|
| struct | _ValuesConstKeyValuePair |
| |
| struct | _ValuesKeyValuePair |
| |
| class | AcceleratedPowerMethod |
| | Compute maximum Eigenpair with accelerated power method. More...
|
| |
| class | AcceleratingScenario |
| | Accelerating from an arbitrary initial state, with optional rotation. More...
|
| |
| class | ActiveSetSolver |
| | This class implements the active set algorithm for solving convex Programming problems. More...
|
| |
| class | AdaptAutoDiff |
| | The AdaptAutoDiff class uses ceres-style autodiff to adapt a ceres-style Function evaluation, i.e., a function FUNCTOR that defines an operator template<typename T> bool operator()(const T* const, const T* const, T*
predicted) const; For now only binary operators are supported. More...
|
| |
| struct | additive_group_tag |
| |
| class | AHRS |
| |
| class | AHRSFactor |
| |
| class | AlgebraicDecisionTree |
| | Algebraic Decision Trees fix the range to double Just has some nice constructors and some syntactic sugar TODO: consider eliminating this class altogether? More...
|
| |
| class | AllDiff |
| | General AllDiff constraint Returns 1 if values for all keys are different, 0 otherwise DiscreteFactors are all awkward in that they have to store two types of keys: for each variable we have a Key and an Key. More...
|
| |
| class | AntiFactor |
| |
| class | Assignment |
| | An assignment from labels to value index (size_t). More...
|
| |
| class | AttitudeFactor |
| |
| class | Basis |
| | CRTP Base class for function bases. More...
|
| |
| class | BatchFixedLagSmoother |
| |
| class | BayesNet |
| | A BayesNet is a tree of conditionals, stored in elimination order. More...
|
| |
| class | BayesTree |
| |
| class | BayesTreeCliqueBase |
| | This is the base class for BayesTree cliques. More...
|
| |
| struct | BayesTreeCliqueData |
| | store all the sizes
More...
|
| |
| struct | BayesTreeCliqueStats |
| | clique statistics More...
|
| |
| class | BayesTreeOrphanWrapper |
| |
| struct | Bearing |
| |
| struct | Bearing< Pose2, T > |
| |
| struct | Bearing< Pose3, Point3 > |
| |
| struct | Bearing< Pose3, Pose3 > |
| |
| struct | BearingFactor |
| |
| struct | BearingRange |
| | Bearing-Range product for a particular A1,A2 combination will use the functors above to create a similar functor of type A1*A2 -> pair<Bearing::return_type,Range::return_type> For example BearingRange<Pose2,Point2>(pose,point) will return pair<Rot2,double> and BearingRange<Pose3,Point3>(pose,point) will return pair<Unit3,double> More...
|
| |
| class | BearingRangeFactor |
| |
| class | BetweenConstraint |
| | Binary between constraint - forces between to a given value This constraint requires the underlying type to a Lie type. More...
|
| |
| class | BetweenFactor |
| |
| class | BetweenFactorEM |
| |
| class | BiasedGPSFactor |
| |
| class | BinaryAllDiff |
| | Binary AllDiff constraint Returns 1 if values for two keys are different, 0 otherwise DiscreteFactors are all awkward in that they have to store two types of keys: for each variable we have a Index and an Index. More...
|
| |
| struct | BinaryJacobianFactor |
| | A binary JacobianFactor specialization that uses fixed matrix math for speed. More...
|
| |
| class | BinaryMeasurement |
| |
| class | BinarySumExpression |
| | A BinarySumExpression is a specialization of Expression that adds two expressions together It optimizes the Jacobian calculation for this specific case. More...
|
| |
| class | BlockJacobiPreconditioner |
| |
| struct | BlockJacobiPreconditionerParameters |
| |
| struct | BoundingConstraint1 |
| |
| struct | BoundingConstraint2 |
| | Binary scalar inequality constraint, with a similar value() function to implement for specific systems. More...
|
| |
| class | BTree |
| |
| class | Cal3 |
| |
| class | Cal3_S2 |
| |
| class | Cal3_S2Stereo |
| |
| class | Cal3Bundler |
| |
| class | Cal3DS2 |
| |
| class | Cal3DS2_Base |
| |
| class | Cal3Fisheye |
| |
| class | Cal3Unified |
| |
| class | CalibratedCamera |
| |
| struct | CameraProjectionMatrix |
| | Create a 3*4 camera projection matrix from calibration and pose. More...
|
| |
| class | CameraSet |
| | A set of cameras, all with their own calibration. More...
|
| |
| struct | CGState |
| |
| struct | Chebyshev1Basis |
| | Basis of Chebyshev polynomials of the first kind https://en.wikipedia.org/wiki/Chebyshev_polynomials#First_kind These are typically denoted with the symbol T_n, where n is the degree. More...
|
| |
| class | Chebyshev2 |
| | Chebyshev Interpolation on Chebyshev points of the second kind Note that N here, the number of points, is one less than N from 'Approximation Theory and Approximation Practice by L. More...
|
| |
| struct | Chebyshev2Basis |
| | Basis of Chebyshev polynomials of the second kind. More...
|
| |
| class | CheiralityException |
| |
| class | CholeskyFailed |
| | Indicate Cholesky factorization failure. More...
|
| |
| class | ClusterTree |
| | A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman: each node k represents a subset \( C_k \sub X \), and the tree is family preserving, in that each factor \( f_i \) is associated with a single cluster and \( scope(f_i) \sub C_k \). More...
|
| |
| class | CombinedImuFactor |
| |
| class | ComponentDerivativeFactor |
| | A unary factor which enforces the evaluation of the derivative of a BASIS polynomial is equal to the scalar value at a specific index i of a vector-valued measurement z . More...
|
| |
| class | compose_key_visitor |
| |
| class | ConcurrentBatchFilter |
| | A Levenberg-Marquardt Batch Filter that implements the Concurrent Filtering and Smoother interface. More...
|
| |
| class | ConcurrentBatchSmoother |
| | A Levenberg-Marquardt Batch Smoother that implements the Concurrent Filtering and Smoother interface. More...
|
| |
| class | ConcurrentFilter |
| | The interface for the 'Filter' portion of the Concurrent Filtering and Smoother architecture. More...
|
| |
| class | ConcurrentIncrementalFilter |
| | An iSAM2-based Batch Filter that implements the Concurrent Filtering and Smoother interface. More...
|
| |
| class | ConcurrentIncrementalSmoother |
| | A Levenberg-Marquardt Batch Smoother that implements the Concurrent Filtering and Smoother interface. More...
|
| |
| class | ConcurrentMap |
| |
| class | ConcurrentSmoother |
| | The interface for the 'Smoother' portion of the Concurrent Filtering and Smoother architecture. More...
|
| |
| class | Conditional |
| | TODO: Update comments. More...
|
| |
| class | ConjugateGradientParameters |
| | parameters for the conjugate gradient method More...
|
| |
| struct | const_selector |
| | Helper class that uses templates to select between two types based on whether TEST_TYPE is const or not. More...
|
| |
| struct | const_selector< BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST > |
| | Specialization for the non-const version. More...
|
| |
| struct | const_selector< const BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST > |
| | Specialization for the const version. More...
|
| |
| class | ConstantTwistScenario |
| | Scenario with constant twist 3D trajectory. More...
|
| |
| class | ConstantVelocityFactor |
| | Binary factor for applying a constant velocity model to a moving body represented as a NavState. More...
|
| |
| class | Constraint |
| | Base class for discrete probabilistic factors The most general one is the derived DecisionTreeFactor. More...
|
| |
| struct | ConstructorTraversalData |
| |
| class | CRefCallAddCopy |
| | Helper. More...
|
| |
| class | CRefCallPushBack |
| | Helper. More...
|
| |
| class | CSP |
| | Constraint Satisfaction Problem class A specialization of a DiscreteFactorGraph. More...
|
| |
| class | CustomFactor |
| |
| class | Cyclic |
| | Cyclic group of order N. More...
|
| |
| class | DecisionTree |
| | Decision Tree L = label for variables Y = function range (any algebra), e.g., bool, int, double. More...
|
| |
| class | DecisionTreeFactor |
| | A discrete probabilistic factor. More...
|
| |
| class | DeltaFactor |
| | DeltaFactor: relative 2D measurement between Pose2 and Point2. More...
|
| |
| class | DeltaFactorBase |
| | DeltaFactorBase: relative 2D measurement between Pose2 and Point2, with Basenodes. More...
|
| |
| struct | DeltaImpl |
| |
| class | DerivativeFactor |
| | A unary factor which enforces the evaluation of the derivative of a BASIS polynomial at a specified pointx is equal to the scalar measurement z . More...
|
| |
| struct | DGroundConstraint |
| | Ground constraint: forces the robot to be upright (no roll, pitch), a fixed height, and no velocity in z direction Dim: 4. More...
|
| |
| struct | DHeightPrior |
| | Forces the value of the height (z) in a PoseRTV to a specific value. More...
|
| |
| class | DirectProduct |
| |
| class | DirectSum |
| | Template to construct the direct sum of two additive groups Assumes existence of three additive operators for both groups. More...
|
| |
| class | DiscreteBayesNet |
| | A Bayes net made from linear-Discrete densities. More...
|
| |
| class | DiscreteBayesTree |
| | A Bayes tree representing a Discrete density. More...
|
| |
| class | DiscreteBayesTreeClique |
| | A clique in a DiscreteBayesTree. More...
|
| |
| class | DiscreteConditional |
| | Discrete Conditional Density Derives from DecisionTreeFactor. More...
|
| |
| class | DiscreteEliminationTree |
| |
| class | DiscreteEulerPoincareHelicopter |
| | Implement the Discrete Euler-Poincare' equation: More...
|
| |
| class | DiscreteFactor |
| | Base class for discrete probabilistic factors The most general one is the derived DecisionTreeFactor. More...
|
| |
| class | DiscreteFactorGraph |
| | A Discrete Factor Graph is a factor graph where all factors are Discrete, i.e. More...
|
| |
| class | DiscreteJunctionTree |
| |
| struct | DiscreteKeys |
| | DiscreteKeys is a set of keys that can be assembled using the & operator. More...
|
| |
| class | DiscreteMarginals |
| | A class for computing marginals of variables in a DiscreteFactorGraph. More...
|
| |
| class | DoglegOptimizer |
| | This class performs Dogleg nonlinear optimization. More...
|
| |
| struct | DoglegOptimizerImpl |
| | This class contains the implementation of the Dogleg algorithm. More...
|
| |
| class | DoglegParams |
| | Parameters for Levenberg-Marquardt optimization. More...
|
| |
| class | Domain |
| | Domain restriction constraint. More...
|
| |
| struct | DRollPrior |
| | Forces the roll to a particular value - useful for flying robots Implied value is zero Dim: 1. More...
|
| |
| class | DSF |
| |
| class | DSFBase |
| |
| class | DSFMap |
| |
| class | DSFVector |
| |
| struct | Dummy |
| |
| class | DummyFactor |
| |
| class | DummyPreconditioner |
| |
| struct | DummyPreconditionerParameters |
| |
| class | DynamicValuesMismatched |
| |
| class | EliminatableClusterTree |
| | A cluster-tree that eliminates to a Bayes tree. More...
|
| |
| class | EliminateableFactorGraph |
| | EliminateableFactorGraph is a base class for factor graphs that contains elimination algorithms. More...
|
| |
| struct | EliminationData |
| |
| struct | EliminationTraits |
| | Traits class for eliminateable factor graphs, specifies the types that result from elimination, etc. More...
|
| |
| struct | EliminationTraits< DiscreteFactorGraph > |
| |
| struct | EliminationTraits< GaussianFactorGraph > |
| |
| struct | EliminationTraits< SymbolicFactorGraph > |
| |
| class | EliminationTree |
| | An elimination tree is a data structure used intermediately during elimination. More...
|
| |
| class | EqualityFactorGraph |
| | Collection of all Linear Equality constraints Ax=b of a Programming problem as a Factor Graph. More...
|
| |
| struct | equals |
| | Template to create a binary predicate. More...
|
| |
| struct | equals_star |
| | Binary predicate on shared pointers. More...
|
| |
| class | EquivInertialNavFactor_GlobalVel |
| |
| class | EquivInertialNavFactor_GlobalVel_NoBias |
| |
| class | Errors |
| | vector of errors More...
|
| |
| class | EssentialMatrix |
| | An essential matrix is like a Pose3, except with translation up to scale It is named after the 3*3 matrix aEb = [aTb]x aRb from computer vision, but here we choose instead to parameterize it as a (Rot3,Unit3) pair. More...
|
| |
| class | EssentialMatrixConstraint |
| |
| class | EssentialMatrixFactor |
| | Factor that evaluates epipolar error p'Ep for given essential matrix. More...
|
| |
| class | EssentialMatrixFactor2 |
| | Binary factor that optimizes for E and inverse depth d: assumes measurement in image 2 is perfect, and returns re-projection error in image 1. More...
|
| |
| class | EssentialMatrixFactor3 |
| | Binary factor that optimizes for E and inverse depth d: assumes measurement in image 2 is perfect, and returns re-projection error in image 1 This version takes an extrinsic rotation to allow for omni-directional rigs. More...
|
| |
| class | EssentialMatrixFactor4 |
| | Binary factor that optimizes for E and calibration K using the algebraic epipolar error (K^-1 pA)'E (K^-1 pB). More...
|
| |
| class | EvaluationFactor |
| | Factor for enforcing the scalar value of the polynomial BASIS representation at x is the same as the measurement z when using a pseudo-spectral parameterization. More...
|
| |
| class | Expression |
| | Expression class that supports automatic differentiation. More...
|
| |
| class | ExpressionFactor |
| | Factor that supports arbitrary expressions via AD. More...
|
| |
| class | ExpressionFactorGraph |
| | Factor graph that supports adding ExpressionFactors directly. More...
|
| |
| class | ExpressionFactorN |
| | N-ary variadic template for ExpressionFactor meant as a base class for N-ary factors. More...
|
| |
| class | ExtendedKalmanFilter |
| | This is a generic Extended Kalman Filter class implemented using nonlinear factors. More...
|
| |
| class | Factor |
| | This is the base class for all factor types. More...
|
| |
| class | FactorGraph |
| | A factor graph is a bipartite graph with factor nodes connected to variable nodes. More...
|
| |
| class | FastList |
| |
| class | FastMap |
| |
| class | FastSet |
| |
| class | FitBasis |
| | Class that does regression via least squares Example usage: size_t N = 3; auto fit = FitBasis<Chebyshev2>(data_points, noise_model, N); Vector coefficients = fit.parameters();. More...
|
| |
| struct | FixedDimension |
| | Give fixed size dimension of a type, fails at compile time if dynamic. More...
|
| |
| class | FixedLagSmoother |
| |
| class | FixedVector |
| | Fixed size vectors - compatible with boost vectors, but with compile-type size checking. More...
|
| |
| class | FourierBasis |
| | Fourier basis. More...
|
| |
| class | FrobeniusBetweenFactor |
| | FrobeniusBetweenFactor is a BetweenFactor that evaluates the Frobenius norm of the rotation error between measured and predicted (rather than the Logmap of the error). More...
|
| |
| class | FrobeniusFactor |
| | FrobeniusFactor calculates the Frobenius norm between rotation matrices. More...
