Inheritance diagram for gtsam::Factor:

Serialization
class	boost::serialization::access
	Serialization function.

Standard Constructors
	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.

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.

Public Member Functions
virtual	~Factor ()=default
	Default destructor.

Standard Interface
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.

virtual double	error (const HybridValues &c) const
	All factor types need to implement an error function.

size_t	size () const

Testable
virtual void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print

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

Advanced Interface
KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

Public Types
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Attributes
KeyVector	keys_
	The keys involved in this factor.

Constructor & Destructor Documentation

◆ Factor() [1/2]

template<typename CONTAINER >

gtsam::Factor::Factor ( const CONTAINER & keys )

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	(	ITERATOR	first,
		ITERATOR	last
	)

inlineprotected

Construct factor from iterator keys.

This constructor may be used internally from derived factor constructors, although our code currently does not use this.

Member Function Documentation

◆ error()

double gtsam::Factor::error ( const HybridValues & c ) const

virtual

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	(	ITERATOR	first,
		ITERATOR	last
	)

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 ( const CONTAINER & keys )

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()

KeyVector & gtsam::Factor::keys ( )

inline

Returns: keys involved in this factor

◆ print()

void gtsam::Factor::print	(	const std::string &	s = `"Factor"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

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	(	const std::string &	s = `"Factor"`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

virtual

print only keys

Reimplemented in gtsam::SymbolicFactor.

◆ size()

size_t gtsam::Factor::size ( ) const

inline

Returns: the number of variables involved in this factor

The documentation for this class was generated from the following files:

/build/gtsam-GitMW9/gtsam-4.2.0+dfsg/gtsam/inference/Factor.h
/build/gtsam-GitMW9/gtsam-4.2.0+dfsg/gtsam/inference/Factor.cpp

Serialization

Standard Constructors

Public Member Functions

Public Types

Protected Attributes

Constructor & Destructor Documentation

◆ Factor() [1/2]

◆ Factor() [2/2]

Member Function Documentation

◆ error()

◆ FromIterators()

◆ FromKeys()

◆ keys()

◆ print()

◆ printKeys()

◆ size()