wolf::FactorBase Class Reference

#include <core/factor/factor_base.h>

Inheritance diagram for wolf::FactorBase:

Public Member Functions
	FactorBase (const std::string &_type, const FactorTopology &_top, const JacobianMethod &_jac_method, const Eigen::VectorXd &_measurement, const Eigen::MatrixXd &_measurement_sqrt_information_upper, const NodeStateBlocksPtrList &_node_state_block_list, const ProcessorBasePtr &_processor_ptr, const std::vector< StateBlockPtr > &_state_ptrs, bool _apply_loss_function, FactorStatus _status=FAC_ACTIVE)
	constructor from measurement and noise square root information upper matrix (cholesky) More...
	~FactorBase () override=default
virtual void	remove (bool viral_remove_parent_without_children=false)
bool	hasChildren () const override
unsigned int	id () const
virtual FactorTopology	getTopology () const final
	get the main topological characteristic More...
virtual void	getTopology (FactorTopology _top) final
	set the main topological characteristic More...
std::string	getTopologyString () const
	get the main topological characteristic as string More...
virtual bool	evaluate (double const *const *_parameters, double *_residuals, double **_jacobians) const =0
	Evaluate the factor given the input parameters and returning the residuals and jacobians. More...
virtual bool	evaluate (const std::vector< const double * > &_states_ptr, Eigen::VectorXd &_residual, std::vector< Eigen::MatrixXd > &_jacobians) const =0
virtual Eigen::VectorXd	residual () const
	Evaluate the factor residual with the current state block values. More...
virtual double	cost () const
	Evaluate the cost of the factor with the current state block values. More...
virtual JacobianMethod	getJacobianMethod () const final
	Returns the jacobians computation method. More...
virtual std::vector< StateBlockConstPtr >	getStateBlockPtrVector () const
	Returns a vector of pointers to the states in which this factor depends. More...
virtual std::vector< StateBlockPtr >	getStateBlockPtrVector ()
virtual std::vector< unsigned int >	getStateSizes () const
	Returns a vector of the states sizes. More...
virtual const Eigen::VectorXd &	getMeasurement () const
	Returns a reference to the measurement. More...
virtual const Eigen::MatrixXd &	getMeasurementSquareRootInformationUpper () const
	Returns a reference to the measurement square root information. More...
FeatureBaseConstPtr	getFeature () const
	Returns a pointer to the feature constrained from. More...
FeatureBasePtr	getFeature ()
CaptureBaseConstPtr	getCapture () const
	Returns a pointer to its capture. More...
CaptureBasePtr	getCapture ()
FrameBaseConstPtr	getFrame () const
	Returns a pointer to its frame. More...
FrameBasePtr	getFrame ()
ProcessorBaseConstPtr	getProcessor () const
	getProcessor More...
ProcessorBasePtr	getProcessor ()
virtual unsigned int	getSize () const =0
	Returns the factor residual size. More...
FactorStatus	getStatus () const
	Gets the status. More...
void	setStatus (FactorStatus _status)
	Sets the status. More...
bool	getApplyLossFunction () const
	Gets the apply loss function flag. More...
NodeStateBlocksWPtrList	getNodesFactored ()
FrameBaseWPtrList	getFramesFactored ()
CaptureBaseWPtrList	getCapturesFactored ()
LandmarkBaseWPtrList	getLandmarksFactored ()
SensorBaseWPtrList	getSensorsFactored ()
NodeStateBlocksConstWPtrList	getNodesFactored () const
FrameBaseConstWPtrList	getFramesFactored () const
CaptureBaseConstWPtrList	getCapturesFactored () const
LandmarkBaseConstWPtrList	getLandmarksFactored () const
SensorBaseConstWPtrList	getSensorsFactored () const
bool	hasNode (const NodeStateBlocksConstPtr &_nsb) const
bool	hasFrame (const FrameBaseConstPtr &_frm) const
bool	hasCapture (const CaptureBaseConstPtr &_cap) const
bool	hasLandmark (const LandmarkBaseConstPtr &_lmk) const
bool	hasSensor (const SensorBaseConstPtr &_sen) const
void	link (FeatureBasePtr ftr)
virtual void	printHeader (int _depth, bool _factored_by, bool _metric, bool _state_blocks, std::ostream &_stream, std::string _tabs="") const
void	print (int _depth, bool _factored_by, bool _metric, bool _state_blocks, std::ostream &_stream=std::cout, std::string _tabs="") const
virtual CheckLog	localCheck (bool _verbose, std::ostream &_stream, std::string _tabs="") const
bool	check (CheckLog &_log, bool _verbose, std::ostream &_stream, std::string _tabs="") const
Public Member Functions inherited from wolf::NodeBase
	NodeBase (const std::string &_category, const std::string &_type="Undefined", const std::string &_name="")
virtual	~NodeBase ()=default
unsigned int	nodeId () const
std::string	getCategory () const
std::string	getType () const
std::string	getName () const
bool	isRemoving () const
virtual bool	hasChildren () const =0
void	setType (const std::string &_type)
void	setName (const std::string &_name)
ProblemConstPtr	getProblem () const
ProblemPtr	getProblem ()