|
| |
| class | FrobeniusPrior |
| | FrobeniusPrior calculates the Frobenius norm between a given matrix and an element of SO(3) or SO(4). More...
|
| |
| class | FullIMUFactor |
| | Class that represents integrating IMU measurements over time for dynamic systems This factor has dimension 9, with a built-in constraint for velocity modeling. More...
|
| |
| class | FunctorizedFactor |
| | Factor which evaluates provided unary functor and uses the result to compute error with respect to the provided measurement. More...
|
| |
| class | FunctorizedFactor2 |
| | Factor which evaluates provided binary functor and uses the result to compute error with respect to the provided measurement. More...
|
| |
| class | G_x1 |
| | Helper class that computes the derivative of f w.r.t. More...
|
| |
| class | GaussianBayesNet |
| | A Bayes net made from linear-Gaussian densities. More...
|
| |
| class | GaussianBayesTree |
| | A Bayes tree representing a Gaussian density. More...
|
| |
| class | GaussianBayesTreeClique |
| | A clique in a GaussianBayesTree. More...
|
| |
| class | GaussianConditional |
| | A conditional Gaussian functions as the node in a Bayes network It has a set of parents y,z, etc. More...
|
| |
| class | GaussianDensity |
| | A Gaussian density. More...
|
| |
| class | GaussianEliminationTree |
| |
| class | GaussianFactor |
| | An abstract virtual base class for JacobianFactor and HessianFactor. More...
|
| |
| class | GaussianFactorGraph |
| | A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e. More...
|
| |
| class | GaussianFactorGraphSystem |
| | System class needed for calling preconditionedConjugateGradient. More...
|
| |
| class | GaussianISAM |
| |
| class | GaussianJunctionTree |
| |
| class | GaussMarkov1stOrderFactor |
| |
| class | GaussNewtonOptimizer |
| | This class performs Gauss-Newton nonlinear optimization. More...
|
| |
| class | GaussNewtonParams |
| | Parameters for Gauss-Newton optimization, inherits from NonlinearOptimizationParams. More...
|
| |
| class | GeneralSFMFactor |
| |
| class | GeneralSFMFactor2 |
| | Non-linear factor for a constraint derived from a 2D measurement. More...
|
| |
| class | GenericProjectionFactor |
| |
| class | GenericStereoFactor |
| |
| class | GenericValue |
| | Wraps any type T so it can play as a Value. More...
|
| |
| class | GncOptimizer |
| |
| class | GncParams |
| |
| class | GPSFactor |
| |
| class | GPSFactor2 |
| |
| struct | GraphvizFormatting |
| | Formatting options when saving in GraphViz format using NonlinearFactorGraph::saveGraph. More...
|
| |
| struct | group_tag |
| | tag to assert a type is a group More...
|
| |
| struct | HasBearing |
| |
| struct | HasRange |
| |
| struct | HasTestablePrereqs |
| | Requirements on type to pass it to Testable template below. More...
|
| |
| class | HessianFactor |
| | A Gaussian factor using the canonical parameters (information form) More...
|
| |
| class | IMUFactor |
| | Class that represents integrating IMU measurements over time for dynamic systems Templated to allow for different key types, but variables all assumed to be PoseRTV. More...
|
| |
| class | ImuFactor |
| |
| class | ImuFactor2 |
| |
| class | InconsistentEliminationRequested |
| | An inference algorithm was called with inconsistent arguments. More...
|
| |
| class | IncrementalFixedLagSmoother |
| | This is a base class for the various HMF2 implementations. More...
|
| |
| class | IndeterminantLinearSystemException |
| | Thrown when a linear system is ill-posed. More...
|
| |
| class | IndexPair |
| | Small utility class for representing a wrappable pairs of ints. More...
|
| |
| class | InequalityFactorGraph |
| | Collection of all Linear Inequality constraints Ax-b <= 0 of a Programming problem as a Factor Graph. More...
|
| |
| class | InertialNavFactor_GlobalVelocity |
| |
| class | InfeasibleInitialValues |
| | An exception indicating that the provided initial value is infeasible Also used to inzdicatethat the noise model dimension passed into a JacobianFactor has a different dimensionality than the factor. More...
|
| |
| class | InfeasibleOrUnboundedProblem |
| |
| struct | InitializePose3 |
| |
| class | InvalidArgumentThreadsafe |
| | Thread-safe invalid argument exception. More...
|
| |
| class | InvalidDenseElimination |
| |
| class | InvalidMatrixBlock |
| | An exception indicating that a matrix block passed into a JacobianFactor has a different dimensionality than the factor. More...
|
| |
| class | InvalidNoiseModel |
| | An exception indicating that the noise model dimension passed into a JacobianFactor has a different dimensionality than the factor. More...
|
| |
| class | InvDepthFactor3 |
| | Ternary factor representing a visual measurement that includes inverse depth. More...
|
| |
| class | InvDepthFactorVariant1 |
| | Binary factor representing a visual measurement using an inverse-depth parameterization. More...
|
| |
| class | InvDepthFactorVariant2 |
| | Binary factor representing a visual measurement using an inverse-depth parameterization. More...
|
| |
| class | InvDepthFactorVariant3a |
| | Binary factor representing the first visual measurement using an inverse-depth parameterization. More...
|
| |
| class | InvDepthFactorVariant3b |
| | Ternary factor representing a visual measurement using an inverse-depth parameterization. More...
|
| |
| class | ISAM |
| | A Bayes tree with an update methods that implements the iSAM algorithm. More...
|
| |
| class | ISAM2 |
| |
| class | ISAM2BayesTree |
| |
| class | ISAM2Clique |
| | Specialized Clique structure for ISAM2, incorporating caching and gradient contribution TODO: more documentation. More...
|
| |
| struct | ISAM2DoglegParams |
| |
| struct | ISAM2GaussNewtonParams |
| |
| class | ISAM2JunctionTree |
| |
| struct | ISAM2Params |
| |
| struct | ISAM2Result |
| |
| struct | ISAM2UpdateParams |
| |
| class | IsGroup |
| | Group Concept. More...
|
| |
| class | IsLieGroup |
| | Lie Group Concept. More...
|
| |
| class | IsTestable |
| |
| class | IsVectorSpace |
| | Vector Space concept. More...
|
| |
| class | IterativeOptimizationParameters |
| | parameters for iterative linear solvers More...
|
| |
| class | IterativeSolver |
| | Base class for Iterative Solvers like SubgraphSolver. More...
|
| |
| class | JacobianFactor |
| | A Gaussian factor in the squared-error form. More...
|
| |
| class | JacobianFactorQ |
| | JacobianFactor for Schur complement that uses Q noise model. More...
|
| |
| class | JacobianFactorQR |
| | JacobianFactor for Schur complement that uses Q noise model. More...
|
| |
| class | JacobianFactorSVD |
| | JacobianFactor for Schur complement that uses the "Nullspace Trick" by Mourikis et al. More...
|
| |
| class | JointMarginal |
| | A class to store and access a joint marginal, returned from Marginals::jointMarginalCovariance and Marginals::jointMarginalInformation. More...
|
| |
| class | JunctionTree |
| |
| class | KalmanFilter |
| | Kalman Filter class. More...
|
| |
| class | KarcherMeanFactor |
| | The KarcherMeanFactor creates a constraint on all SO(n) variables with given keys that the Karcher mean (see above) will stay the same. More...
|
| |
| class | key_formatter |
| | Output stream manipulator that will format gtsam::Keys according to the given KeyFormatter, as long as Key values are wrapped in a gtsam::StreamedKey. More...
|
| |
| class | KeyInfo |
| | Handy data structure for iterative solvers. More...
|
| |
| struct | KeyInfoEntry |
| | Handy data structure for iterative solvers key to (index, dimension, start) More...
|
| |
| class | LabeledSymbol |
| | Customized version of gtsam::Symbol for multi-robot use. More...
|
| |
| class | LevenbergMarquardtOptimizer |
| | This class performs Levenberg-Marquardt nonlinear optimization. More...
|
| |
| class | LevenbergMarquardtParams |
| | Parameters for Levenberg-Marquardt optimization. More...
|
| |
| struct | lie_group_tag |
| | tag to assert a type is a Lie group More...
|
| |
| struct | LieGroup |
| | A CRTP helper class that implements Lie group methods Prerequisites: methods operator*, inverse, and AdjointMap, as well as a ChartAtOrigin struct that will be used to define the manifold Chart To use, simply derive, but also say "using LieGroup<Class,N>::inverse" For derivative math, see doc/math.pdf. More...
|
| |
| class | Line3 |
| |
| class | LinearContainerFactor |
| | Dummy version of a generic linear factor to be injected into a nonlinear factor graph. More...
|
| |
| class | LinearCost |
| | This class defines a linear cost function c'x which is a JacobianFactor with only one row. More...
|
| |
| class | LinearEquality |
| | This class defines a linear equality constraints, inheriting JacobianFactor with the special Constrained noise model. More...
|
| |
| class | LinearInequality |
| | This class defines a linear inequality constraint Ax-b <= 0, inheriting JacobianFactor with the special Constrained noise model. More...
|
| |
| class | LinearizedGaussianFactor |
| | A base factor class for the Jacobian and Hessian linearized factors. More...
|
| |
| class | LinearizedHessianFactor |
| | A factor that takes a linear, Hessian factor and inserts it into a nonlinear graph. More...
|
| |
| class | LinearizedJacobianFactor |
| | A factor that takes a linear, Jacobian factor and inserts it into a nonlinear graph. More...
|
| |
| class | ListOfOneContainer |
| | A helper class that behaves as a container with one element, and works with boost::range. More...
|
| |
| class | LocalOrientedPlane3Factor |
| | Factor to measure a planar landmark from a given pose, with a given local linearization point. More...
|
| |
| struct | LP |
| | Data structure of a Linear Program. More...
|
| |
| class | LPInitSolver |
| | This LPInitSolver implements the strategy in Matlab: http://www.mathworks.com/help/optim/ug/linear-programming-algorithms.html#brozyzb-9 Solve for x and y: min y st Ax = b Cx - y <= d where y \in R, x \in R^n, and Ax = b and Cx <= d is the constraints of the original problem. More...
|
| |
| struct | LPPolicy |
| | Policy for ActivetSetSolver to solve Linear Programming. More...
|
| |
| class | MagFactor |
| | Factor to estimate rotation given magnetometer reading This version uses model measured bM = scale * bRn * direction + bias and assumes scale, direction, and the bias are given. More...
|
| |
| class | MagFactor1 |
| | Factor to estimate rotation given magnetometer reading This version uses model measured bM = scale * bRn * direction + bias and assumes scale, direction, and the bias are given. More...
|
| |
| class | MagFactor2 |
| | Factor to calibrate local Earth magnetic field as well as magnetometer bias This version uses model measured bM = bRn * nM + bias and optimizes for both nM and the bias, where nM is in units defined by magnetometer. More...
|
| |
| class | MagFactor3 |
| | Factor to calibrate local Earth magnetic field as well as magnetometer bias This version uses model measured bM = scale * bRn * direction + bias and optimizes for both scale, direction, and the bias. More...
|
| |
| class | MagPoseFactor |
| | Factor to estimate rotation of a Pose2 or Pose3 given a magnetometer reading. More...
|
| |
| struct | MakeJacobian |
| | : meta-function to generate Jacobian More...
|
| |
| struct | MakeOptionalJacobian |
| | : meta-function to generate JacobianTA optional reference Used mainly by Expressions More...
|
| |
| struct | manifold_tag |
| | tag to assert a type is a manifold More...
|
| |
| class | ManifoldEvaluationFactor |
| | For a measurement value of type T i.e. More...
|
| |
| class | ManifoldPreintegration |
| | IMU pre-integration on NavSatet manifold. More...
|
| |
| class | MarginalizeNonleafException |
| | Thrown when requesting to marginalize out variables from ISAM2 that are not leaves. More...
|
| |
| class | Marginals |
| | A class for computing Gaussian marginals of variables in a NonlinearFactorGraph. More...
|
| |
| class | Mechanization_bRn2 |
| |
| class | MetisIndex |
| | The MetisIndex class converts a factor graph into the Compressed Sparse Row format for use in METIS algorithms. More...
|
| |
| class | MFAS |
| |
| struct | multiplicative_group_tag |
| | Group operator syntax flavors. More...
|
| |
| struct | MultiplyWithInverse |
| | Functor that implements multiplication of a vector b with the inverse of a matrix A. More...
|
| |
| struct | MultiplyWithInverseFunction |
| | Functor that implements multiplication with the inverse of a matrix, itself the result of a function f. More...
|
| |
| class | MultiProjectionFactor |
| |
| class | NavState |
| | Navigation state: Pose (rotation, translation) + velocity NOTE(frank): it does not make sense to make this a Lie group, but it is a 9D manifold. More...
|
| |
| struct | needs_eigen_aligned_allocator |
| | A SFINAE trait to mark classes that need special alignment. More...
|
| |
| struct | needs_eigen_aligned_allocator< T, void_t< typename T::_eigen_aligned_allocator_trait > > |
| |
| class | NoiseModelFactor |
| | A nonlinear sum-of-squares factor with a zero-mean noise model implementing the density \( P(z|x) \propto exp -0.5*|z-h(x)|^2_C \) Templated on the parameter type X and the values structure Values There is no return type specified for h(x). More...
|
| |
| class | NoiseModelFactor1 |
| | A convenient base class for creating your own NoiseModelFactor with 1 variable. More...
|
| |
| class | NoiseModelFactor2 |
| | A convenient base class for creating your own NoiseModelFactor with 2 variables. More...
|
| |
| class | NoiseModelFactor3 |
| | A convenient base class for creating your own NoiseModelFactor with 3 variables. More...
|
| |
| class | NoiseModelFactor4 |
| | A convenient base class for creating your own NoiseModelFactor with 4 variables. More...
|
| |
| class | NoiseModelFactor5 |
| | A convenient base class for creating your own NoiseModelFactor with 5 variables. More...
|
| |
| class | NoiseModelFactor6 |
| | A convenient base class for creating your own NoiseModelFactor with 6 variables. More...
|
| |
| class | NoMatchFoundForFixed |
| |
| class | NonlinearClusterTree |
| |
| class | NonlinearConjugateGradientOptimizer |
| | An implementation of the nonlinear CG method using the template below. More...
|
| |
| class | NonlinearEquality |
| | An equality factor that forces either one variable to a constant, or a set of variables to be equal to each other. More...
|
| |
| class | NonlinearEquality1 |
| | Simple unary equality constraint - fixes a value for a variable. More...
|
| |
| class | NonlinearEquality2 |
| | Simple binary equality constraint - this constraint forces two variables to be the same. More...
|
| |
| class | NonlinearFactor |
| | Nonlinear factor base class. More...
|
| |
| class | NonlinearFactorGraph |
| | A non-linear factor graph is a graph of non-Gaussian, i.e. More...
|
| |
| class | NonlinearISAM |
| | Wrapper class to manage ISAM in a nonlinear context. More...
|
| |
| class | NonlinearOptimizer |
| | This is the abstract interface for classes that can optimize for the maximum-likelihood estimate of a NonlinearFactorGraph. More...
|
| |
| class | NonlinearOptimizerParams |
| | The common parameters for Nonlinear optimizers. More...
|
| |
| class | OdometryFactorBase |
| | OdometryFactorBase: Pose2 odometry, with Basenodes. More...
