gtsam 4.2.0
gtsam
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ShonanFactor is a BetweenFactor that moves in SO(p), but will land on the SO(d) sub-manifold of SO(p) at the global minimum.
It projects the SO(p) matrices down to a Stiefel manifold of p*d matrices.
Public Member Functions | |
Constructor | |
ShonanFactor (Key j1, Key j2, const Rot &R12, size_t p, const SharedNoiseModel &model=nullptr, const boost::shared_ptr< Matrix > &G=nullptr) | |
Constructor. | |
Testable | |
void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
print with optional string | |
bool | equals (const NonlinearFactor &expected, double tol=1e-9) const override |
assert equality up to a tolerance | |
NoiseModelFactorN methods | |
Vector | evaluateError (const SOn &Q1, const SOn &Q2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override |
Error is Frobenius norm between Q1*P*R12 and Q2*P, where P=[I_3x3;0] projects down from SO(p) to the Stiefel manifold of px3 matrices. | |
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Key | key () const |
Returns a key. | |
NoiseModelFactorN () | |
Default Constructor for I/O. | |
NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys) | |
Constructor. | |
NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys) | |
Constructor. | |
Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
This implements the unwhitenedError virtual function by calling the n-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. | |
virtual Vector | evaluateError (const ValueTypes &... x, OptionalMatrix< ValueTypes >... H) const=0 |
Override evaluateError to finish implementing an n-way factor. | |
Vector | evaluateError (const ValueTypes &... x) const |
No-Jacobians requested function overload. | |
Vector | evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const |
Some (but not all) optional Jacobians are omitted (function overload) | |
Key | key1 () const |
Key | key2 () const |
Key | key3 () const |
Key | key4 () const |
Key | key5 () const |
Key | key6 () const |
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NoiseModelFactor () | |
Default constructor for I/O only. | |
~NoiseModelFactor () override | |
Destructor. | |
template<typename CONTAINER > | |
NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) | |
Constructor. | |
size_t | dim () const override |
get the dimension of the factor (number of rows on linearization) | |
const SharedNoiseModel & | noiseModel () const |
access to the noise model | |
Vector | whitenedError (const Values &c) const |
Vector of errors, whitened This is the raw error, i.e., i.e. | |
Vector | unweightedWhitenedError (const Values &c) const |
Vector of errors, whitened, but unweighted by any loss function. | |
double | weight (const Values &c) const |
Compute the effective weight of the factor from the noise model. | |
double | error (const Values &c) const override |
Calculate the error of the factor. | |
boost::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \). | |
shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
Creates a shared_ptr clone of the factor with a new noise model. | |
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NonlinearFactor () | |
Default constructor for I/O only. | |
template<typename CONTAINER > | |
NonlinearFactor (const CONTAINER &keys) | |
Constructor from a collection of the keys involved in this factor. | |
virtual | ~NonlinearFactor () |
Destructor. | |
double | error (const HybridValues &c) const override |
All factor types need to implement an error function. | |
virtual bool | active (const Values &) const |
Checks whether a factor should be used based on a set of values. | |
virtual shared_ptr | clone () const |
Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. | |
virtual shared_ptr | rekey (const std::map< Key, Key > &rekey_mapping) const |
Creates a shared_ptr clone of the factor with different keys using a map from old->new keys. | |
virtual shared_ptr | rekey (const KeyVector &new_keys) const |
Clones a factor and fully replaces its keys. | |
virtual bool | sendable () const |
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) | |
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virtual | ~Factor ()=default |
Default destructor. | |
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 |
Iterator at beginning of involved variable keys. | |
const_iterator | end () const |
Iterator at end of involved variable keys. | |
size_t | size () const |
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 | |
KeyVector & | keys () |
iterator | begin () |
Iterator at beginning of involved variable keys. | |
iterator | end () |
Iterator at end of involved variable keys. | |
Additional Inherited Members | |
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enum | |
N is the number of variables (N-way factor) | |
using | ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type |
The type of the I'th template param can be obtained as ValueType. | |
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typedef boost::shared_ptr< This > | shared_ptr |
Noise model. | |
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typedef boost::shared_ptr< This > | shared_ptr |
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typedef KeyVector::iterator | iterator |
Iterator over keys. | |
typedef KeyVector::const_iterator | const_iterator |
Const iterator over keys. | |
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using | Base = NoiseModelFactor |
using | This = NoiseModelFactorN< ValueTypes... > |
using | OptionalMatrix = boost::optional< Matrix & > |
using | KeyType = Key |
using | IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type |
using | IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type |
using | ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type |
using | IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key > |
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typedef NonlinearFactor | Base |
typedef NoiseModelFactor | This |
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typedef Factor | Base |
typedef NonlinearFactor | This |
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NoiseModelFactor (const SharedNoiseModel &noiseModel) | |
Constructor - only for subclasses, as this does not set keys. | |
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Factor () | |
Default constructor for I/O. | |
template<typename CONTAINER > | |
Factor (const CONTAINER &keys) | |
Construct factor from container of keys. | |
template<typename ITERATOR > | |
Factor (ITERATOR first, ITERATOR last) | |
Construct factor from iterator keys. | |
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template<typename CONTAINER > | |
static Factor | FromKeys (const CONTAINER &keys) |
Construct factor from container of keys. | |
template<typename ITERATOR > | |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
Construct factor from iterator keys. | |
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SharedNoiseModel | noiseModel_ |
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KeyVector | keys_ |
The keys involved in this factor. | |
gtsam::ShonanFactor< d >::ShonanFactor | ( | Key | j1, |
Key | j2, | ||
const Rot & | R12, | ||
size_t | p, | ||
const SharedNoiseModel & | model = nullptr , |
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const boost::shared_ptr< Matrix > & | G = nullptr |
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Constructor.
Note we convert to d*p-dimensional noise model. To save memory and mallocs, pass in the vectorized Lie algebra generators: G = boost::make_shared<Matrix>(SOn::VectorizedGenerators(p));
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overridevirtual |
assert equality up to a tolerance
Reimplemented from gtsam::NoiseModelFactor.
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overridevirtual |
print with optional string
Reimplemented from gtsam::NoiseModelFactor.