Static Public Member Functions
template<typename classType , typename... T>
static std::shared_ptr< classType >	emplace (FeatureBasePtr _oth_ptr, T &&... all)

Protected Member Functions
void	setProblem (ProblemPtr) override final
virtual void	setProblem (ProblemPtr _prob_ptr)

Protected Attributes
unsigned int	factor_id_
FactorTopology	topology_
	topology of factor More...
JacobianMethod	jacobian_method_
	jacobian method More...
FactorStatus	status_
	status of factor More...
bool	apply_loss_function_
	flag for applying loss function to this factor More...
Eigen::VectorXd	measurement_
	the measurement vector More...
Eigen::MatrixXd	measurement_sqrt_information_upper_
	the squared root information matrix More...
std::vector< unsigned int >	state_block_sizes_
	vector containing sizes of the state blocks involved More...
std::vector< StateBlockPtr >	state_block_vector_
	vector containing the state blocks involved More...
Protected Attributes inherited from wolf::NodeBase
ProblemWPtr	problem_ptr_
unsigned int	node_id_
	Node id. It is unique over the whole Wolf Tree. More...
std::string	node_category_
	Text label identifying the category of node ("SENSOR", "FEATURE", etc) More...
std::string	node_type_
	Text label identifying the type or subcategory of node ("Pin Hole", "Point 2d", etc) More...
std::string	node_name_
bool	is_removing_
	A flag for safely removing nodes from the Wolf tree. See remove(). More...

Constructor & Destructor Documentation

FactorBase()

wolf::FactorBase::FactorBase	(	const std::string &	_type,
		const FactorTopology &	_top,
		const JacobianMethod &	_jac_method,
		const Eigen::VectorXd &	_measurement,
		const Eigen::MatrixXd &	_measurement_sqrt_information_upper,
		const NodeStateBlocksPtrList &	_node_state_block_list,
		const ProcessorBasePtr &	_processor_ptr,
		const std::vector< StateBlockPtr > &	_state_ptrs,
		bool	_apply_loss_function,
		FactorStatus	_status = FAC_ACTIVE
	)

constructor from measurement and noise square root information upper matrix (cholesky)

~FactorBase()

wolf::FactorBase::~FactorBase ( )

overridedefault

Member Function Documentation

check()

bool wolf::FactorBase::check	(	CheckLog &	_log,
		bool	_verbose,
		std::ostream &	_stream,
		std::string	_tabs = ""
	)		const

cost()

double wolf::FactorBase::cost ( ) const

inlinevirtual

Evaluate the cost of the factor with the current state block values.

emplace()

template<typename classType , typename... T>

std::shared_ptr< classType > wolf::FactorBase::emplace ( FeatureBasePtr  _oth_ptr, T &&...  all  )

static

evaluate() [1/2]

virtual bool wolf::FactorBase::evaluate ( const std::vector< const double * > &  _states_ptr, Eigen::VectorXd &  _residual, std::vector< Eigen::MatrixXd > &  _jacobians  ) const

pure virtual

Returns a vector of Jacobian matrix corresponding to each state block evaluated in the point provided in _states_ptr and the residual vector

