class VALUE >

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

inlineoverridevirtual

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.

◆ print()

template<class VALUE >

void gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

implement functions needed for Testable print

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.

◆ setValAValB()

template<class VALUE >

void gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::setValAValB	(	const Values &	valA,
		const Values &	valB
	)

inline

implement functions needed to derive from Factor

◆ size()

size_t gtsam::Factor::size ( ) const

inlineinherited

Returns: the number of variables involved in this factor

◆ whitenedError()

template<class VALUE >

Vector gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >::whitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = `nullptr`
	)		const

inline

A function overload to accept a vector<matrix> instead of a pointer to the said type.

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/slam/TransformBtwRobotsUnaryFactorEM.h

Public Types

Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

template<class VALUE> class gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ TransformBtwRobotsUnaryFactorEM() [1/2]

◆ TransformBtwRobotsUnaryFactorEM() [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()

◆ setValAValB()

◆ size()

◆ whitenedError()

template<class VALUE>
class gtsam::TransformBtwRobotsUnaryFactorEM< VALUE >