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class | boost::serialization::access |
| Serialization function.
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| Factor () |
| Default constructor for I/O.
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template<typename CONTAINER > |
| Factor (const CONTAINER &keys) |
| Construct factor from container of keys.
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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.
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template<typename ITERATOR > |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys.
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virtual | ~Factor ()=default |
| Default destructor.
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bool | empty () const |
| Whether the factor is empty (involves zero variables).
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Key | front () const |
| First key.
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Key | back () const |
| Last key.
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const_iterator | find (Key key) const |
| find
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const KeyVector & | keys () const |
| Access the factor's involved variable keys.
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const_iterator | begin () const |
| Iterator at beginning of involved variable keys.
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const_iterator | end () const |
| Iterator at end of involved variable keys.
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virtual double | error (const HybridValues &c) const |
| All factor types need to implement an error function.
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size_t | size () const |
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virtual void | print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print
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virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print only keys
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bool | equals (const This &other, double tol=1e-9) const |
| check equality
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KeyVector & | keys () |
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iterator | begin () |
| Iterator at beginning of involved variable keys.
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iterator | end () |
| Iterator at end of involved variable keys.
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typedef KeyVector::iterator | iterator |
| Iterator over keys.
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typedef KeyVector::const_iterator | const_iterator |
| Const iterator over keys.
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KeyVector | keys_ |
| The keys involved in this factor.
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◆ Factor() [1/2]
template<typename CONTAINER >
gtsam::Factor::Factor |
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const CONTAINER & |
keys | ) |
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inlineexplicitprotected |
Construct factor from container of keys.
This constructor is used internally from derived factor constructors, either from a container of keys or from a boost::assign::list_of.
◆ Factor() [2/2]
template<typename ITERATOR >
gtsam::Factor::Factor |
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ITERATOR |
first, |
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ITERATOR |
last |
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inlineprotected |
Construct factor from iterator keys.
This constructor may be used internally from derived factor constructors, although our code currently does not use this.
◆ error()
All factor types need to implement an error function.
In factor graphs, this is the negative log-likelihood.
Reimplemented in gtsam::DiscreteFactor, gtsam::GaussianFactor, gtsam::HessianFactor, gtsam::JacobianFactor, gtsam::NonlinearFactor, gtsam::SymbolicConditional, gtsam::SymbolicFactor, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::GaussianMixture, gtsam::GaussianMixtureFactor, gtsam::HybridConditional, and gtsam::MixtureFactor.
◆ FromIterators()
template<typename ITERATOR >
static Factor gtsam::Factor::FromIterators |
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ITERATOR |
first, |
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ITERATOR |
last |
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inlinestaticprotected |
Construct factor from iterator keys.
This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.
◆ FromKeys()
template<typename CONTAINER >
static Factor gtsam::Factor::FromKeys |
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const CONTAINER & |
keys | ) |
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inlinestaticprotected |
Construct factor from container of keys.
This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.
◆ keys()
- Returns
- keys involved in this factor
◆ print()
void gtsam::Factor::print |
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const std::string & |
s = "Factor" , |
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const KeyFormatter & |
formatter = DefaultKeyFormatter |
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virtual |
print
Reimplemented in gtsam::GaussianConditional, gtsam::GaussianDensity, gtsam::WhiteNoiseFactor, gtsam::AHRSFactor, gtsam::CustomFactor, gtsam::PriorFactor< VALUE >, gtsam::BinaryMeasurement< T >, gtsam::BinaryMeasurement< Rot >, gtsam::BinaryMeasurement< Unit3 >, gtsam::ShonanFactor< d >, gtsam::AntiFactor, gtsam::FrobeniusBetweenFactor< Rot >, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::BayesTreeOrphanWrapper< HybridBayesTreeClique >, gtsam::HessianFactor, gtsam::JacobianFactor, gtsam::GaussianFactor, gtsam::MixtureFactor, gtsam::Rot3AttitudeFactor, gtsam::Pose3AttitudeFactor, gtsam::BarometricFactor, gtsam::CombinedImuFactor, gtsam::GPSFactor, gtsam::GPSFactor2, gtsam::ImuFactor, gtsam::ImuFactor2, gtsam::MagPoseFactor< POSE >, gtsam::ExpressionFactor< T >, gtsam::ExpressionFactor< BearingRange< A1, A2 > >, gtsam::ExpressionFactor< double >, gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >, gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type >, gtsam::FunctorizedFactor< R, T >, gtsam::FunctorizedFactor< double, BASIS::Parameters >, gtsam::FunctorizedFactor< double, ParameterMatrix< P > >, gtsam::FunctorizedFactor< double, Vector >, gtsam::FunctorizedFactor< T, ParameterMatrix< traits< T >::dimension > >, gtsam::FunctorizedFactor< Vector, ParameterMatrix< M > >, gtsam::FunctorizedFactor2< R, T1, T2 >, gtsam::NonlinearEquality< VALUE >, gtsam::NonlinearEquality1< VALUE >, gtsam::NonlinearFactor, gtsam::NoiseModelFactor, gtsam::RangeFactorWithTransform< A1, A2, T >, gtsam::BetweenFactor< VALUE >, gtsam::EssentialMatrixConstraint, gtsam::EssentialMatrixFactor, gtsam::EssentialMatrixFactor2, gtsam::EssentialMatrixFactor3, gtsam::EssentialMatrixFactor4< CALIBRATION >, gtsam::PoseRotationPrior< POSE >, gtsam::PoseTranslationPrior< POSE >, gtsam::GenericProjectionFactor< POSE, LANDMARK, CALIBRATION >, gtsam::RegularImplicitSchurFactor< CAMERA >, gtsam::RotateFactor, gtsam::RotateDirectionsFactor, gtsam::SmartFactorBase< CAMERA >, gtsam::SmartFactorBase< PinholePose< CALIBRATION > >, gtsam::SmartProjectionFactor< CAMERA >, gtsam::SmartProjectionFactor< PinholePose< CALIBRATION > >, gtsam::SmartProjectionPoseFactor< CALIBRATION >, gtsam::SmartProjectionRigFactor< CAMERA >, gtsam::GenericStereoFactor< POSE, LANDMARK >, gtsam::TriangulationFactor< CAMERA >, gtsam::LinearContainerFactor, gtsam::BearingFactor< A1, A2, T >, gtsam::BearingRangeFactor< A1, A2, B, R >, gtsam::RangeFactor< A1, A2, T >, gtsam::DecisionTreeFactor, gtsam::DiscreteConditional, gtsam::DiscreteLookupTable, gtsam::DiscreteDistribution, gtsam::DiscreteFactor, gtsam::GaussianMixture, gtsam::GaussianMixtureFactor, gtsam::HybridConditional, gtsam::HybridFactor, gtsam::OrientedPlane3DirectionPrior, gtsam::OrientedPlane3Factor, gtsam::GeneralSFMFactor< CAMERA, LANDMARK >, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::SymbolicFactor, and gtsam::SymbolicConditional.
◆ printKeys()
void gtsam::Factor::printKeys |
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const std::string & |
s = "Factor" , |
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const KeyFormatter & |
formatter = DefaultKeyFormatter |
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◆ size()
size_t gtsam::Factor::size |
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const |
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- Returns
- the number of variables involved in this factor
The documentation for this class was generated from the following files:
- /build/gtsam-ke30xO/gtsam-4.2.0+dfsg/gtsam/inference/Factor.h
- /build/gtsam-ke30xO/gtsam-4.2.0+dfsg/gtsam/inference/Factor.cpp