24using JacobianVector = std::vector<Matrix>;
36using CustomErrorFunction = std::function<Vector(
const CustomFactor &,
const Values &,
const JacobianVector *)>;
47 CustomErrorFunction error_function_;
69 this->error_function_ = errorFunction;
78 Vector
unwhitenedError(
const Values &x, boost::optional<std::vector<Matrix> &> H = boost::none)
const override;
81 void print(
const std::string &s,
82 const KeyFormatter &keyFormatter = DefaultKeyFormatter)
const override;
95 template<
class ARCHIVE>
96 void serialize(ARCHIVE &ar,
const unsigned int ) {
97 ar & boost::serialization::make_nvp(
"CustomFactor",
98 boost::serialization::base_object<Base>(*
this));
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
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...