|
| |
| class | OptionalJacobian |
| | OptionalJacobian is an Eigen::Ref like class that can take be constructed using either a fixed size or dynamic Eigen matrix. More...
|
| |
| class | OptionalJacobian< Eigen::Dynamic, Eigen::Dynamic > |
| |
| class | Ordering |
| |
| class | ordering_key_visitor |
| |
| class | OrientedPlane3 |
| | Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distance to the origin. More...
|
| |
| class | OrientedPlane3DirectionPrior |
| |
| class | OrientedPlane3Factor |
| | Factor to measure a planar landmark from a given pose. More...
|
| |
| class | OutOfRangeThreadsafe |
| | Thread-safe out of range exception. More...
|
| |
| class | ParameterMatrix |
| | A matrix abstraction of MxN values at the Basis points. More...
|
| |
| class | PartialPriorFactor |
| | A class for a soft partial prior on any Lie type, with a mask over Expmap parameters. More...
|
| |
| class | PCGSolver |
| | A virtual base class for the preconditioned conjugate gradient solver. More...
|
| |
| struct | PCGSolverParameters |
| | Parameters for PCG. More...
|
| |
| class | PendulumFactor1 |
| | This class implements the first constraint. More...
|
| |
| class | PendulumFactor2 |
| | This class implements the second constraint the. More...
|
| |
| class | PendulumFactorPk |
| | This class implements the first position-momentum update rule p_k = -D_1 L_d(q_k,q_{k+1},h) = \frac{1}{h}mr^{2}\left(q_{k+1}-q_{k}\right)+mgrh(1-\alpha)\,\sin\left((1-\alpha)q_{k}+\alpha q_{k+1}\right) = (1/h)mr^2 (q_{k+1}-q_k) + mgrh(1-alpha) sin ((1-alpha)q_k+\alpha q_{k+1}) More...
|
| |
| class | PendulumFactorPk1 |
| | This class implements the second position-momentum update rule p_k1 = D_2 L_d(q_k,q_{k+1},h) = \frac{1}{h}mr^{2}\left(q_{k+1}-q_{k}\right)-mgrh\alpha\sin\left((1-\alpha)q_{k}+\alpha q_{k+1}\right) = (1/h)mr^2 (q_{k+1}-q_k) - mgrh alpha sin ((1-alpha)q_k+\alpha q_{k+1}) More...
|
| |
| class | PinholeBase |
| |
| class | PinholeBaseK |
| |
| class | PinholeCamera |
| |
| class | PinholePose |
| |
| class | PinholeSet |
| | PinholeSet: triangulates point and keeps an estimate of it around. More...
|
| |
| class | Pose2 |
| |
| class | Pose3 |
| |
| class | Pose3AttitudeFactor |
| |
| class | PoseBetweenFactor |
| |
| class | PoseConcept |
| | Pose Concept A must contain a translation and a rotation, with each structure accessable directly and a type provided for each. More...
|
| |
| class | PosePriorFactor |
| |
| class | PoseRotationPrior |
| |
| class | PoseRTV |
| | Robot state for use with IMU measurements. More...
|
| |
| class | PoseToPointFactor |
| |
| class | PoseTranslationPrior |
| | A prior on the translation part of a pose. More...
|
| |
| class | Potentials |
| | A base class for both DiscreteFactor and DiscreteConditional. More...
|
| |
| class | PowerMethod |
| | Compute maximum Eigenpair with power method. More...
|
| |
| class | Preconditioner |
| |
| struct | PreconditionerParameters |
| |
| class | PredecessorMap |
| | Map from variable key to parent key. More...
|
| |
| class | PreintegratedAhrsMeasurements |
| | PreintegratedAHRSMeasurements accumulates (integrates) the Gyroscope measurements (rotation rates) and the corresponding covariance matrix. More...
|
| |
| class | PreintegratedCombinedMeasurements |
| |
| class | PreintegratedImuMeasurements |
| |
| class | PreintegratedRotation |
| | PreintegratedRotation is the base class for all PreintegratedMeasurements classes (in AHRSFactor, ImuFactor, and CombinedImuFactor). More...
|
| |
| struct | PreintegratedRotationParams |
| | Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor. More...
|
| |
| class | PreintegrationBase |
| | PreintegrationBase is the base class for PreintegratedMeasurements (in ImuFactor) and CombinedPreintegratedMeasurements (in CombinedImuFactor). More...
|
| |
| struct | PreintegrationCombinedParams |
| | Parameters for pre-integration using PreintegratedCombinedMeasurements: Usage: Create just a single Params and pass a shared pointer to the constructor. More...
|
| |
| struct | PreintegrationParams |
| | Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor. More...
|
| |
| class | PriorFactor |
| |
| class | ProductLieGroup |
| | Template to construct the product Lie group of two other Lie groups Assumes Lie group structure for G and H. More...
|
| |
| class | ProjectionFactorPPP |
| |
| class | ProjectionFactorPPPC |
| |
| class | ProjectionFactorRollingShutter |
| |
| struct | QP |
| | Struct contains factor graphs of a Quadratic Programming problem. More...
|
| |
| class | QPInitSolver |
| | This class finds a feasible solution for a QP problem. More...
|
| |
| struct | QPPolicy |
| | Policy for ActivetSetSolver to solve Linear Programming. More...
|
| |
| class | QPSParser |
| |
| class | QPSParserException |
| |
| struct | Range |
| |
| struct | Range< CalibratedCamera, T > |
| |
| struct | Range< PinholeCamera< Calibration >, T > |
| |
| struct | Range< Point2, Point2 > |
| |
| struct | Range< Point3, Point3 > |
| |
| struct | Range< Pose2, T > |
| |
| struct | Range< Pose3, T > |
| |
| struct | Range< PoseRTV, PoseRTV > |
| |
| class | RangeFactor |
| |
| class | RangeFactorWithTransform |
| |
| class | Reconstruction |
| | Implement the Reconstruction equation: \( g_{k+1} = g_k \exp (h\xi_k) \), where \( h \): timestep (parameter) \( g_{k+1}, g_{k} \): poses at the current and the next timestep \( \xi_k \): the body-fixed velocity (Lie algebra) It is somewhat similar to BetweenFactor, but treats the body-fixed velocity \( \xi_k \) as a variable. More...
|
| |
| struct | RedirectCout |
| | For Python str(). More...
|
| |
| class | RefCallPushBack |
| | Helper. More...
|
| |
| class | ReferenceFrameFactor |
| | A constraint between two landmarks in separate maps Templated on: Point : Type of landmark Transform : Transform variable class. More...
|
| |
| class | RegularHessianFactor |
| |
| class | RegularImplicitSchurFactor |
| | RegularImplicitSchurFactor. More...
|
| |
| class | RegularJacobianFactor |
| | JacobianFactor with constant sized blocks Provides raw memory access versions of linear operator. More...
|
| |
| class | RelativeElevationFactor |
| | Binary factor for a relative elevation. More...
|
| |
| struct | Reshape |
| | Reshape functor. More...
|
| |
| struct | Reshape< M, M, InOptions, M, M, InOptions > |
| | Reshape specialization that does nothing as shape stays the same (needed to not be ambiguous for square input equals square output) More...
|
| |
| struct | Reshape< M, N, InOptions, M, N, InOptions > |
| | Reshape specialization that does nothing as shape stays the same. More...
|
| |
| struct | Reshape< N, M, InOptions, M, N, InOptions > |
| | Reshape specialization that does transpose. More...
|
| |
| class | Rot2 |
| |
| class | Rot3 |
| |
| class | Rot3AttitudeFactor |
| |
| class | RotateDirectionsFactor |
| | Factor on unknown rotation iRc that relates two directions c Directions provide less constraints than a full rotation. More...
|
| |
| class | RotateFactor |
| | Factor on unknown rotation iRC that relates two incremental rotations c1Rc2 = iRc' * i1Ri2 * iRc Which we can write (see doc/math.lyx) e^[z] = iRc' * e^[p] * iRc = e^([iRc'*p]) with z and p measured and predicted angular velocities, and hence p = iRc * z. More...
|
| |
| class | RuntimeErrorThreadsafe |
| | Thread-safe runtime error exception. More...
|
| |
| class | Sampler |
| | Sampling structure that keeps internal random number generators for diagonal distributions specified by NoiseModel. More...
|
| |
| class | ScalarMultiplyExpression |
| | A ScalarMultiplyExpression is a specialization of Expression that multiplies with a scalar It optimizes the Jacobian calculation for this specific case. More...
|
| |
| class | Scatter |
| | Scatter is an intermediate data structure used when building a HessianFactor incrementally, to get the keys in the right order. More...
|
| |
| class | Scenario |
| | Simple trajectory simulator. More...
|
| |
| class | ScenarioRunner |
| |
| class | Scheduler |
| | Scheduler class Creates one variable for each student, and three variables for each of the student's areas, for a total of 4*nrStudents variables. More...
|
| |
| class | SDGraph |
| | SDGraph is undirected graph with variable keys and double edge weights. More...
|
| |
| struct | SfmData |
| | Define the structure for SfM data. More...
|
| |
| struct | SfmTrack |
| | Define the structure for the 3D points. More...
|
| |
| class | SGraph |
| |
| class | ShonanAveraging |
| | Class that implements Shonan Averaging from our ECCV'20 paper. More...
|
| |
| class | ShonanAveraging2 |
| |
| class | ShonanAveraging3 |
| |
| struct | ShonanAveragingParameters |
| | Parameters governing optimization etc. More...
|
| |
| class | ShonanFactor |
| | ShonanFactor is a BetweenFactor that moves in SO(p), but will land on the SO(d) sub-manifold of SO(p) at the global minimum. More...
|
| |
| class | ShonanGaugeFactor |
| | The ShonanGaugeFactor creates a constraint on a single SO(n) to avoid moving in the stabilizer. More...
|
| |
| class | Signature |
| | Signature for a discrete conditional density, used to construct conditionals. More...
|
| |
| class | Similarity3 |
| | 3D similarity transform More...
|
| |
| class | SingleValue |
| | SingleValue constraint. More...
|
| |
| struct | SlotEntry |
| | One SlotEntry stores the slot index for a variable, as well its dim. More...
|
| |
| class | SmartFactorBase |
| | Base class for smart factors. More...
|
| |
| class | SmartProjectionFactor |
| | SmartProjectionFactor: triangulates point and keeps an estimate of it around. More...
|
| |
| struct | SmartProjectionParams |
| |
| class | SmartProjectionPoseFactor |
| |
| class | SmartProjectionPoseFactorRollingShutter |
| |
| class | SmartProjectionRigFactor |
| |
| class | SmartRangeFactor |
| |
| class | SmartStereoProjectionFactor |
| | SmartStereoProjectionFactor: triangulates point and keeps an estimate of it around. More...
|
| |
| class | SmartStereoProjectionFactorPP |
| |
| class | SmartStereoProjectionPoseFactor |
| |
| class | SO |
| | Manifold of special orthogonal rotation matrices SO<N>. More...
|
| |
| class | StereoCamera |
| |
| class | StereoCheiralityException |
| |
| class | StereoPoint2 |
| |
| struct | StreamedKey |
| | To use the key_formatter on Keys, they must be wrapped in a StreamedKey. More...
|
| |
| class | Subgraph |
| |
| class | SubgraphBuilder |
| |
| struct | SubgraphBuilderParameters |
| |
| class | SubgraphPreconditioner |
| | Subgraph conditioner class, as explained in the RSS 2010 submission. More...
|
| |
| struct | SubgraphPreconditionerParameters |
| |
| class | SubgraphSolver |
| | This class implements the linear SPCG solver presented in Dellaert et al in IROS'10. More...
|
| |
| struct | SubgraphSolverParameters |
| |
| class | Symbol |
| | Character and index key used to refer to variables. More...
|
| |
| class | SymbolGenerator |
| | Generates symbol shorthands with alternative names different than the one-letter predefined ones. More...
|
| |
| class | SymbolicBayesNet |
| | Symbolic Bayes Net. More...
|
| |
| class | SymbolicBayesTree |
| | A Bayes tree that represents the connectivity between variables but is not associated with any probability functions. More...
|
| |
| class | SymbolicBayesTreeClique |
| | A clique in a SymbolicBayesTree. More...
|
| |
| class | SymbolicConditional |
| | SymbolicConditional is a conditional with keys but no probability data, produced by symbolic elimination of SymbolicFactor. More...
|
| |
| class | SymbolicEliminationTree |
| |
| class | SymbolicFactor |
| | SymbolicFactor represents a symbolic factor that specifies graph topology but is not associated with any numerical function. More...
|
| |
| class | SymbolicFactorGraph |
| | Symbolic Factor Graph. More...
|
| |
| class | SymbolicISAM |
| |
| class | SymbolicJunctionTree |
| |
| class | SymmetricBlockMatrix |
| |
| class | System |
| | Helper class encapsulating the combined system |Ax-b_|^2 Needed to run Conjugate Gradients on matrices. More...
|
| |
| class | TangentPreintegration |
| | Integrate on the 9D tangent space of the NavState manifold. More...
|
| |
| class | TbbOpenMPMixedScope |
| | An object whose scope defines a block where TBB and OpenMP parallelism are mixed. More...
|
| |
| struct | Testable |
| | A helper that implements the traits interface for GTSAM types. More...
|
| |
| class | ThreadsafeException |
| | Base exception type that uses tbb_allocator if GTSAM is compiled with TBB. More...
|
| |
| class | TOAFactor |
| | A "Time of Arrival" factor - so little code seems hardly worth it :-) More...
|
| |
| struct | traits |
| | A manifold defines a space in which there is a notion of a linear tangent space that can be centered around a given point on the manifold. More...
|
| |
| struct | traits< BearingFactor< A1, A2, T > > |
| | traits More...
|
| |
| struct | traits< BearingRange< A1, A2 > > |
| |
| struct | traits< BearingRangeFactor< A1, A2, B, R > > |
| | traits More...
|
| |
| struct | traits< BetweenConstraint< VALUE > > |
| | traits More...
|
| |
| struct | traits< BetweenFactor< VALUE > > |
| | traits More...
|
| |
| struct | traits< BinaryJacobianFactor< M, N1, N2 > > |
| |
| struct | traits< Cal3_S2 > |
| |
| struct | traits< Cal3_S2Stereo > |
| |
| struct | traits< Cal3Bundler > |
| |
| struct | traits< Cal3DS2 > |
| |
| struct | traits< Cal3Fisheye > |
| |
| struct | traits< Cal3Unified > |
| |
| struct | traits< CalibratedCamera > |
| |
| struct | traits< CameraSet< CAMERA > > |
| |
| struct | traits< CombinedImuFactor > |
| |
| struct | traits< ConcurrentBatchFilter > |
| | traits More...
|
| |
| struct | traits< ConcurrentBatchSmoother > |
| | traits More...
|
| |
| struct | traits< ConcurrentIncrementalFilter > |
| | traits More...
|
| |
| struct | traits< ConcurrentIncrementalSmoother > |
| | traits More...
