gtsam::noiseModel::Base Class Reference

#include <NoiseModel.h>

Inheritance diagram for gtsam::noiseModel::Base:

Public Types
typedef std::shared_ptr< Base >	shared_ptr

Public Member Functions
	Base (size_t dim=1)
	primary constructor More...
virtual bool	isConstrained () const
	true if a constrained noise model, saves slow/clumsy dynamic casting
virtual bool	isUnit () const
	true if a unit noise model, saves slow/clumsy dynamic casting
size_t	dim () const
	Dimensionality.
virtual void	print (const std::string &name="") const =0
virtual bool	equals (const Base &expected, double tol=1e-9) const =0
virtual Vector	sigmas () const
	Calculate standard deviations.
virtual Vector	whiten (const Vector &v) const =0
	Whiten an error vector.
virtual Matrix	Whiten (const Matrix &H) const =0
	Whiten a matrix.
virtual Vector	unwhiten (const Vector &v) const =0
	Unwhiten an error vector.
virtual double	squaredMahalanobisDistance (const Vector &v) const
	Squared Mahalanobis distance v'*R'*R*v = <R*v,R*v>
virtual double	mahalanobisDistance (const Vector &v) const
	Mahalanobis distance.
virtual double	loss (const double squared_distance) const
	loss function, input is Mahalanobis distance
virtual void	WhitenSystem (std::vector< Matrix > &A, Vector &b) const =0
virtual void	WhitenSystem (Matrix &A, Vector &b) const =0
virtual void	WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const =0
virtual void	WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const =0
virtual void	whitenInPlace (Vector &v) const
virtual void	unwhitenInPlace (Vector &v) const
virtual void	whitenInPlace (Eigen::Block< Vector > &v) const
virtual void	unwhitenInPlace (Eigen::Block< Vector > &v) const
virtual Vector	unweightedWhiten (const Vector &v) const
virtual double	weight (const Vector &v) const

Protected Attributes
size_t	dim_

Detailed Description

noiseModel::Base is the abstract base class for all noise models.

Noise models must implement a 'whiten' function to normalize an error vector, and an 'unwhiten' function to unnormalize an error vector.

Constructor & Destructor Documentation

Base()

gtsam::noiseModel::Base::Base ( size_t  dim = 1 )

inline

primary constructor

Parameters

dim	is the dimension of the model

Member Function Documentation

unweightedWhiten()

virtual Vector gtsam::noiseModel::Base::unweightedWhiten ( const Vector &  v ) const

inlinevirtual

Useful function for robust noise models to get the unweighted but whitened error

Reimplemented in gtsam::noiseModel::Robust.

unwhitenInPlace() [1/2]

virtual void gtsam::noiseModel::Base::unwhitenInPlace ( Vector &  v ) const

inlinevirtual

in-place unwhiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit.

unwhitenInPlace() [2/2]

virtual void gtsam::noiseModel::Base::unwhitenInPlace ( Eigen::Block< Vector > &  v ) const

inlinevirtual

in-place unwhiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit.

weight()

virtual double gtsam::noiseModel::Base::weight ( const Vector &  v ) const

inlinevirtual

get the weight from the effective loss function on residual vector v

Reimplemented in gtsam::noiseModel::Robust.

whitenInPlace() [1/2]

virtual void gtsam::noiseModel::Base::whitenInPlace ( Vector &  v ) const

inlinevirtual

in-place whiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit, and gtsam::noiseModel::Isotropic.

whitenInPlace() [2/2]

virtual void gtsam::noiseModel::Base::whitenInPlace ( Eigen::Block< Vector > &  v ) const

inlinevirtual

in-place whiten, override if can be done more efficiently

Reimplemented in gtsam::noiseModel::Unit.

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The documentation for this class was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/linear/NoiseModel.h