Implemented in wolf::FactorAnalytic, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, B13, B14 >, wolf::FactorAutodiff< FactorDiffDrive, RESIDUAL_SIZE, POSITION_SIZE, ORIENTATION_SIZE, POSITION_SIZE, ORIENTATION_SIZE, INTRINSICS_SIZE >, wolf::FactorAutodiff< FactorDistance3d, 1, 3, 3 >, wolf::FactorAutodiff< FactorHomogeneous3dAbsolute, 3, 4 >, wolf::FactorAutodiff< FactorPose2d, 3, 2, 1 >, wolf::FactorAutodiff< FactorPose2dWithExtrinsics, 3, 2, 1, 2, 1 >, wolf::FactorAutodiff< FactorPose3d, 6, 3, 4 >, wolf::FactorAutodiff< FactorPose3dWithExtrinsics, 6, 3, 4, 3, 4 >, wolf::FactorAutodiff< FactorQuaternionAbsolute, 3, 4 >, wolf::FactorAutodiff< FactorQuaternionDifference, 3, 4, 4 >, wolf::FactorAutodiff< FactorRelativePose2dWithExtrinsics, 3, 2, 1, 2, 1, 2, 1 >, wolf::FactorAutodiff< FactorRelativePose3d, 6, 3, 4, 3, 4 >, wolf::FactorAutodiff< FactorRelativePose3dWithExtrinsics, 6, 3, 4, 3, 4, 3, 4 >, wolf::FactorAutodiff< FactorRelativePosition2dWithExtrinsics, 2, 2, 1, 2, 2, 1 >, wolf::FactorAutodiff< FactorRelativePosition3d, 3, 3, 4, 3 >, wolf::FactorAutodiff< FactorRelativePosition3dWithExtrinsics, 3, 3, 4, 3, 3, 4 >, wolf::FactorAutodiff< FactorVelocityLocalDirection3d, 2, 3, 4 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, B13, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, and wolf::FactorAutodiff< FacT, RES, B0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >.

evaluate() [2/2]

virtual bool wolf::FactorBase::evaluate ( double const *const *  _parameters, double *  _residuals, double **  _jacobians  ) const

pure virtual

Evaluate the factor given the input parameters and returning the residuals and jacobians.

Implemented in wolf::FactorAnalytic, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, B13, B14 >, wolf::FactorAutodiff< FactorDiffDrive, RESIDUAL_SIZE, POSITION_SIZE, ORIENTATION_SIZE, POSITION_SIZE, ORIENTATION_SIZE, INTRINSICS_SIZE >, wolf::FactorAutodiff< FactorDistance3d, 1, 3, 3 >, wolf::FactorAutodiff< FactorHomogeneous3dAbsolute, 3, 4 >, wolf::FactorAutodiff< FactorPose2d, 3, 2, 1 >, wolf::FactorAutodiff< FactorPose2dWithExtrinsics, 3, 2, 1, 2, 1 >, wolf::FactorAutodiff< FactorPose3d, 6, 3, 4 >, wolf::FactorAutodiff< FactorPose3dWithExtrinsics, 6, 3, 4, 3, 4 >, wolf::FactorAutodiff< FactorQuaternionAbsolute, 3, 4 >, wolf::FactorAutodiff< FactorQuaternionDifference, 3, 4, 4 >, wolf::FactorAutodiff< FactorRelativePose2dWithExtrinsics, 3, 2, 1, 2, 1, 2, 1 >, wolf::FactorAutodiff< FactorRelativePose3d, 6, 3, 4, 3, 4 >, wolf::FactorAutodiff< FactorRelativePose3dWithExtrinsics, 6, 3, 4, 3, 4, 3, 4 >, wolf::FactorAutodiff< FactorRelativePosition2dWithExtrinsics, 2, 2, 1, 2, 2, 1 >, wolf::FactorAutodiff< FactorRelativePosition3d, 3, 3, 4, 3 >, wolf::FactorAutodiff< FactorRelativePosition3dWithExtrinsics, 3, 3, 4, 3, 3, 4 >, wolf::FactorAutodiff< FactorVelocityLocalDirection3d, 2, 3, 4 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, B13, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, and wolf::FactorAutodiff< FacT, RES, B0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >.

getApplyLossFunction()

bool wolf::FactorBase::getApplyLossFunction ( ) const

inline

Gets the apply loss function flag.

getCapture() [1/2]

CaptureBasePtr wolf::FactorBase::getCapture

(

)

getCapture() [2/2]

CaptureBaseConstPtr wolf::FactorBase::getCapture

(

)

const

Returns a pointer to its capture.

getCapturesFactored() [1/2]

CaptureBaseWPtrList wolf::FactorBase::getCapturesFactored ( )

inline

getCapturesFactored() [2/2]

CaptureBaseConstWPtrList wolf::FactorBase::getCapturesFactored ( ) const

inline

getFeature() [1/2]

FeatureBasePtr wolf::FactorBase::getFeature ( )

inline

getFeature() [2/2]