|
| |
| struct | traits< const Cal3_S2 > |
| |
| struct | traits< const Cal3_S2Stereo > |
| |
| struct | traits< const Cal3Bundler > |
| |
| struct | traits< const Cal3DS2 > |
| |
| struct | traits< const Cal3Fisheye > |
| |
| struct | traits< const Cal3Unified > |
| |
| struct | traits< const CalibratedCamera > |
| |
| struct | traits< const CameraSet< CAMERA > > |
| |
| struct | traits< const EssentialMatrix > |
| |
| struct | traits< const Line3 > |
| |
| struct | traits< const OrientedPlane3 > |
| |
| struct | traits< const PinholeCamera< Calibration > > |
| |
| struct | traits< const PinholePose< CALIBRATION > > |
| |
| struct | traits< const PinholeSet< CAMERA > > |
| |
| struct | traits< const Pose2 > |
| |
| struct | traits< const Pose3 > |
| |
| struct | traits< const Rot2 > |
| |
| struct | traits< const Rot3 > |
| |
| struct | traits< const Similarity3 > |
| |
| struct | traits< const SO3 > |
| |
| struct | traits< const SO4 > |
| |
| struct | traits< const SO< N > > |
| |
| struct | traits< const StereoCamera > |
| |
| struct | traits< const StereoPoint2 > |
| |
| struct | traits< const Unit3 > |
| |
| struct | traits< Cyclic< N > > |
| | Define cyclic group to be a model of the Additive Group concept. More...
|
| |
| struct | traits< DecisionTreeFactor > |
| |
| struct | traits< DirectProduct< G, H > > |
| |
| struct | traits< DirectSum< G, H > > |
| |
| struct | traits< DiscreteBayesNet > |
| |
| struct | traits< DiscreteConditional > |
| |
| struct | traits< DiscreteFactor > |
| |
| struct | traits< DiscreteFactor::Values > |
| |
| struct | traits< DiscreteFactorGraph > |
| | traits More...
|
| |
| struct | traits< double > |
| | double More...
|
| |
| struct | traits< Eigen::Matrix< double, -1, -1, Options, MaxRows, MaxCols > > |
| |
| struct | traits< Eigen::Matrix< double, -1, 1, Options, MaxRows, MaxCols > > |
| |
| struct | traits< Eigen::Matrix< double, 1, -1, Options, MaxRows, MaxCols > > |
| |
| struct | traits< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > > |
| |
| struct | traits< EqualityFactorGraph > |
| | traits More...
|
| |
| struct | traits< Errors > |
| | traits More...
|
| |
| struct | traits< EssentialMatrix > |
| |
| struct | traits< ExpressionFactor< T > > |
| | traits More...
|
| |
| struct | traits< ExpressionFactorN< T, Args... > > |
| | traits More...
|
| |
| struct | traits< float > |
| | float More...
|
| |
| struct | traits< FunctorizedFactor2< R, T1, T2 > > |
| | traits More...
|
| |
| struct | traits< FunctorizedFactor< R, T > > |
| | traits More...
|
| |
| struct | traits< GaussianBayesNet > |
| | traits More...
|
| |
| struct | traits< GaussianBayesTree > |
| | traits More...
|
| |
| struct | traits< GaussianConditional > |
| | traits More...
|
| |
| struct | traits< GaussianFactor > |
| | traits More...
|
| |
| struct | traits< GaussianFactorGraph > |
| | traits More...
|
| |
| struct | traits< GaussianISAM > |
| | traits More...
|
| |
| struct | traits< GaussMarkov1stOrderFactor< VALUE > > |
| | traits More...
|
| |
| struct | traits< GeneralSFMFactor2< CALIBRATION > > |
| |
| struct | traits< GeneralSFMFactor< CAMERA, LANDMARK > > |
| |
| struct | traits< GenericProjectionFactor< POSE, LANDMARK, CALIBRATION > > |
| | traits More...
|
| |
| struct | traits< GenericStereoFactor< T1, T2 > > |
| | traits More...
|
| |
| struct | traits< GenericValue< ValueType > > |
| |
| struct | traits< HessianFactor > |
| | traits More...
|
| |
| struct | traits< imuBias::ConstantBias > |
| |
| struct | traits< ImuFactor > |
| |
| struct | traits< ImuFactor2 > |
| |
| struct | traits< InequalityFactorGraph > |
| | traits More...
|
| |
| struct | traits< InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS > > |
| | traits More...
|
| |
| struct | traits< ISAM2 > |
| | traits More...
|
| |
| struct | traits< JacobianFactor > |
| | traits More...
|
| |
| struct | traits< JacobianFactorQ< D, ZDim > > |
| |
| struct | traits< Key > |
| |
| struct | traits< LabeledSymbol > |
| | traits More...
|
| |
| struct | traits< Line3 > |
| |
| struct | traits< LinearContainerFactor > |
| |
| struct | traits< LinearCost > |
| | traits More...
|
| |
| struct | traits< LinearEquality > |
| | traits More...
|
| |
| struct | traits< LinearInequality > |
| | traits More...
|
| |
| struct | traits< LinearizedHessianFactor > |
| | traits More...
|
| |
| struct | traits< LinearizedJacobianFactor > |
| | traits More...
|
| |
| struct | traits< LP > |
| | traits More...
|
| |
| struct | traits< NavState > |
| |
| struct | traits< noiseModel::Constrained > |
| |
| struct | traits< noiseModel::Diagonal > |
| |
| struct | traits< noiseModel::Gaussian > |
| | traits More...
|
| |
| struct | traits< noiseModel::Isotropic > |
| |
| struct | traits< noiseModel::Unit > |
| |
| struct | traits< NonlinearEquality1< VALUE > > |
| |
| struct | traits< NonlinearEquality2< VALUE > > |
| |
| struct | traits< NonlinearEquality< VALUE > > |
| |
| struct | traits< NonlinearFactor > |
| | traits More...
|
| |
| struct | traits< NonlinearFactorGraph > |
| | traits More...
|
| |
| struct | traits< Ordering > |
| | traits More...
|
| |
| struct | traits< OrientedPlane3 > |
| |
| struct | traits< ParameterMatrix< M > > |
| |
| struct | traits< PinholeCamera< Calibration > > |
| |
| struct | traits< PinholePose< CALIBRATION > > |
| |
| struct | traits< PinholeSet< CAMERA > > |
| |
| struct | traits< Pose2 > |
| |
| struct | traits< Pose3 > |
| |
| struct | traits< Pose3AttitudeFactor > |
| | traits More...
|
| |
| struct | traits< PoseRTV > |
| |
| struct | traits< Potentials > |
| |
| struct | traits< Potentials::ADT > |
| |
| struct | traits< PreintegratedCombinedMeasurements > |
| |
| struct | traits< PreintegratedImuMeasurements > |
| |
| struct | traits< PreintegratedRotation > |
| |
| struct | traits< PreintegrationCombinedParams > |
| |
| struct | traits< PriorFactor< VALUE > > |
| | traits More...
|
| |
| struct | traits< ProductLieGroup< G, H > > |
| |
| struct | traits< ProjectionFactorPPP< POSE, LANDMARK, CALIBRATION > > |
| | traits More...
|
| |
| struct | traits< ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION > > |
| | traits More...
|
| |
| struct | traits< ProjectionFactorRollingShutter > |
| | traits More...
|
| |
| struct | traits< QUATERNION_TYPE > |
| |
| struct | traits< RangeFactor< A1, A2, T > > |
| | traits More...
|
| |
| struct | traits< RangeFactorWithTransform< A1, A2, T > > |
| | traits More...
|
| |
| struct | traits< ReferenceFrameFactor< T1, T2 > > |
| | traits More...
|
| |
| struct | traits< RegularHessianFactor< D > > |
| |
| struct | traits< RegularImplicitSchurFactor< CAMERA > > |
| |
| struct | traits< Rot2 > |
| |
| struct | traits< Rot3 > |
| |
| struct | traits< Rot3AttitudeFactor > |
| | traits More...
|
| |
| struct | traits< SfmData > |
| | traits More...
|
| |
| struct | traits< SfmTrack > |
| | traits More...
|
| |
| struct | traits< Similarity3 > |
| |
| struct | traits< SmartProjectionFactor< CAMERA > > |
| | traits More...
|
| |
| struct | traits< SmartProjectionPoseFactor< CALIBRATION > > |
| | traits More...
|
| |
| struct | traits< SmartProjectionPoseFactorRollingShutter< CAMERA > > |
| | traits More...
|
| |
| struct | traits< SmartProjectionRigFactor< CAMERA > > |
| | traits More...
|
| |
| struct | traits< SmartStereoProjectionFactor > |
| | traits More...
|
| |
| struct | traits< SmartStereoProjectionFactorPP > |
| | traits More...
|
| |
| struct | traits< SmartStereoProjectionPoseFactor > |
| | traits More...
|
| |
| struct | traits< SO3 > |
| |
| struct | traits< SO4 > |
| |
| struct | traits< SO< N > > |
| |
| struct | traits< StereoCamera > |
| |
| struct | traits< StereoPoint2 > |
| |
| struct | traits< Symbol > |
| | traits More...
|
| |
| struct | traits< SymbolicBayesNet > |
| | traits More...
|
| |
| struct | traits< SymbolicBayesTree > |
| |
| struct | traits< SymbolicBayesTreeClique > |
| | traits More...
|
| |
| struct | traits< SymbolicConditional > |
| | traits More...
|
| |
| struct | traits< SymbolicEliminationTree > |
| | traits More...
|
| |
| struct | traits< SymbolicFactor > |
| | traits More...
|
| |
| struct | traits< SymbolicFactorGraph > |
| | traits More...
|
| |
| struct | traits< TransformBtwRobotsUnaryFactor< VALUE > > |
| | traits More...
|
| |
| struct | traits< TransformBtwRobotsUnaryFactorEM< VALUE > > |
| | traits More...
|
| |
| struct | traits< Unit3 > |
| |
| struct | traits< Values > |
| | traits More...
|
| |
| struct | traits< VariableIndex > |
| | traits More...
|
| |
| struct | traits< VariableSlots > |
| | traits More...
|
| |
| struct | traits< VectorValues > |
| | traits More...
|
| |
| class | TransformBtwRobotsUnaryFactor |
| |
| class | TransformBtwRobotsUnaryFactorEM |
| |
| class | TransformCovariance |
| | Functor for transforming covariance of T. More...
|
| |
| class | TranslationFactor |
| |
| class | TranslationRecovery |
| |
| class | TriangulationCheiralityException |
| | Exception thrown by triangulateDLT when landmark is behind one or more of the cameras. More...
|
| |
| class | TriangulationFactor |
| |
| struct | TriangulationParameters |
| |
| class | TriangulationResult |
| | TriangulationResult is an optional point, along with the reasons why it is invalid. More...
|
| |
| class | TriangulationUnderconstrainedException |
| | Exception thrown by triangulateDLT when SVD returns rank < 3. More...
|
| |
| class | Unit3 |
| | Represents a 3D point on a unit sphere. More...
|
| |
| struct | UpdateImpl |
| | Implementation functions for update method All of the methods below have clear inputs and outputs, even if not functional: iSAM2 is inherintly imperative. More...
|
| |
| class | Value |
| | This is the base class for any type to be stored in Values. More...
|
| |
| class | ValueCloneAllocator |
| |
| class | Values |
| | A non-templated config holding any types of Manifold-group elements. More...
|
| |
| struct | ValuesCastHelper |
| |
| struct | ValuesCastHelper< const Value, CastedKeyValuePairType, KeyValuePairType > |
| |
| struct | ValuesCastHelper< Value, CastedKeyValuePairType, KeyValuePairType > |
| |
| class | ValuesIncorrectType |
| |
| class | ValuesKeyAlreadyExists |
| |
| class | ValuesKeyDoesNotExist |
| |
| struct | ValueWithDefault |
| | Helper struct that encapsulates a value with a default, this is just used as a member object so you don't have to specify defaults in the class constructor. More...
|
| |
| class | VariableIndex |
| | The VariableIndex class computes and stores the block column structure of a factor graph. More...
|
| |
| class | VariableSlots |
| | A combined factor is assembled as one block of rows for each component factor. More...
|
| |
| struct | vector_space_tag |
| | tag to assert a type is a vector space More...
|
| |
| class | VectorComponentFactor |
| | Unary factor for enforcing BASIS polynomial evaluation on a ParameterMatrix of size (P, N) is equal to specified measurement at the same point, when using a pseudo-spectral parameterization. More...
|
| |
| class | VectorDerivativeFactor |
| | A unary factor which enforces the evaluation of the derivative of a BASIS polynomial at a specified point x is equal to the vector value z . More...
|
| |
| class | VectorEvaluationFactor |
| | Unary factor for enforcing BASIS polynomial evaluation on a ParameterMatrix of size (M, N) is equal to a vector-valued measurement at the same point, when using a pseudo-spectral parameterization. More...
|
| |
| class | VectorValues |
| | This class represents a collection of vector-valued variables associated each with a unique integer index. More...
|
| |
| class | VelocityConstraint |
| | Constraint to enforce dynamics between the velocities and poses, using a prediction based on a numerical integration flag. More...
|
| |
| class | VelocityConstraint3 |
| |
| struct | VelocityPrior |
| | Constrains the full velocity of a state to a particular value Useful for enforcing a stationary state Dim: 3. More...
|
| |
| class | VerticalBlockMatrix |
| |
| class | WeightedSampler |
| |
| class | WhiteNoiseFactor |
| | Binary factor to estimate parameters of zero-mean Gaussian white noise. More...
|
| |
|
|
template<typename T > |
| void | testDefaultChart (TestResult &result_, const std::string &name_, const T &value) |
| |
| pair< size_t, bool > | choleskyCareful (Matrix &ATA, int order=-1) |
| | "Careful" Cholesky computes the positive square-root of a positive symmetric semi-definite matrix (i.e. More...
|
| |
| bool | choleskyPartial (Matrix &ABC, size_t nFrontal, size_t topleft=0) |
| | Partial Cholesky computes a factor [R S such that [R' 0 [R S = [A B 0 L] S' I] 0 L] B' C]. More...
|
| |
|
bool | guardedIsDebug (const std::string &s) |
| |
|
void | guardedSetDebug (const std::string &s, const bool v) |
| |
|
bool | isDebugVersion () |
| |
|
IndexPairVector | IndexPairSetAsArray (IndexPairSet &set) |
| |
|
template<class T > |
| GenericValue< T > | genericValue (const T &v) |
| | Functional constructor of GenericValue<T> so T can be automatically deduced.
|
| |
|
template<typename G > |
| | BOOST_CONCEPT_REQUIRES (((IsGroup< G >)),(bool)) check_group_invariants(const G &a |
| | Check invariants.
|
| |
| template<class Class > |
| Class | between_default (const Class &l1, const Class &l2) |
| | These core global functions can be specialized by new Lie types for better performance. More...
|
| |
| template<class Class > |
| Vector | logmap_default (const Class &l0, const Class &lp) |
| | Log map centered at l0, s.t. More...
|
| |
| template<class Class > |
| Class | expmap_default (const Class &t, const Vector &d) |
| | Exponential map centered at l0, s.t. More...
|
| |
| template<class T > |
| T | BCH (const T &X, const T &Y) |
| | Three term approximation of the Baker-Campbell-Hausdorff formula In non-commutative Lie groups, when composing exp(Z) = exp(X)exp(Y) it is not true that Z = X+Y. More...
|
| |
|
template<class T > |
| Matrix | wedge (const Vector &x) |
| | Declaration of wedge (see Murray94book) used to convert from n exponential coordinates to n*n element of the Lie algebra.
