gtsam 4.2.0
gtsam
CustomFactor.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
18#pragma once
19
21
22namespace gtsam {
23
24using JacobianVector = std::vector<Matrix>;
25
26class CustomFactor;
27
28/*
29 * NOTE
30 * ==========
31 * pybind11 will invoke a copy if this is `JacobianVector &`, and modifications in Python will not be reflected.
32 *
33 * This is safe because this is passing a const pointer, and pybind11 will maintain the `std::vector` memory layout.
34 * Thus the pointer will never be invalidated.
35 */
36using CustomErrorFunction = std::function<Vector(const CustomFactor &, const Values &, const JacobianVector *)>;
37
46protected:
47 CustomErrorFunction error_function_;
48
49protected:
50
51 using Base = NoiseModelFactor;
52 using This = CustomFactor;
53
54public:
55
59 CustomFactor() = default;
60
67 CustomFactor(const SharedNoiseModel &noiseModel, const KeyVector &keys, const CustomErrorFunction &errorFunction) :
69 this->error_function_ = errorFunction;
70 }
71
72 ~CustomFactor() override = default;
73
78 Vector unwhitenedError(const Values &x, boost::optional<std::vector<Matrix> &> H = boost::none) const override;
79
81 void print(const std::string &s,
82 const KeyFormatter &keyFormatter = DefaultKeyFormatter) const override;
83
87 bool sendable() const override {
88 return false;
89 }
90
91private:
92
95 template<class ARCHIVE>
96 void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
97 ar & boost::serialization::make_nvp("CustomFactor",
98 boost::serialization::base_object<Base>(*this));
99 }
100};
101
102}
Non-linear factor base classes.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
Definition: Key.h:86
noiseModel::Base::shared_ptr SharedNoiseModel
Aliases.
Definition: NoiseModel.h:724
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
Definition: Factor.h:68
const KeyVector & keys() const
Access the factor's involved variable keys.
Definition: Factor.h:140
Definition: CustomFactor.h:45
Vector unwhitenedError(const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
Calls the errorFunction closure, which is a std::function object One can check if a derivative is nee...
Definition: CustomFactor.cpp:25
CustomFactor(const SharedNoiseModel &noiseModel, const KeyVector &keys, const CustomErrorFunction &errorFunction)
Constructor.
Definition: CustomFactor.h:67
CustomFactor()=default
Default Constructor for I/O.
friend class boost::serialization::access
Serialization function.
Definition: CustomFactor.h:94
bool sendable() const override
Mark not sendable.
Definition: CustomFactor.h:87
void print(const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
print
Definition: CustomFactor.cpp:59
A nonlinear sum-of-squares factor with a zero-mean noise model implementing the density Templated on...
Definition: NonlinearFactor.h:174
NoiseModelFactor()
Default constructor for I/O only.
Definition: NonlinearFactor.h:189
const SharedNoiseModel & noiseModel() const
access to the noise model
Definition: NonlinearFactor.h:223
A non-templated config holding any types of Manifold-group elements.
Definition: Values.h:65
In nonlinear factors, the error function returns the negative log-likelihood as a non-linear function...