gtsam 4.2.0
gtsam
LinearContainerFactor.h
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1
10#pragma once
11
13
14namespace gtsam {
15
16 // Forward declarations
17 class JacobianFactor;
18 class HessianFactor;
19
26class GTSAM_EXPORT LinearContainerFactor : public NonlinearFactor {
27protected:
28
30 boost::optional<Values> linearizationPoint_;
31
33 LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const boost::optional<Values>& linearizationPoint);
34
35 // Some handy typedefs
36 typedef NonlinearFactor Base;
38
39public:
40
41 typedef boost::shared_ptr<This> shared_ptr;
42
45
47 LinearContainerFactor(const JacobianFactor& factor, const Values& linearizationPoint = Values());
48
50 LinearContainerFactor(const HessianFactor& factor, const Values& linearizationPoint = Values());
51
53 LinearContainerFactor(const GaussianFactor::shared_ptr& factor, const Values& linearizationPoint = Values());
54
55 // Access
56
57 const GaussianFactor::shared_ptr& factor() const { return factor_; }
58
59 // Testable
60
62 void print(const std::string& s = "", const KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const override;
63
65 bool equals(const NonlinearFactor& f, double tol = 1e-9) const override;
66
67 // NonlinearFactor
68
77 double error(const Values& c) const override;
78
80 size_t dim() const override;
81
83 const boost::optional<Values>& linearizationPoint() const { return linearizationPoint_; }
84
101 GaussianFactor::shared_ptr linearize(const Values& c) const override;
102
106 GaussianFactor::shared_ptr negateToGaussian() const;
107
111 NonlinearFactor::shared_ptr negateToNonlinear() const;
112
119 NonlinearFactor::shared_ptr clone() const override {
120 return NonlinearFactor::shared_ptr(new LinearContainerFactor(factor_,linearizationPoint_));
121 }
122
128 NonlinearFactor::shared_ptr rekey(
129 const std::map<Key, Key>& rekey_mapping) const override;
130
135 NonlinearFactor::shared_ptr rekey(const KeyVector& new_keys) const override;
136
138 inline bool hasLinearizationPoint() const { return linearizationPoint_.is_initialized(); }
139
143 bool isJacobian() const;
144 bool isHessian() const;
145
147 boost::shared_ptr<JacobianFactor> toJacobian() const;
148
150 boost::shared_ptr<HessianFactor> toHessian() const;
151
156 static NonlinearFactorGraph ConvertLinearGraph(const GaussianFactorGraph& linear_graph,
157 const Values& linearizationPoint = Values());
158
159 protected:
160 void initializeLinearizationPoint(const Values& linearizationPoint);
161
162 private:
164 friend class boost::serialization::access;
165 template<class ARCHIVE>
166 void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
167 ar & boost::serialization::make_nvp("NonlinearFactor",
168 boost::serialization::base_object<Base>(*this));
169 ar & BOOST_SERIALIZATION_NVP(factor_);
170 ar & BOOST_SERIALIZATION_NVP(linearizationPoint_);
171 }
172
173}; // \class LinearContainerFactor
174
175template<> struct traits<LinearContainerFactor> : public Testable<LinearContainerFactor> {};
176
177} // \namespace gtsam
178
Factor Graph consisting of non-linear factors.
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
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:113
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition: Matrix.cpp:156
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
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
A helper that implements the traits interface for GTSAM types.
Definition: Testable.h:151
Definition: Factor.h:68
boost::shared_ptr< This > shared_ptr
shared_ptr to this class
Definition: GaussianFactor.h:42
A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e.
Definition: GaussianFactorGraph.h:75
A Gaussian factor using the canonical parameters (information form)
Definition: HessianFactor.h:101
A Gaussian factor in the squared-error form.
Definition: JacobianFactor.h:91
Dummy version of a generic linear factor to be injected into a nonlinear factor graph.
Definition: LinearContainerFactor.h:26
NonlinearFactor::shared_ptr clone() const override
Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses.
Definition: LinearContainerFactor.h:119
LinearContainerFactor()
Default constructor - necessary for serialization.
Definition: LinearContainerFactor.h:44
const boost::optional< Values > & linearizationPoint() const
Extract the linearization point used in recalculating error.
Definition: LinearContainerFactor.h:83
bool hasLinearizationPoint() const
Casting syntactic sugar.
Definition: LinearContainerFactor.h:138
Nonlinear factor base class.
Definition: NonlinearFactor.h:42
Definition: NonlinearFactorGraph.h:55
A non-templated config holding any types of Manifold-group elements.
Definition: Values.h:65
In Gaussian factors, the error function returns either the negative log-likelihood,...
In nonlinear factors, the error function returns the negative log-likelihood as a non-linear function...