|
| |
| template<class T > |
| T | expm (const Vector &x, int K=7) |
| | Exponential map given exponential coordinates class T needs a wedge<> function and a constructor from Matrix. More...
|
| |
| template<typename T > |
| T | interpolate (const T &X, const T &Y, double t, typename MakeOptionalJacobian< T, T >::type Hx=boost::none, typename MakeOptionalJacobian< T, T >::type Hy=boost::none) |
| | Linear interpolation between X and Y by coefficient t. More...
|
| |
| template<typename T , typename ... Args> |
| gtsam::enable_if_t< needs_eigen_aligned_allocator< T >::value, boost::shared_ptr< T > > | make_shared (Args &&... args) |
| | Add our own make_shared as a layer of wrapping on boost::make_shared This solves the problem with the stock make_shared that custom alignment is not respected, causing SEGFAULTs at runtime, which is notoriously hard to debug. More...
|
| |
|
template<typename T , typename ... Args> |
| gtsam::enable_if_t<!needs_eigen_aligned_allocator< T >::value, boost::shared_ptr< T > > | make_shared (Args &&... args) |
| | Fall back to the boost version if no need for alignment.
|
| |
|
template<typename T > |
| | BOOST_CONCEPT_REQUIRES (((IsTestable< T >)),(bool)) check_manifold_invariants(const T &a |
| | Check invariants for Manifold type.
|
| |
|
bool | assert_equal (const Matrix &A, const Matrix &B, double tol=1e-9) |
| | equals with an tolerance, prints out message if unequal
|
| |
|
bool | assert_inequal (const Matrix &A, const Matrix &B, double tol=1e-9) |
| | inequals with an tolerance, prints out message if within tolerance
|
| |
|
bool | assert_equal (const std::list< Matrix > &As, const std::list< Matrix > &Bs, double tol=1e-9) |
| | equals with an tolerance, prints out message if unequal
|
| |
|
bool | linear_independent (const Matrix &A, const Matrix &B, double tol=1e-9) |
| | check whether the rows of two matrices are linear independent
|
| |
|
bool | linear_dependent (const Matrix &A, const Matrix &B, double tol=1e-9) |
| | check whether the rows of two matrices are linear dependent
|
| |
|
Vector | operator^ (const Matrix &A, const Vector &v) |
| | overload ^ for trans(A)*v We transpose the vectors for speed.
|
| |
|
const Eigen::IOFormat & | matlabFormat () |
| |
|
void | print (const Matrix &A, const std::string &s, std::ostream &stream) |
| | print without optional string, must specify cout yourself
|
| |
|
void | print (const Matrix &A, const std::string &s="") |
| | print with optional string to cout
|
| |
|
void | save (const Matrix &A, const std::string &s, const std::string &filename) |
| | save a matrix to file, which can be loaded by matlab
|
| |
| istream & | operator>> (std::istream &inputStream, Matrix &destinationMatrix) |
| | Read a matrix from an input stream, such as a file. More...
|
| |
|
Matrix | diag (const std::vector< Matrix > &Hs) |
| | Create a matrix with submatrices along its diagonal.
|
| |
|
Vector | columnNormSquare (const Matrix &A) |
| |
| pair< Matrix, Matrix > | qr (const Matrix &A) |
| | Householder QR factorization, Golub & Van Loan p 224, explicit version
More...
|
| |
| list< boost::tuple< Vector, double, double > > | weighted_eliminate (Matrix &A, Vector &b, const Vector &sigmas) |
| | Imperative algorithm for in-place full elimination with weights and constraint handling. More...
|
| |
| void | householder_ (Matrix &A, size_t k, bool copy_vectors) |
| | Imperative version of Householder QR factorization, Golub & Van Loan p 224 version with Householder vectors below diagonal, as in GVL. More...
|
| |
| void | householder (Matrix &A, size_t k) |
| | Householder tranformation, zeros below diagonal. More...
|
| |
| Vector | backSubstituteLower (const Matrix &L, const Vector &b, bool unit=false) |
| | backSubstitute L*x=b More...
|
| |
| Vector | backSubstituteUpper (const Matrix &U, const Vector &b, bool unit=false) |
| | backSubstitute U*x=b More...
|
| |
| Vector | backSubstituteUpper (const Vector &b, const Matrix &U, bool unit=false) |
| | backSubstitute x'*U=b' More...
|
| |
| Matrix | stack (size_t nrMatrices,...) |
| | create a matrix by stacking other matrices Given a set of matrices: A1, A2, A3... More...
|
| |
|
Matrix | stack (const std::vector< Matrix > &blocks) |
| |
| Matrix | collect (const std::vector< const Matrix * > &matrices, size_t m=0, size_t n=0) |
| | create a matrix by concatenating Given a set of matrices: A1, A2, A3...  More...
|
| |
| boost::tuple< int, double, Vector > | DLT (const Matrix &A, double rank_tol=1e-9) |
| | Direct linear transform algorithm that calls svd to find a vector v that minimizes the algebraic error A*v. More...
|
| |
| Matrix | expm (const Matrix &A, size_t K=7) |
| | Numerical exponential map, naive approach, not industrial strength !!! More...
|
| |
|
std::string | formatMatrixIndented (const std::string &label, const Matrix &matrix, bool makeVectorHorizontal) |
| |
| void | inplace_QR (Matrix &A) |
| | QR factorization using Eigen's internal block QR algorithm. More...
|
| |
|
template<class MATRIX > |
| bool | equal_with_abs_tol (const Eigen::DenseBase< MATRIX > &A, const Eigen::DenseBase< MATRIX > &B, double tol=1e-9) |
| | equals with a tolerance
|
| |
|
bool | operator== (const Matrix &A, const Matrix &B) |
| | equality is just equal_with_abs_tol 1e-9
|
| |
|
bool | operator!= (const Matrix &A, const Matrix &B) |
| | inequality
|
| |
|
template<class MATRIX > |
| MATRIX | prod (const MATRIX &A, const MATRIX &B) |
| | products using old-style format to improve compatibility
|
| |
| template<class MATRIX > |
| Eigen::Block< const MATRIX > | sub (const MATRIX &A, size_t i1, size_t i2, size_t j1, size_t j2) |
| | extract submatrix, slice semantics, i.e. More...
|
| |
| template<typename Derived1 , typename Derived2 > |
| void | insertSub (Eigen::MatrixBase< Derived1 > &fullMatrix, const Eigen::MatrixBase< Derived2 > &subMatrix, size_t i, size_t j) |
| | insert a submatrix IN PLACE at a specified location in a larger matrix NOTE: there is no size checking More...
|
| |
| template<class MATRIX > |
| const MATRIX::ConstColXpr | column (const MATRIX &A, size_t j) |
| | Extracts a column view from a matrix that avoids a copy. More...
|
| |
| template<class MATRIX > |
| const MATRIX::ConstRowXpr | row (const MATRIX &A, size_t j) |
| | Extracts a row view from a matrix that avoids a copy. More...
|
| |
| template<class MATRIX > |
| void | zeroBelowDiagonal (MATRIX &A, size_t cols=0) |
| | Zeros all of the elements below the diagonal of a matrix, in place. More...
|
| |
|
Matrix | trans (const Matrix &A) |
| | static transpose function, just calls Eigen transpose member function
|
| |
|
template<int OutM, int OutN, int OutOptions, int InM, int InN, int InOptions> |
| Reshape< OutM, OutN, OutOptions, InM, InN, InOptions >::ReshapedType | reshape (const Eigen::Matrix< double, InM, InN, InOptions > &m) |
| |
| Matrix3 | skewSymmetric (double wx, double wy, double wz) |
| | skew symmetric matrix returns this: 0 -wz wy wz 0 -wx -wy wx 0 More...
|
| |
|
template<class Derived > |
| Matrix3 | skewSymmetric (const Eigen::MatrixBase< Derived > &w) |
| |
| template<class X , int N = traits<X>::dimension> |
| Eigen::Matrix< double, N, 1 > | numericalGradient (std::function< double(const X &)> h, const X &x, double delta=1e-5) |
| | Numerically compute gradient of scalar function. More...
|
| |
| template<class Y , class X , int N = traits<X>::dimension> |
| internal::FixedSizeMatrix< Y, X >::type | numericalDerivative11 (std::function< Y(const X &)> h, const X &x, double delta=1e-5) |
| | New-style numerical derivatives using manifold_traits. More...
|
| |
|
template<class Y , class X > |
| internal::FixedSizeMatrix< Y, X >::type | numericalDerivative11 (Y(*h)(const X &), const X &x, double delta=1e-5) |
| | use a raw C++ function pointer
|
| |
| template<class Y , class X1 , class X2 , int N = traits<X1>::dimension> |
| internal::FixedSizeMatrix< Y, X1 >::type | numericalDerivative21 (const std::function< Y(const X1 &, const X2 &)> &h, const X1 &x1, const X2 &x2, double delta=1e-5) |
| | Compute numerical derivative in argument 1 of binary function. More...
|
| |
|
template<class Y , class X1 , class X2 > |
| internal::FixedSizeMatrix< Y, X1 >::type | numericalDerivative21 (Y(*h)(const X1 &, const X2 &), const X1 &x1, const X2 &x2, double delta=1e-5) |
| | use a raw C++ function pointer
|
| |
| template<class Y , class X1 , class X2 , int N = traits<X2>::dimension> |
| internal::FixedSizeMatrix< Y, X2 >::type | numericalDerivative22 (std::function< Y(const X1 &, const X2 &)> h, const X1 &x1, const X2 &x2, double delta=1e-5) |
| | Compute numerical derivative in argument 2 of binary function. More...
|
| |
|
template<class Y , class X1 , class X2 > |
| internal::FixedSizeMatrix< Y, X2 >::type | numericalDerivative22 (Y(*h)(const X1 &, const X2 &), const X1 &x1, const X2 &x2, double delta=1e-5) |
| | use a raw C++ function pointer
|
| |
| template<class Y , class X1 , class X2 , class X3 , int N = traits<X1>::dimension> |
| internal::FixedSizeMatrix< Y, X1 >::type | numericalDerivative31 (std::function< Y(const X1 &, const X2 &, const X3 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| | Compute numerical derivative in argument 1 of ternary function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< Y, X1 >::type | numericalDerivative31 (Y(*h)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , int N = traits<X2>::dimension> |
| internal::FixedSizeMatrix< Y, X2 >::type | numericalDerivative32 (std::function< Y(const X1 &, const X2 &, const X3 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| | Compute numerical derivative in argument 2 of ternary function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< Y, X2 >::type | numericalDerivative32 (Y(*h)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , int N = traits<X3>::dimension> |
| internal::FixedSizeMatrix< Y, X3 >::type | numericalDerivative33 (std::function< Y(const X1 &, const X2 &, const X3 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| | Compute numerical derivative in argument 3 of ternary function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< Y, X3 >::type | numericalDerivative33 (Y(*h)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , int N = traits<X1>::dimension> |
| internal::FixedSizeMatrix< Y, X1 >::type | numericalDerivative41 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5) |
| | Compute numerical derivative in argument 1 of 4-argument function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 , class X4 > |
| internal::FixedSizeMatrix< Y, X1 >::type | numericalDerivative41 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , int N = traits<X2>::dimension> |
| internal::FixedSizeMatrix< Y, X2 >::type | numericalDerivative42 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5) |
| | Compute numerical derivative in argument 2 of 4-argument function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 , class X4 > |
| internal::FixedSizeMatrix< Y, X2 >::type | numericalDerivative42 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , int N = traits<X3>::dimension> |
| internal::FixedSizeMatrix< Y, X3 >::type | numericalDerivative43 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5) |
| | Compute numerical derivative in argument 3 of 4-argument function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 , class X4 > |
| internal::FixedSizeMatrix< Y, X3 >::type | numericalDerivative43 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , int N = traits<X4>::dimension> |
| internal::FixedSizeMatrix< Y, X4 >::type | numericalDerivative44 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5) |
| | Compute numerical derivative in argument 4 of 4-argument function. More...
|
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|
template<class Y , class X1 , class X2 , class X3 , class X4 > |
| internal::FixedSizeMatrix< Y, X4 >::type | numericalDerivative44 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , int N = traits<X1>::dimension> |
| internal::FixedSizeMatrix< Y, X1 >::type | numericalDerivative51 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5) |
| | Compute numerical derivative in argument 1 of 5-argument function. More...
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template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 > |
| internal::FixedSizeMatrix< Y, X1 >::type | numericalDerivative51 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , int N = traits<X2>::dimension> |
| internal::FixedSizeMatrix< Y, X2 >::type | numericalDerivative52 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5) |
| | Compute numerical derivative in argument 2 of 5-argument function. More...
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|
template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 > |
| internal::FixedSizeMatrix< Y, X2 >::type | numericalDerivative52 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , int N = traits<X3>::dimension> |
| internal::FixedSizeMatrix< Y, X3 >::type | numericalDerivative53 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5) |
| | Compute numerical derivative in argument 3 of 5-argument function. More...
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|
template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 > |
| internal::FixedSizeMatrix< Y, X3 >::type | numericalDerivative53 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , int N = traits<X4>::dimension> |
| internal::FixedSizeMatrix< Y, X4 >::type | numericalDerivative54 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5) |
| | Compute numerical derivative in argument 4 of 5-argument function. More...