FeatureBaseConstPtr wolf::FactorBase::getFeature ( ) const

inline

Returns a pointer to the feature constrained from.

getFrame() [1/2]

FrameBasePtr wolf::FactorBase::getFrame

(

)

getFrame() [2/2]

FrameBaseConstPtr wolf::FactorBase::getFrame

(

)

const

Returns a pointer to its frame.

getFramesFactored() [1/2]

FrameBaseWPtrList wolf::FactorBase::getFramesFactored ( )

inline

getFramesFactored() [2/2]

FrameBaseConstWPtrList wolf::FactorBase::getFramesFactored ( ) const

inline

getJacobianMethod()

virtual JacobianMethod wolf::FactorBase::getJacobianMethod ( ) const

inlinefinalvirtual

Returns the jacobians computation method.

getLandmarksFactored() [1/2]

LandmarkBaseWPtrList wolf::FactorBase::getLandmarksFactored ( )

inline

getLandmarksFactored() [2/2]

LandmarkBaseConstWPtrList wolf::FactorBase::getLandmarksFactored ( ) const

inline

getMeasurement()

const Eigen::VectorXd & wolf::FactorBase::getMeasurement ( ) const

inlinevirtual

Returns a reference to the measurement.

getMeasurementSquareRootInformationUpper()

const Eigen::MatrixXd & wolf::FactorBase::getMeasurementSquareRootInformationUpper ( ) const

inlinevirtual

Returns a reference to the measurement square root information.

getNodesFactored() [1/2]

NodeStateBlocksWPtrList wolf::FactorBase::getNodesFactored ( )

inline

getNodesFactored() [2/2]

NodeStateBlocksConstWPtrList wolf::FactorBase::getNodesFactored ( ) const

inline

getProcessor() [1/2]

ProcessorBasePtr wolf::FactorBase::getProcessor ( )

inline

getProcessor() [2/2]

ProcessorBaseConstPtr wolf::FactorBase::getProcessor ( ) const

inline

getProcessor

getSensorsFactored() [1/2]

SensorBaseWPtrList wolf::FactorBase::getSensorsFactored ( )

inline

getSensorsFactored() [2/2]

SensorBaseConstWPtrList wolf::FactorBase::getSensorsFactored ( ) const

inline

getSize()

virtual unsigned int wolf::FactorBase::getSize ( ) const

pure virtual

Returns the factor residual size.

Implemented in wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, B13, B14 >, wolf::FactorAutodiff< FactorDiffDrive, RESIDUAL_SIZE, POSITION_SIZE, ORIENTATION_SIZE, POSITION_SIZE, ORIENTATION_SIZE, INTRINSICS_SIZE >, wolf::FactorAutodiff< FactorDistance3d, 1, 3, 3 >, wolf::FactorAutodiff< FactorHomogeneous3dAbsolute, 3, 4 >, wolf::FactorAutodiff< FactorPose2d, 3, 2, 1 >, wolf::FactorAutodiff< FactorPose2dWithExtrinsics, 3, 2, 1, 2, 1 >, wolf::FactorAutodiff< FactorPose3d, 6, 3, 4 >, wolf::FactorAutodiff< FactorPose3dWithExtrinsics, 6, 3, 4, 3, 4 >, wolf::FactorAutodiff< FactorQuaternionAbsolute, 3, 4 >, wolf::FactorAutodiff< FactorQuaternionDifference, 3, 4, 4 >, wolf::FactorAutodiff< FactorRelativePose2dWithExtrinsics, 3, 2, 1, 2, 1, 2, 1 >, wolf::FactorAutodiff< FactorRelativePose3d, 6, 3, 4, 3, 4 >, wolf::FactorAutodiff< FactorRelativePose3dWithExtrinsics, 6, 3, 4, 3, 4, 3, 4 >, wolf::FactorAutodiff< FactorRelativePosition2dWithExtrinsics, 2, 2, 1, 2, 2, 1 >, wolf::FactorAutodiff< FactorRelativePosition3d, 3, 3, 4, 3 >, wolf::FactorAutodiff< FactorRelativePosition3dWithExtrinsics, 3, 3, 4, 3, 3, 4 >, wolf::FactorAutodiff< FactorVelocityLocalDirection3d, 2, 3, 4 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, B13, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, B12, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, B11, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, B10, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, B8, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, B6, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, B5, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, B4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, B2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, B1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorAutodiff< FacT, RES, B0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 >, wolf::FactorBlockAbsolute, wolf::FactorBlockDifference, wolf::FactorRelativePose2d, and wolf::FactorRelativePosition2d.

