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gtsam::KarcherMeanFactor< T > Class Template Reference

## Detailed Description

template<class T>
class gtsam::KarcherMeanFactor< T >

The KarcherMeanFactor creates a constraint on all SO(n) variables with given keys that the Karcher mean (see above) will stay the same.

Note the mean itself is irrelevant to the constraint and is not a parameter: the constraint is implemented as enforcing that the sum of local updates is equal to zero, hence creating a rank-dim constraint. Note it is implemented as a soft constraint, as typically it is used to fix a gauge freedom.

Inheritance diagram for gtsam::KarcherMeanFactor< T >:

## Public Member Functions

template<typename CONTAINER>
| KarcherMeanFactor (const CONTAINER &keys, int d=D, boost::optional< double > beta=boost::none)
| Construct from given keys.
| ~KarcherMeanFactor () override
| Destructor.
double | error (const Values &c) const override
| Calculate the error of the factor: always zero.
size_t | dim () const override
| get the dimension of the factor (number of rows on linearization)
boost::shared_ptr< GaussianFactor > | linearize (const Values &c) const override
| linearize to a GaussianFactor
| NonlinearFactor ()
| Default constructor for I/O only.
template<typename CONTAINER>
| NonlinearFactor (const CONTAINER &keys)
| Constructor from a collection of the keys involved in this factor.
void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
| print
virtual bool | equals (const NonlinearFactor &f, double tol=1e-9) const
| Check if two factors are equal.
virtual | ~NonlinearFactor ()
| Destructor.
double | error (const HybridValues &c) const override
| All factor types need to implement an error function.
virtual bool | active (const Values &) const
| Checks whether a factor should be used based on a set of values.
virtual shared_ptr | clone () const
| Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses.
virtual shared_ptr | rekey (const std::map< Key, Key > &rekey_mapping) const
| Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.
virtual shared_ptr | rekey (const KeyVector &new_keys) const
| Clones a factor and fully replaces its keys.
virtual bool | sendable () const
| Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock).
Public Member Functions inherited from gtsam::Factor
virtual | ~Factor ()=default
| Default destructor.
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.
size_t | size () const
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
KeyVector & | keys ()
iterator | begin ()
| Iterator at beginning of involved variable keys.
iterator | end ()
| Iterator at end of involved variable keys.

## Additional Inherited Members

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This > | shared_ptr
Public Types inherited from gtsam::Factor
typedef KeyVector::iterator | iterator
| Iterator over keys.
typedef KeyVector::const_iterator | const_iterator
| Const iterator over keys.
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor | Base
typedef NonlinearFactor | This
| 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.
Protected Attributes inherited from gtsam::Factor
KeyVector | keys_
| The keys involved in this factor.

## Constructor & Destructor Documentation

## KarcherMeanFactor()

template<class T>
template<typename CONTAINER>

gtsam::KarcherMeanFactor< T >::KarcherMeanFactor | ( | const CONTAINER & | keys,
|  | int | d = D,
|  | boost::optional< double > | beta = boost::none )

Construct from given keys.

If parameter beta is given, it acts as a precision = 1/sigma^2, and the Jacobian will be multiplied with 1/sigma = sqrt(beta).

## Member Function Documentation

## dim()

template<class T>

size_t gtsam::KarcherMeanFactor< T >::dim | ( |  | ) | const

inline override virtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

## error()

template<class T>

double gtsam::KarcherMeanFactor< T >::error | ( | const Values & | c | ) | const

inline override virtual

Calculate the error of the factor: always zero.

Reimplemented from gtsam::NonlinearFactor.

## linearize()

template<class T>

boost::shared_ptr< GaussianFactor > gtsam::KarcherMeanFactor< T >::linearize | ( | const Values & | c | ) | const

inline override virtual

linearize to a GaussianFactor

Implements gtsam::NonlinearFactor.

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

- /build/gtsam-gchP9J/gtsam-4.2.2+dfsg/gtsam/slam/KarcherMeanFactor.h
- /build/gtsam-gchP9J/gtsam-4.2.2+dfsg/gtsam/slam/KarcherMeanFactor-inl.h