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|
template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 > |
| internal::FixedSizeMatrix< Y, X4 >::type | numericalDerivative54 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , int N = traits<X5>::dimension> |
| internal::FixedSizeMatrix< Y, X5 >::type | numericalDerivative55 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5) |
| | Compute numerical derivative in argument 5 of 5-argument function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 > |
| internal::FixedSizeMatrix< Y, X5 >::type | numericalDerivative55 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 , int N = traits<X1>::dimension> |
| internal::FixedSizeMatrix< Y, X1 >::type | numericalDerivative61 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| | Compute numerical derivative in argument 1 of 6-argument function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 > |
| internal::FixedSizeMatrix< Y, X1 >::type | numericalDerivative61 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 , int N = traits<X2>::dimension> |
| internal::FixedSizeMatrix< Y, X2 >::type | numericalDerivative62 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| | Compute numerical derivative in argument 2 of 6-argument function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 > |
| internal::FixedSizeMatrix< Y, X2 >::type | numericalDerivative62 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 , int N = traits<X3>::dimension> |
| internal::FixedSizeMatrix< Y, X3 >::type | numericalDerivative63 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| | Compute numerical derivative in argument 3 of 6-argument function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 > |
| internal::FixedSizeMatrix< Y, X3 >::type | numericalDerivative63 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 , int N = traits<X4>::dimension> |
| internal::FixedSizeMatrix< Y, X4 >::type | numericalDerivative64 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| | Compute numerical derivative in argument 4 of 6-argument function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 > |
| internal::FixedSizeMatrix< Y, X4 >::type | numericalDerivative64 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 , int N = traits<X5>::dimension> |
| internal::FixedSizeMatrix< Y, X5 >::type | numericalDerivative65 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| | Compute numerical derivative in argument 5 of 6-argument function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 > |
| internal::FixedSizeMatrix< Y, X5 >::type | numericalDerivative65 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| |
| template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 , int N = traits<X6>::dimension> |
| internal::FixedSizeMatrix< Y, X6 >::type | numericalDerivative66 (std::function< Y(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &)> h, const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| | Compute numerical derivative in argument 6 of 6-argument function. More...
|
| |
|
template<class Y , class X1 , class X2 , class X3 , class X4 , class X5 , class X6 > |
| internal::FixedSizeMatrix< Y, X6 >::type | numericalDerivative66 (Y(*h)(const X1 &, const X2 &, const X3 &, const X4 &, const X5 &, const X6 &), const X1 &x1, const X2 &x2, const X3 &x3, const X4 &x4, const X5 &x5, const X6 &x6, double delta=1e-5) |
| |
| template<class X > |
| internal::FixedSizeMatrix< X, X >::type | numericalHessian (std::function< double(const X &)> f, const X &x, double delta=1e-5) |
| | Compute numerical Hessian matrix. More...
|
| |
|
template<class X > |
| internal::FixedSizeMatrix< X, X >::type | numericalHessian (double(*f)(const X &), const X &x, double delta=1e-5) |
| |
|
template<class X1 , class X2 > |
| internal::FixedSizeMatrix< X1, X2 >::type | numericalHessian212 (std::function< double(const X1 &, const X2 &)> f, const X1 &x1, const X2 &x2, double delta=1e-5) |
| |
|
template<class X1 , class X2 > |
| internal::FixedSizeMatrix< X1, X2 >::type | numericalHessian212 (double(*f)(const X1 &, const X2 &), const X1 &x1, const X2 &x2, double delta=1e-5) |
| |
|
template<class X1 , class X2 > |
| internal::FixedSizeMatrix< X1, X1 >::type | numericalHessian211 (std::function< double(const X1 &, const X2 &)> f, const X1 &x1, const X2 &x2, double delta=1e-5) |
| |
|
template<class X1 , class X2 > |
| internal::FixedSizeMatrix< X1, X1 >::type | numericalHessian211 (double(*f)(const X1 &, const X2 &), const X1 &x1, const X2 &x2, double delta=1e-5) |
| |
|
template<class X1 , class X2 > |
| internal::FixedSizeMatrix< X2, X2 >::type | numericalHessian222 (std::function< double(const X1 &, const X2 &)> f, const X1 &x1, const X2 &x2, double delta=1e-5) |
| |
|
template<class X1 , class X2 > |
| internal::FixedSizeMatrix< X2, X2 >::type | numericalHessian222 (double(*f)(const X1 &, const X2 &), const X1 &x1, const X2 &x2, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X1, X1 >::type | numericalHessian311 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| | Numerical Hessian for tenary functions.
|
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X1, X1 >::type | numericalHessian311 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X2, X2 >::type | numericalHessian322 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X2, X2 >::type | numericalHessian322 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X3, X3 >::type | numericalHessian333 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X3, X3 >::type | numericalHessian333 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X1, X2 >::type | numericalHessian312 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X1, X3 >::type | numericalHessian313 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X2, X3 >::type | numericalHessian323 (std::function< double(const X1 &, const X2 &, const X3 &)> f, const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X1, X2 >::type | numericalHessian312 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X1, X3 >::type | numericalHessian313 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
template<class X1 , class X2 , class X3 > |
| internal::FixedSizeMatrix< X2, X3 >::type | numericalHessian323 (double(*f)(const X1 &, const X2 &, const X3 &), const X1 &x1, const X2 &x2, const X3 &x3, double delta=1e-5) |
| |
|
void | print (float v, const std::string &s="") |
| |
|
void | print (double v, const std::string &s="") |
| |
|
template<class T > |
| bool | equal (const T &obj1, const T &obj2, double tol) |
| | Call equal on the object.
|
| |
|
template<class T > |
| bool | equal (const T &obj1, const T &obj2) |
| | Call equal without tolerance (use default tolerance)
|
| |
|
template<class V > |
| bool | assert_equal (const V &expected, const V &actual, double tol=1e-9) |
| | This template works for any type with equals.
|
| |
|
bool | assert_equal (const Key &expected, const Key &actual, double tol=0.0) |
| | Equals testing for basic types.
|
| |
| template<class V > |
| bool | assert_equal (const boost::optional< V > &expected, const boost::optional< V > &actual, double tol=1e-9) |
| | Comparisons for boost.optional objects that checks whether objects exist before comparing their values. More...
|
| |
|
template<class V > |
| bool | assert_equal (const V &expected, const boost::optional< V > &actual, double tol=1e-9) |
| |
|
template<class V > |
| bool | assert_equal (const V &expected, const boost::optional< const V & > &actual, double tol=1e-9) |
| |
| template<class V > |
| bool GTSAM_DEPRECATED | assert_equal (const std::vector< V > &expected, const std::vector< V > &actual, double tol=1e-9) |
| | Version of assert_equals to work with vectors. More...
|
| |
|
template<class V1 , class V2 > |
| bool | assert_container_equal (const std::map< V1, V2 > &expected, const std::map< V1, V2 > &actual, double tol=1e-9) |
| | Function for comparing maps of testable->testable TODO: replace with more generalized version.
|
| |
|
template<class V2 > |
| bool | assert_container_equal (const std::map< size_t, V2 > &expected, const std::map< size_t, V2 > &actual, double tol=1e-9) |
| | Function for comparing maps of size_t->testable.
|
| |
|
template<class V1 , class V2 > |
| bool | assert_container_equal (const std::vector< std::pair< V1, V2 > > &expected, const std::vector< std::pair< V1, V2 > > &actual, double tol=1e-9) |
| | Function for comparing vector of pairs (testable, testable)
|
| |
|
template<class V > |
| bool | assert_container_equal (const V &expected, const V &actual, double tol=1e-9) |
| | General function for comparing containers of testable objects.
|
| |
|
template<class V2 > |
| bool | assert_container_equality (const std::map< size_t, V2 > &expected, const std::map< size_t, V2 > &actual) |
| | Function for comparing maps of size_t->testable Types are assumed to have operator ==.
|
| |
|
template<class V > |
| bool | assert_container_equality (const V &expected, const V &actual) |
| | General function for comparing containers of objects with operator==.
|
| |
|
bool | assert_equal (const std::string &expected, const std::string &actual) |
| | Compare strings for unit tests.
|
| |
|
template<class V > |
| bool | assert_inequal (const V &expected, const V &actual, double tol=1e-9) |
| | Allow for testing inequality.
|
| |
|
template<class V > |
| bool | assert_stdout_equal (const std::string &expected, const V &actual) |
| | Capture std out via cout stream and compare against string.
|
| |
| template<class V > |
| bool | assert_print_equal (const std::string &expected, const V &actual, const std::string &s="") |
| | Capture print function output and compare against string. More...
|
| |
|
template<typename G > |
| void | testLieGroupDerivatives (TestResult &result_, const std::string &name_, const G &t1, const G &t2) |
| |
|
template<typename G > |
| void | testChartDerivatives (TestResult &result_, const std::string &name_, const G &t1, const G &t2) |
| |
|
void | tictoc_finishedIteration_ () |
| |
|
void | tictoc_print_ () |
| |
|
void | tictoc_print2_ () |
| |
|
void | tictoc_reset_ () |
| |
| std::string | demangle (const char *name) |
| | Pretty print Value type name. More...
|
| |
|
| BOOST_CONCEPT_ASSERT ((boost::RandomAccessRangeConcept< ListOfOneContainer< int > >)) |
| |
|
template<typename T > |
| ListOfOneContainer< T > | ListOfOne (const T &element) |
| | Factory function for ListOfOneContainer to enable ListOfOne(e) syntax.
|
| |
| bool | fpEqual (double a, double b, double tol, bool check_relative_also=true) |
| | Ensure we are not including a different version of Eigen in user code than while compiling gtsam, since it can lead to hard-to-understand runtime crashes. More...
|
| |
|
void | print (const Vector &v, const std::string &s, std::ostream &stream) |
| | print without optional string, must specify cout yourself
|
| |
|
void | print (const Vector &v, const std::string &s="") |
| | print with optional string to cout
|
| |
|
void | save (const Vector &A, const std::string &s, const std::string &filename) |
| | save a vector to file, which can be loaded by matlab
|
| |
|
bool | operator== (const Vector &vec1, const Vector &vec2) |
| | operator==()
|
| |
|
bool | greaterThanOrEqual (const Vector &v1, const Vector &v2) |
| | Greater than or equal to operation returns true if all elements in v1 are greater than corresponding elements in v2.
|
| |
|
bool | equal_with_abs_tol (const Vector &vec1, const Vector &vec2, double tol=1e-9) |
| | VecA == VecB up to tolerance.
|
| |
|
bool | equal_with_abs_tol (const SubVector &vec1, const SubVector &vec2, double tol) |
| |
| bool | assert_equal (const Vector &vec1, const Vector &vec2, double tol=1e-9) |
| | Same, prints if error. More...
|
| |
| bool | assert_inequal (const Vector &vec1, const Vector &vec2, double tol=1e-9) |
| | Not the same, prints if error. More...
|
| |
| bool | assert_equal (const SubVector &vec1, const SubVector &vec2, double tol=1e-9) |
| | Same, prints if error. More...
|
| |
|
bool | assert_equal (const ConstSubVector &expected, const ConstSubVector &actual, double tol) |
| |
| bool | linear_dependent (const Vector &vec1, const Vector &vec2, double tol=1e-9) |
| | check whether two vectors are linearly dependent More...
|
| |
| Vector | ediv_ (const Vector &a, const Vector &b) |
| | elementwise division, but 0/0 = 0, not inf More...
|
| |
|
double | houseInPlace (Vector &x) |
| | beta = house(x) computes the HouseHolder vector in place
|
| |
| pair< double, Vector > | house (const Vector &x) |
| | house(x,j) computes HouseHolder vector v and scaling factor beta from x, such that the corresponding Householder reflection zeroes out all but x. More...
|
| |
|
double | weightedPseudoinverse (const Vector &a, const Vector &weights, Vector &pseudo) |
| |
| pair< Vector, double > | weightedPseudoinverse (const Vector &v, const Vector &weights) |
| | Weighted Householder solution vector, a.k.a., the pseudoinverse of the column NOTE: if any sigmas are zero (indicating a constraint) the pseudoinverse will be a selection vector, and the variance will be zero. More...
|
| |
|
Vector | concatVectors (const std::list< Vector > &vs) |
| | concatenate Vectors
|
| |
|
Vector | concatVectors (size_t nrVectors,...) |
| | concatenate Vectors
|
| |
|
bool | equal (const Vector &vec1, const Vector &vec2, double tol) |
| | Override of equal in Lie.h.
|
| |
|
bool | equal (const Vector &vec1, const Vector &vec2) |
| | Override of equal in Lie.h.
|
| |
|
template<class V1 , class V2 > |
| double | dot (const V1 &a, const V2 &b) |
| | Dot product.
|
| |
|
template<class V1 , class V2 > |
| double | inner_prod (const V1 &a, const V2 &b) |
| | compatibility version for ublas' inner_prod()
|
| |
| void GTSAM_DEPRECATED | scal (double alpha, Vector &x) |
| | BLAS Level 1 scal: x <- alpha*x. More...
|
| |
| template<class V1 , class V2 > |
| void GTSAM_DEPRECATED | axpy (double alpha, const V1 &x, V2 &y) |
| | BLAS Level 1 axpy: y <- alpha*x + y. More...
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| |
|
void | axpy (double alpha, const Vector &x, SubVector y) |
| |
| template<size_t M> |
| Matrix | kroneckerProductIdentity (const Weights &w) |
| | Function for computing the kronecker product of the 1*N Weight vector w with the MxM identity matrix I efficiently. More...
|
| |
|
template<int M> |
| std::ostream & | operator<< (std::ostream &os, const ParameterMatrix< M > ¶meterMatrix) |
| |
| template<typename L > |
| std::vector< Assignment< L > > | cartesianProduct (const std::vector< std::pair< L, size_t > > &keys) |
| | Get Cartesian product consisting all possible configurations. More...
|
| |
|
template<typename Y , typename L > |
| DecisionTree< L, Y > | apply (const DecisionTree< L, Y > &f, const typename DecisionTree< L, Y >::Unary &op) |
| | free versions of apply
|
| |
|
template<typename Y , typename L > |
| DecisionTree< L, Y > | apply (const DecisionTree< L, Y > &f, const DecisionTree< L, Y > &g, const typename DecisionTree< L, Y >::Binary &op) |
| |
|
std::pair< DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr > | EliminateDiscrete (const DiscreteFactorGraph &factors, const Ordering &keys) |
| | Main elimination function for DiscreteFactorGraph.
|
| |
|
DiscreteKeys | operator& (const DiscreteKey &key1, const DiscreteKey &key2) |
| | Create a list from two keys.
|
| |
|
ostream & | operator<< (ostream &os, const Signature::Row &row) |
| |
|
ostream & | operator<< (ostream &os, const Signature::Table &table) |
| |
|
ostream & | operator<< (ostream &os, const Signature &s) |
| |
|
Signature | operator| (const DiscreteKey &key, const DiscreteKey &parent) |
| | Helper function to create Signature objects example: Signature s = D | E;.
|
| |
|
Signature | operator% (const DiscreteKey &key, const std::string &parent) |
| | Helper function to create Signature objects example: Signature s(D % "99/1"); Uses string parser, which requires BOOST 1.42 or higher.
|
| |
|
Signature | operator% (const DiscreteKey &key, const Signature::Table &parent) |
| | Helper function to create Signature objects, using table construction directly example: Signature s(D % table);.
|
| |
|
std::ostream & | operator<< (std::ostream &os, const Cal3 &cal) |
| |
| template<typename Cal , size_t Dim> |
| void | calibrateJacobians (const Cal &calibration, const Point2 &pn, OptionalJacobian< 2, Dim > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) |
| | Function which makes use of the Implicit Function Theorem to compute the Jacobians of calibrate using uncalibrate . More...
|
| |
|
std::ostream & | operator<< (std::ostream &os, const Cal3_S2 &cal) |
| |
|
std::ostream & | operator<< (std::ostream &os, const Cal3_S2Stereo &cal) |
| |
|
std::ostream & | operator<< (std::ostream &os, const Cal3Bundler &cal) |
| |
|
std::ostream & | operator<< (std::ostream &os, const Cal3DS2 &cal) |
| |
|
std::ostream & | operator<< (std::ostream &os, const Cal3DS2_Base &cal) |
| |
|
std::ostream & | operator<< (std::ostream &os, const Cal3Fisheye &cal) |
| |
|
std::ostream & | operator<< (std::ostream &os, const Cal3Unified &cal) |
| |
|
ostream & | operator<< (ostream &os, const EssentialMatrix &E) |
| |
|
istream & | operator>> (istream &is, EssentialMatrix &E) |
| |
| Line3 | transformTo (const Pose3 &wTc, const Line3 &wL, OptionalJacobian< 4, 6 > Dpose=boost::none, OptionalJacobian< 4, 4 > Dline=boost::none) |
| | Transform a line from world to camera frame. More...
|
| |
|
double | norm2 (const Point2 &p, OptionalJacobian< 1, 2 > H=boost::none) |
| | Distance of the point from the origin, with Jacobian.
|
| |
|
double | distance2 (const Point2 &p1, const Point2 &q, OptionalJacobian< 1, 2 > H1=boost::none, OptionalJacobian< 1, 2 > H2=boost::none) |
| | distance between two points
|
| |
|
boost::optional< Point2 > | circleCircleIntersection (double R_d, double r_d, double tol) |
| |
|
list< Point2 > | circleCircleIntersection (Point2 c1, Point2 c2, boost::optional< Point2 > fh) |
| |
| list< Point2 > | circleCircleIntersection (Point2 c1, double r1, Point2 c2, double r2, double tol=1e-9) |
| | Intersect 2 circles. More...