getStateBlockPtrVector() [1/2]

std::vector< StateBlockPtr > wolf::FactorBase::getStateBlockPtrVector ( )

inlinevirtual

getStateBlockPtrVector() [2/2]

std::vector< StateBlockConstPtr > wolf::FactorBase::getStateBlockPtrVector ( ) const

inlinevirtual

Returns a vector of pointers to the states in which this factor depends.

getStateSizes()

std::vector< unsigned int > wolf::FactorBase::getStateSizes ( ) const

inlinevirtual

Returns a vector of the states sizes.

getStatus()

FactorStatus wolf::FactorBase::getStatus ( ) const

inline

Gets the status.

getTopology() [1/2]

virtual FactorTopology wolf::FactorBase::getTopology ( ) const

inlinefinalvirtual

get the main topological characteristic

getTopology() [2/2]

virtual void wolf::FactorBase::getTopology ( FactorTopology  _top )

inlinefinalvirtual

set the main topological characteristic

getTopologyString()

std::string wolf::FactorBase::getTopologyString ( ) const

inline

get the main topological characteristic as string

hasCapture()

bool wolf::FactorBase::hasCapture

(

const CaptureBaseConstPtr &

_cap

)

const

hasChildren()

bool wolf::FactorBase::hasChildren ( ) const

inlineoverridevirtual

Implements wolf::NodeBase.

hasFrame()

bool wolf::FactorBase::hasFrame

(

const FrameBaseConstPtr &

_frm

)

const

hasLandmark()

bool wolf::FactorBase::hasLandmark

(

const LandmarkBaseConstPtr &

_lmk

)

const

hasNode()

bool wolf::FactorBase::hasNode

(

const NodeStateBlocksConstPtr &

_nsb

)

const

hasSensor()

bool wolf::FactorBase::hasSensor

(

const SensorBaseConstPtr &

_sen

)

const

id()

unsigned int wolf::FactorBase::id ( ) const

inline

link()

void wolf::FactorBase::link

(

FeatureBasePtr

ftr

)

localCheck()

CheckLog wolf::FactorBase::localCheck ( bool  _verbose, std::ostream &  _stream, std::string  _tabs = ""  ) const

virtual

print()

void wolf::FactorBase::print	(	int	_depth,
		bool	_factored_by,
		bool	_metric,
		bool	_state_blocks,
		std::ostream &	_stream = std::cout,
		std::string	_tabs = ""
	)		const

printHeader()

void wolf::FactorBase::printHeader ( int  _depth, bool  _factored_by, bool  _metric, bool  _state_blocks, std::ostream &  _stream, std::string  _tabs = ""  ) const

virtual

remove()

void wolf::FactorBase::remove ( bool  viral_remove_parent_without_children = false )

virtual

residual()

Eigen::VectorXd wolf::FactorBase::residual ( ) const

virtual

Evaluate the factor residual with the current state block values.

setProblem()

void wolf::FactorBase::setProblem ( ProblemPtr  _problem )

finaloverrideprotectedvirtual

Reimplemented from wolf::NodeBase.

setStatus()

void wolf::FactorBase::setStatus

(

FactorStatus

_status

)

Sets the status.

Member Data Documentation

apply_loss_function_

bool wolf::FactorBase::apply_loss_function_

protected

flag for applying loss function to this factor

factor_id_

unsigned int wolf::FactorBase::factor_id_

protected

jacobian_method_

JacobianMethod wolf::FactorBase::jacobian_method_

protected

jacobian method

measurement_

Eigen::VectorXd wolf::FactorBase::measurement_

protected

the measurement vector

measurement_sqrt_information_upper_

Eigen::MatrixXd wolf::FactorBase::measurement_sqrt_information_upper_

protected

the squared root information matrix

state_block_sizes_

std::vector<unsigned int> wolf::FactorBase::state_block_sizes_

protected

vector containing sizes of the state blocks involved

state_block_vector_

std::vector<StateBlockPtr> wolf::FactorBase::state_block_vector_

protected

vector containing the state blocks involved

status_

FactorStatus wolf::FactorBase::status_

protected

status of factor

topology_

FactorTopology wolf::FactorBase::topology_

protected

topology of factor

---

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

• include/core/factor/factor_base.h
• src/factor/factor_base.cpp