Binary factor to estimate parameters of zero-mean Gaussian white noise. More...

#include <WhiteNoiseFactor.h>

Inheritance diagram for gtsam::WhiteNoiseFactor:

Collaboration diagram for gtsam::WhiteNoiseFactor:

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.

Static Public Member Functions
static double	f (double z, double u, double p)
	negative log likelihood as a function of mean \( \mu \) and precision \( \tau \) \[ f(z, \tau, \mu) = -\log \left( \frac{\sqrt{\tau}}{\sqrt{2\pi}} \exp(-0.5\tau(z-\mu)^2) \right) = \log(\sqrt{2\pi}) - 0.5* \log(\tau) + 0.5\tau(z-\mu)^2 \]

static HessianFactor::shared_ptr	linearize (double z, double u, double p, Key j1, Key j2)
	linearize returns a Hessianfactor that approximates error Hessian is \[ 0.5f - x^T g + 0.5*x^T G x \] Taylor expansion is \[ f(x+dx) = f(x) + df(x) dx + 0.5 ddf(x) dx^2 \] So f = 2 f(x), g = -df(x), G = ddf(x)

Protected Types
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
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

Advanced Interface
KeyVector &	keys ()

iterator	begin ()

iterator	end ()

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

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 Constructors
	WhiteNoiseFactor (double z, Key meanKey, Key precisionKey)

Advanced Constructors
	~WhiteNoiseFactor () override
	Destructor.

Testable
void	print (const std::string &p="WhiteNoiseFactor", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	Print.

Standard Interface
size_t	dim () const override
	get the dimension of the factor (number of rows on linearization)

double	error (const Values &x) const override
	Calculate the error of the factor, typically equal to log-likelihood.

virtual Vector	unwhitenedError (const Values &x) const

Advanced Interface
std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override
	linearize returns a Hessianfactor that is an approximation of error(p)

Detailed Description

Binary factor to estimate parameters of zero-mean Gaussian white noise.

This factor uses the mean-precision parameterization.

Takes three template arguments: Key: key type to use for mean Key: key type to use for precision Values: Values type for optimization

Constructor & Destructor Documentation

◆ WhiteNoiseFactor()

gtsam::WhiteNoiseFactor::WhiteNoiseFactor	(	double	z,
		Key	meanKey,
		Key	precisionKey
	)

inline

Construct from measurement

Parameters

z	Measurment value
meanKey	Key for mean variable
precisionKey	Key for precision variable

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< 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.

◆ 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

virtualinherited

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

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

◆ 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

◆ unwhitenedError()

virtual Vector gtsam::WhiteNoiseFactor::unwhitenedError ( const Values & x ) const

inlinevirtual

Vector of errors "unwhitened" does not make sense for this factor What is meant typically is only "e" above Here we shoehorn sqrt(2*error(p)) TODO: Where is this used? should disappear.

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/WhiteNoiseFactor.h

Public Types

Static Public Member Functions

Protected Types

Protected Attributes

Standard Constructors

Standard Interface

Testable

Advanced Interface

Testable

Standard Interface

Standard Constructors

Advanced Constructors

Testable

Standard Interface

Advanced Interface

Detailed Description

Constructor & Destructor Documentation

◆ WhiteNoiseFactor()

Member Function Documentation

◆ active()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clone()

◆ end() [1/2]

◆ end() [2/2]

◆ equals()

◆ error()

◆ FromIterators()

◆ FromKeys()

◆ keys()

◆ rekey() [1/2]

◆ rekey() [2/2]

◆ sendable()

◆ size()

◆ unwhitenedError()