|
| |
|
ostream & | operator<< (ostream &os, const gtsam::Point2Pair &p) |
| |
|
Point2 | operator* (double s, const Point2 &p) |
| | multiply with scalar
|
| |
|
double | distance3 (const Point3 &p1, const Point3 &q, OptionalJacobian< 1, 3 > H1=boost::none, OptionalJacobian< 1, 3 > H2=boost::none) |
| | distance between two points
|
| |
|
double | norm3 (const Point3 &p, OptionalJacobian< 1, 3 > H=boost::none) |
| | Distance of the point from the origin, with Jacobian.
|
| |
|
Point3 | normalize (const Point3 &p, OptionalJacobian< 3, 3 > H=boost::none) |
| | normalize, with optional Jacobian
|
| |
| Point3 | cross (const Point3 &p, const Point3 &q, OptionalJacobian< 3, 3 > H_p=boost::none, OptionalJacobian< 3, 3 > H_q=boost::none) |
| | cross product More...
|
| |
|
double | dot (const Point3 &p, const Point3 &q, OptionalJacobian< 1, 3 > H_p=boost::none, OptionalJacobian< 1, 3 > H_q=boost::none) |
| | dot product
|
| |
|
Point3Pair | means (const std::vector< Point3Pair > &abPointPairs) |
| | Calculate the two means of a set of Point3 pairs.
|
| |
|
ostream & | operator<< (ostream &os, const gtsam::Point3Pair &p) |
| |
|
template<class CONTAINER > |
| Point3 | mean (const CONTAINER &points) |
| | mean
|
| |
|
std::ostream & | operator<< (std::ostream &os, const Pose2 &pose) |
| |
|
boost::optional< Pose2 > | align (const vector< Point2Pair > &pairs) |
| |
|
template<> |
| Matrix | wedge< Pose2 > (const Vector &xi) |
| | specialization for pose2 wedge function (generic template in Lie.h)
|
| |
|
boost::optional< Pose3 > | align (const Point3Pairs &baPointPairs) |
| |
|
std::ostream & | operator<< (std::ostream &os, const Pose3 &pose) |
| |
| template<> |
| Matrix | wedge< Pose3 > (const Vector &xi) |
| | wedge for Pose3: More...
|
| |
| pair< Matrix3, Vector3 > | RQ (const Matrix3 &A, OptionalJacobian< 3, 9 > H=boost::none) |
| | [RQ] receives a 3 by 3 matrix and returns an upper triangular matrix R and 3 rotation angles corresponding to the rotation matrix Q=Qz'*Qy'*Qx' such that A = R*Q = R*Qz'*Qy'*Qx'. More...
|
| |
|
ostream & | operator<< (ostream &os, const Rot3 &R) |
| |
|
std::ostream & | operator<< (std::ostream &os, const Similarity3 &p) |
| |
|
template<> |
| Matrix | wedge< Similarity3 > (const Vector &xi) |
| |
|
template<class Archive > |
| void | serialize (Archive &ar, SO3 &R, const unsigned int) |
| | Serialization function.
|
| |
| GTSAM_EXPORT Matrix3 | topLeft (const SO4 &Q, OptionalJacobian< 9, 6 > H=boost::none) |
| | Project to top-left 3*3 matrix. More...
|
| |
|
GTSAM_EXPORT Matrix43 | stiefel (const SO4 &Q, OptionalJacobian< 12, 6 > H=boost::none) |
| | Project to Stiefel manifold of 4*3 orthonormal 3-frames in R^4, i.e., pi(Q) -> S \in St(3,4).
|
| |
|
template<class Archive > |
| void | serialize (Archive &ar, SO4 &Q, const unsigned int) |
| | Serialization function.
|
| |
|
template<class Archive > |
| void | serialize (Archive &ar, SOn &Q, const unsigned int file_version) |
| | Serialization function.
|
| |
|
ostream & | operator<< (ostream &os, const StereoPoint2 &p) |
| |
| Vector4 | triangulateHomogeneousDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 > > &projection_matrices, const Point2Vector &measurements, double rank_tol=1e-9) |
| | DLT triangulation: See Hartley and Zisserman, 2nd Ed., page 312. More...
|
| |
| Point3 | triangulateDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 > > &projection_matrices, const Point2Vector &measurements, double rank_tol=1e-9) |
| | DLT triangulation: See Hartley and Zisserman, 2nd Ed., page 312. More...
|
| |
| Point3 | optimize (const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey) |
| | Optimize for triangulation. More...
|
| |
| template<class CALIBRATION > |
| std::pair< NonlinearFactorGraph, Values > | triangulationGraph (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, Key landmarkKey, const Point3 &initialEstimate) |
| | Create a factor graph with projection factors from poses and one calibration. More...
|
| |
| template<class CAMERA > |
| std::pair< NonlinearFactorGraph, Values > | triangulationGraph (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, Key landmarkKey, const Point3 &initialEstimate) |
| | Create a factor graph with projection factors from pinhole cameras (each camera has a pose and calibration) More...
|
| |
| template<class CALIBRATION > |
| Point3 | triangulateNonlinear (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, const Point3 &initialEstimate) |
| | Given an initial estimate , refine a point using measurements in several cameras. More...
|
| |
| template<class CAMERA > |
| Point3 | triangulateNonlinear (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, const Point3 &initialEstimate) |
| | Given an initial estimate , refine a point using measurements in several cameras. More...
|
| |
| template<class CALIBRATION > |
| Point3 | triangulatePoint3 (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false) |
| | Function to triangulate 3D landmark point from an arbitrary number of poses (at least 2) using the DLT. More...
|
| |
| template<class CAMERA > |
| Point3 | triangulatePoint3 (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, double rank_tol=1e-9, bool optimize=false) |
| | Function to triangulate 3D landmark point from an arbitrary number of poses (at least 2) using the DLT. More...
|
| |
|
template<class CALIBRATION > |
| Point3 | triangulatePoint3 (const CameraSet< PinholeCamera< CALIBRATION > > &cameras, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false) |
| | Pinhole-specific version.
|
| |
|
template<class CAMERA > |
| TriangulationResult | triangulateSafe (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measured, const TriangulationParameters ¶ms) |
| | triangulateSafe: extensive checking of the outcome
|
| |
|
std::ostream & | operator<< (std::ostream &os, const Unit3 &pair) |
| |
|
template<class CLIQUE > |
| bool | check_sharedCliques (const std::pair< Key, typename BayesTree< CLIQUE >::sharedClique > &v1, const std::pair< Key, typename BayesTree< CLIQUE >::sharedClique > &v2) |
| |
|
template<class KEY > |
| std::list< KEY > | predecessorMap2Keys (const PredecessorMap< KEY > &p_map) |
| | Generate a list of keys from a spanning tree represented by its predecessor map.
|
| |
|
template<class G , class F , class KEY > |
| SDGraph< KEY > | toBoostGraph (const G &graph) |
| | Convert the factor graph to an SDGraph G = Graph type F = Factor type Key = Key type.
|
| |
| template<class G , class V , class KEY > |
| boost::tuple< G, V, std::map< KEY, V > > | predecessorMap2Graph (const PredecessorMap< KEY > &p_map) |
| | Build takes a predecessor map, and builds a directed graph corresponding to the tree. More...
|
| |
|
template<class G , class Factor , class POSE , class KEY > |
| boost::shared_ptr< Values > | composePoses (const G &graph, const PredecessorMap< KEY > &tree, const POSE &rootPose) |
| | Compose the poses by following the chain specified by the spanning tree.
|
| |
|
template<class G , class KEY , class FACTOR2 > |
| PredecessorMap< KEY > | findMinimumSpanningTree (const G &g) |
| | find the minimum spanning tree using boost graph library
|
| |
|
template<class G , class KEY , class FACTOR2 > |
| void | split (const G &g, const PredecessorMap< KEY > &tree, G &Ab1, G &Ab2) |
| | Split the graph into two parts: one corresponds to the given spanning tree, and the other corresponds to the rest of the factors.
|
| |
|
string | _defaultKeyFormatter (Key key) |
| |
|
void | PrintKey (Key key, const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) |
| | Utility function to print one key with optional prefix.
|
| |
|
string | _multirobotKeyFormatter (Key key) |
| |
|
template<class CONTAINER > |
| void | Print (const CONTAINER &keys, const string &s, const KeyFormatter &keyFormatter) |
| |
|
void | PrintKeyList (const KeyList &keys, const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) |
| | Utility function to print sets of keys with optional prefix.
|
| |
|
void | PrintKeyVector (const KeyVector &keys, const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) |
| | Utility function to print sets of keys with optional prefix.
|
| |
|
void | PrintKeySet (const KeySet &keys, const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) |
| | Utility function to print sets of keys with optional prefix.
|
| |
|
ostream & | operator<< (ostream &os, const key_formatter &m) |
| |
|
ostream & | operator<< (ostream &os, const StreamedKey &streamedKey) |
| |
|
GTSAM_EXPORT std::ostream & | operator<< (std::ostream &os, const LabeledSymbol &symbol) |
| |
| Key | mrsymbol (unsigned char c, unsigned char label, size_t j) |
| | Create a symbol key from a character, label and index, i.e. More...
|
| |
|
unsigned char | mrsymbolChr (Key key) |
| | Return the character portion of a symbol key.
|
| |
|
unsigned char | mrsymbolLabel (Key key) |
| | Return the label portion of a symbol key.
|
| |
|
size_t | mrsymbolIndex (Key key) |
| | Return the index portion of a symbol key.
|
| |
|
GTSAM_EXPORT std::ostream & | operator<< (std::ostream &os, const Symbol &symbol) |
| |
| Key | symbol (unsigned char c, std::uint64_t j) |
| | Create a symbol key from a character and index, i.e. More...
|
| |
|
unsigned char | symbolChr (Key key) |
| | Return the character portion of a symbol key.
|
| |
|
std::uint64_t | symbolIndex (Key key) |
| | Return the index portion of a symbol key.
|
| |
|
template<class S , class V > |
| V | preconditionedConjugateGradient (const S &system, const V &initial, const ConjugateGradientParameters ¶meters) |
| |
|
double | dot (const Errors &a, const Errors &b) |
| | dot product
|
| |
|
template<> |
| void | axpy (double alpha, const Errors &x, Errors &y) |
| | BLAS level 2 style.
|
| |
|
void | print (const Errors &a, const std::string &s="Error") |
| | print with optional string
|
| |
|
template<> |
| GTSAM_EXPORT void | axpy (double alpha, const Errors &x, Errors &y) |
| | BLAS level 2 style.
|
| |
| bool | hasConstraints (const GaussianFactorGraph &factors) |
| | Evaluates whether linear factors have any constrained noise models. More...
|
| |
|
std::pair< boost::shared_ptr< GaussianConditional >, boost::shared_ptr< HessianFactor > > | EliminateCholesky (const GaussianFactorGraph &factors, const Ordering &keys) |
| |
|
std::pair< boost::shared_ptr< GaussianConditional >, boost::shared_ptr< GaussianFactor > > | EliminatePreferCholesky (const GaussianFactorGraph &factors, const Ordering &keys) |
| |
| template<class S , class V , class E > |
| V | conjugateGradients (const S &Ab, V x, const ConjugateGradientParameters ¶meters, bool steepest=false) |
| | Method of conjugate gradients (CG) template "System" class S needs gradient(S,v), e=S*v, v=S^e "Vector" class V needs dot(v,v), -v, v+v, s*v "Vector" class E needs dot(v,v) More...
|
| |
|
Vector | steepestDescent (const System &Ab, const Vector &x, const ConjugateGradientParameters ¶meters) |
| |
|
Vector | conjugateGradientDescent (const System &Ab, const Vector &x, const ConjugateGradientParameters ¶meters) |
| | Method of conjugate gradients (CG), System version.
|
| |
| Vector | steepestDescent (const Matrix &A, const Vector &b, const Vector &x, const ConjugateGradientParameters ¶meters) |
| | convenience calls using matrices, will create System class internally: More...
|
| |
|
Vector | conjugateGradientDescent (const Matrix &A, const Vector &b, const Vector &x, const ConjugateGradientParameters ¶meters) |
| | Method of conjugate gradients (CG), Matrix version.
|
| |
|
VectorValues | steepestDescent (const GaussianFactorGraph &fg, const VectorValues &x, const ConjugateGradientParameters ¶meters) |
| | Method of steepest gradients, Gaussian Factor Graph version.
|
| |
|
VectorValues | conjugateGradientDescent (const GaussianFactorGraph &fg, const VectorValues &x, const ConjugateGradientParameters ¶meters) |
| | Method of conjugate gradients (CG), Gaussian Factor Graph version.
|
| |
|
GTSAM_EXPORT Vector | steepestDescent (const System &Ab, const Vector &x, const IterativeOptimizationParameters ¶meters) |
| | Method of steepest gradients, System version.
|
| |
|
ostream & | operator<< (ostream &os, const IterativeOptimizationParameters &p) |
| |
|
FastVector< VariableSlots::const_iterator > | orderedSlotsHelper (const Ordering &ordering, const VariableSlots &variableSlots) |
| |
| std::pair< GaussianConditional::shared_ptr, JacobianFactor::shared_ptr > | EliminateQR (const GaussianFactorGraph &factors, const Ordering &keys) |
| | Multiply all factors and eliminate the given keys from the resulting factor using a QR variant that handles constraints (zero sigmas). More...
|
| |
|
ostream & | operator<< (ostream &os, const PreconditionerParameters &p) |
| |
|
boost::shared_ptr< Preconditioner > | createPreconditioner (const boost::shared_ptr< PreconditionerParameters > params) |
| |
|
SparseEigen | sparseJacobianEigen (const GaussianFactorGraph &gfg, const Ordering &ordering) |
| | Constructs an Eigen-format SparseMatrix of a GaussianFactorGraph.
|
| |
|
SparseEigen | sparseJacobianEigen (const GaussianFactorGraph &gfg) |
| |
|
ostream & | operator<< (ostream &os, const Subgraph::Edge &edge) |
| |
|
ostream & | operator<< (ostream &os, const Subgraph &subgraph) |
| |
|
ostream & | operator<< (ostream &os, const SubgraphBuilderParameters &p) |
| |
|
GaussianFactorGraph::shared_ptr | buildFactorSubgraph (const GaussianFactorGraph &gfg, const Subgraph &subgraph, const bool clone) |
| | Select the factors in a factor graph according to the subgraph.
|
| |
| std::pair< GaussianFactorGraph::shared_ptr, GaussianFactorGraph::shared_ptr > | splitFactorGraph (const GaussianFactorGraph &factorGraph, const Subgraph &subgraph) |
| | Split the graph into a subgraph and the remaining edges. More...
|
| |
|
GTSAM_EXPORT ostream & | operator<< (ostream &os, const VectorValues &v) |
| |
|
VectorValues | operator* (const double a, const VectorValues &v) |
| |
|
std::ostream & | operator<< (std::ostream &os, const CombinedImuFactor &f) |
| |
|
Rot3_ | attitude (const NavState_ &X) |
| |
|
Point3_ | position (const NavState_ &X) |
| |
|
Velocity3_ | velocity (const NavState_ &X) |
| |
|
std::ostream & | operator<< (std::ostream &os, const ImuFactor &f) |
| |
|
std::ostream & | operator<< (std::ostream &os, const ImuFactor2 &f) |
| |
|
ostream & | operator<< (ostream &os, const NavState &state) |
| |
|
ostream & | operator<< (ostream &os, const PreintegrationBase &pim) |
| |
| template<typename T > |
| Expression< T > | operator* (const Expression< T > &expression1, const Expression< T > &expression2) |
| | Construct a product expression, assumes T::compose(T) -> T. More...
|
| |
| template<typename T > |
| std::vector< Expression< T > > | createUnknowns (size_t n, char c, size_t start) |
| | Construct an array of leaves. More...
|
| |
| template<typename T , typename A > |
| Expression< T > | linearExpression (const std::function< T(A)> &f, const Expression< A > &expression, const Eigen::Matrix< double, traits< T >::dimension, traits< A >::dimension > &dTdA) |
| | Create an expression out of a linear function f:T->A with (constant) Jacobian dTdA TODO(frank): create a more efficient version like ScalarMultiplyExpression. More...
|
| |
|
template<typename T > |
| ScalarMultiplyExpression< T > | operator* (double s, const Expression< T > &e) |
| | Construct an expression that executes the scalar multiplication with an input expression The type T must be a vector space Example: Expression<Point2> a(0), b = 12 * a;.
|
| |
|
template<typename T > |
| BinarySumExpression< T > | operator+ (const Expression< T > &e1, const Expression< T > &e2) |
| | Construct an expression that sums two input expressions of the same type T The type T must be a vector space Example: Expression<Point2> a(0), b(1), c = a + b;.
|
| |
|
template<typename T > |
| BinarySumExpression< T > | operator- (const Expression< T > &e1, const Expression< T > &e2) |
| | Construct an expression that subtracts one expression from another.
|
| |
|
template<typename T > |
| Expression< T > | between (const Expression< T > &t1, const Expression< T > &t2) |
| |
|
template<typename T > |
| Expression< T > | compose (const Expression< T > &t1, const Expression< T > &t2) |
| |
| JacobianFactor | linearizeNumerically (const NoiseModelFactor &factor, const Values &values, double delta=1e-5) |
| | Linearize a nonlinear factor using numerical differentiation The benefit of this method is that it does not need to know what types are involved to evaluate the factor. More...
|
| |
| template<typename T , typename R , typename FUNC > |
| FunctorizedFactor< R, T > | MakeFunctorizedFactor (Key key, const R &z, const SharedNoiseModel &model, const FUNC func) |
| | Helper function to create a functorized factor. More...
|
| |
| template<typename T1 , typename T2 , typename R , typename FUNC > |
| FunctorizedFactor2< R, T1, T2 > | MakeFunctorizedFactor2 (Key key1, Key key2, const R &z, const SharedNoiseModel &model, const FUNC func) |
| | Helper function to create a functorized factor. More...
|
| |
| size_t | optimizeWildfire (const ISAM2Clique::shared_ptr &root, double threshold, const KeySet &replaced, VectorValues *delta) |
| | Optimize the BayesTree, starting from the root. More...
|
| |
|
size_t | optimizeWildfireNonRecursive (const ISAM2Clique::shared_ptr &root, double threshold, const KeySet &keys, VectorValues *delta) |
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template<class S , class V , class W > |
| double | lineSearch (const S &system, const V currentValues, const W &gradient) |
| | Implement the golden-section line search algorithm.
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| template<class S , class V > |
| boost::tuple< V, int > | nonlinearConjugateGradient (const S &system, const V &initial, const NonlinearOptimizerParams ¶ms, const bool singleIteration, const bool gradientDescent=false) |
| | Implement the nonlinear conjugate gradient method using the Polak-Ribiere formula suggested in http://en.wikipedia.org/wiki/Nonlinear_conjugate_gradient_method. More...
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bool | checkConvergence (double relativeErrorTreshold, double absoluteErrorTreshold, double errorThreshold, double currentError, double newError, NonlinearOptimizerParams::Verbosity verbosity=NonlinearOptimizerParams::SILENT) |
| | Check whether the relative error decrease is less than relativeErrorTreshold, the absolute error decrease is less than absoluteErrorTreshold, or the error itself is less than errorThreshold.
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GTSAM_EXPORT bool | checkConvergence (const NonlinearOptimizerParams ¶ms, double currentError, double newError) |
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| string | findExampleDataFile (const std::string &name) |
| | Find the full path to an example dataset distributed with gtsam. More...
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string | createRewrittenFileName (const std::string &name) |
| | Creates a temporary file name that needs to be ignored in .gitingnore for checking read-write oprations.
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template<typename T > |
| map< size_t, T > | parseToMap (const string &filename, Parser< pair< size_t, T > > parse, size_t maxIndex) |
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| boost::optional< IndexedPose > | parseVertexPose (std::istream &is, const std::string &tag) |
| | Parse TORO/G2O vertex "id x y yaw". More...
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template<> |
| std::map< size_t, Pose2 > | parseVariables< Pose2 > (const std::string &filename, size_t maxIndex) |
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| boost::optional< IndexedLandmark > | parseVertexLandmark (std::istream &is, const std::string &tag) |
| | Parse G2O landmark vertex "id x y". More...
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template<> |
| std::map< size_t, Point2 > | parseVariables< Point2 > (const std::string &filename, size_t maxIndex) |
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| boost::optional< IndexedEdge > | parseEdge (std::istream &is, const std::string &tag) |
| | Parse TORO/G2O edge "id1 id2 x y yaw". More...
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boost::shared_ptr< Sampler > | createSampler (const SharedNoiseModel &model) |
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template<> |
| std::vector< BinaryMeasurement< Pose2 > > | parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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template<> |
| std::vector< BinaryMeasurement< Rot2 > > | parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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template<> |
| std::vector< BetweenFactor< Pose2 >::shared_ptr > | parseFactors< Pose2 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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| GraphAndValues | load2D (const std::string &filename, SharedNoiseModel model=SharedNoiseModel(), size_t maxIndex=0, bool addNoise=false, bool smart=true, NoiseFormat noiseFormat=NoiseFormatAUTO, KernelFunctionType kernelFunctionType=KernelFunctionTypeNONE) |
| | Load TORO/G2O style graph files. More...
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| GraphAndValues | load2D (pair< string, SharedNoiseModel > dataset, size_t maxIndex, bool addNoise, bool smart, NoiseFormat noiseFormat, KernelFunctionType kernelFunctionType) |
| | Load TORO 2D Graph. More...
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| GraphAndValues | load2D_robust (const string &filename, const noiseModel::Base::shared_ptr &model, size_t maxIndex) |
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void | save2D (const NonlinearFactorGraph &graph, const Values &config, const noiseModel::Diagonal::shared_ptr model, const std::string &filename) |
| | save 2d graph
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| GraphAndValues | readG2o (const std::string &g2oFile, const bool is3D=false, KernelFunctionType kernelFunctionType=KernelFunctionTypeNONE) |
| | This function parses a g2o file and stores the measurements into a NonlinearFactorGraph and the initial guess in a Values structure. More...
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| void | writeG2o (const NonlinearFactorGraph &graph, const Values &estimate, const std::string &filename) |
| | This function writes a g2o file from NonlinearFactorGraph and a Values structure. More...
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istream & | operator>> (istream &is, Quaternion &q) |
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istream & | operator>> (istream &is, Rot3 &R) |
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boost::optional< pair< size_t, Pose3 > > | parseVertexPose3 (istream &is, const string &tag) |
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template<> |
| std::map< size_t, Pose3 > | parseVariables< Pose3 > (const std::string &filename, size_t maxIndex) |
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boost::optional< pair< size_t, Point3 > > | parseVertexPoint3 (istream &is, const string &tag) |
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template<> |
| std::map< size_t, Point3 > | parseVariables< Point3 > (const std::string &filename, size_t maxIndex) |
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istream & | operator>> (istream &is, Matrix6 &m) |
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template<> |
| std::vector< BinaryMeasurement< Pose3 > > | parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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template<> |
| std::vector< BinaryMeasurement< Rot3 > > | parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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template<> |
| std::vector< BetweenFactor< Pose3 >::shared_ptr > | parseFactors< Pose3 > (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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GraphAndValues | load3D (const std::string &filename) |
| | Load TORO 3D Graph.
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Rot3 | openGLFixedRotation () |
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| Pose3 | openGL2gtsam (const Rot3 &R, double tx, double ty, double tz) |
| | This function converts an openGL camera pose to an GTSAM camera pose. More...
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| Pose3 | gtsam2openGL (const Rot3 &R, double tx, double ty, double tz) |
| | This function converts a GTSAM camera pose to an openGL camera pose. More...
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| Pose3 | gtsam2openGL (const Pose3 &PoseGTSAM) |
| | This function converts a GTSAM camera pose to an openGL camera pose. More...
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| bool | readBundler (const std::string &filename, SfmData &data) |
| | This function parses a bundler output file and stores the data into a SfmData structure. More...
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| bool | readBAL (const std::string &filename, SfmData &data) |
| | This function parses a "Bundle Adjustment in the Large" (BAL) file and stores the data into a SfmData structure. More...
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| SfmData | readBal (const std::string &filename) |
| | This function parses a "Bundle Adjustment in the Large" (BAL) file and returns the data as a SfmData structure. More...
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| bool | writeBAL (const std::string &filename, SfmData &data) |
| | This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure. More...
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| bool | writeBALfromValues (const std::string &filename, const SfmData &data, Values &values) |
| | This function writes a "Bundle Adjustment in the Large" (BAL) file from a SfmData structure and a value structure (measurements are the same as the SfM input data, while camera poses and values are read from Values) More...
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| Values | initialCamerasEstimate (const SfmData &db) |
| | This function creates initial values for cameras from db. More...
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| Values | initialCamerasAndPointsEstimate (const SfmData &db) |
| | This function creates initial values for cameras and points from db. More...
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BetweenFactorPose2s | parse2DFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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BetweenFactorPose3s | parse3DFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model, size_t maxIndex) |
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| template<typename T > |
| GTSAM_EXPORT std::map< size_t, T > | parseVariables (const std::string &filename, size_t maxIndex=0) |
| | Parse variables in a line-based text format (like g2o) into a map. More...
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| |
| template<typename T > |
| GTSAM_EXPORT std::vector< BinaryMeasurement< T > > | parseMeasurements (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model=nullptr, size_t maxIndex=0) |
| | Parse binary measurements in a line-based text format (like g2o) into a vector. More...
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| |
| template<typename T > |
| GTSAM_EXPORT std::vector< typename BetweenFactor< T >::shared_ptr > | parseFactors (const std::string &filename, const noiseModel::Diagonal::shared_ptr &model=nullptr, size_t maxIndex=0) |
| | Parse BetweenFactors in a line-based text format (like g2o) into a vector of shared pointers. More...
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| |
| GTSAM_EXPORT GraphAndValues | load2D (std::pair< std::string, SharedNoiseModel > dataset, size_t maxIndex=0, bool addNoise=false, bool smart=true, NoiseFormat noiseFormat=NoiseFormatAUTO, KernelFunctionType kernelFunctionType=KernelFunctionTypeNONE) |
| | Load TORO 2D Graph. More...
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Point2_ | transformTo (const Pose2_ &x, const Point2_ &p) |
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Point3_ | transformTo (const Pose3_ &x, const Point3_ &p) |
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Point3_ | transformFrom (const Pose3_ &x, const Point3_ &p) |
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Line3_ | transformTo (const Pose3_ &wTc, const Line3_ &wL) |
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Point3_ | cross (const Point3_ &a, const Point3_ &b) |
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Double_ | dot (const Point3_ &a, const Point3_ &b) |
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Rot3_ | rotation (const Pose3_ &pose) |
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Point3_ | rotate (const Rot3_ &x, const Point3_ &p) |
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Unit3_ | rotate (const Rot3_ &x, const Unit3_ &p) |
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Point3_ | unrotate (const Rot3_ &x, const Point3_ &p) |
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Unit3_ | unrotate (const Rot3_ &x, const Unit3_ &p) |
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Point2_ | project (const Point3_ &p_cam) |
| | Expression version of PinholeBase::Project.
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Point2_ | project (const Unit3_ &p_cam) |
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template<class CAMERA , class POINT > |
| Point2_ | project2 (const Expression< CAMERA > &camera_, const Expression< POINT > &p_) |
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template<class CALIBRATION , class POINT > |
| Point2_ | project3 (const Pose3_ &x, const Expression< POINT > &p, const Expression< CALIBRATION > &K) |
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template<class CALIBRATION > |
| Point2_ | uncalibrate (const Expression< CALIBRATION > &K, const Point2_ &xy_hat) |
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template<typename T > |
| gtsam::Expression< typename gtsam::traits< T >::TangentVector > | logmap (const gtsam::Expression< T > &x1, const gtsam::Expression< T > &x2) |
| | logmap
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| |
| SharedNoiseModel | ConvertNoiseModel (const SharedNoiseModel &model, size_t n, bool defaultToUnit=true) |
| | When creating (any) FrobeniusFactor we can convert a Rot/Pose BetweenFactor noise model into a n-dimensional isotropic noise model used to weight the Frobenius norm. More...
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template<class T , class ALLOC > |
| T | FindKarcherMeanImpl (const vector< T, ALLOC > &rotations) |
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template<class T , typename = typename std::enable_if< std::is_same<gtsam::Rot3, T>::value >::type> |
| T | FindKarcherMean (const std::vector< T > &rotations) |
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template<class T > |
| T | FindKarcherMean (const std::vector< T, Eigen::aligned_allocator< T > > &rotations) |
| | Optimize for the Karcher mean, minimizing the geodesic distance to each of the given rotations, by constructing a factor graph out of simple PriorFactors.
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template<class T > |
| T | FindKarcherMean (std::initializer_list< T > &&rotations) |
| |
| template<class T , class P > |
| P | transform_point (const T &trans, const P &global, boost::optional< Matrix & > Dtrans, boost::optional< Matrix & > Dglobal) |
| | Transform function that must be specialized specific domains. More...
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| |
| std::pair< boost::shared_ptr< SymbolicConditional >, boost::shared_ptr< SymbolicFactor > > | EliminateSymbolic (const SymbolicFactorGraph &factors, const Ordering &keys) |
| | Dense elimination function for symbolic factors. More...
|
| |
| template<class PROBLEM > |
| Key | maxKey (const PROBLEM &problem) |
| | Find the max key in a problem. More...
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template<class LinearGraph > |
| KeyDimMap | collectKeyDim (const LinearGraph &linearGraph) |
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void | synchronize (ConcurrentFilter &filter, ConcurrentSmoother &smoother) |
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void | recursiveMarkAffectedKeys (const Key &key, const ISAM2Clique::shared_ptr &clique, std::set< Key > &additionalKeys) |
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std::string | serializeGraph (const NonlinearFactorGraph &graph) |
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NonlinearFactorGraph::shared_ptr | deserializeGraph (const std::string &serialized_graph) |
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std::string | serializeGraphXML (const NonlinearFactorGraph &graph, const std::string &name="graph") |
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NonlinearFactorGraph::shared_ptr | deserializeGraphXML (const std::string &serialized_graph, const std::string &name="graph") |
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std::string | serializeValues (const Values &values) |
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Values::shared_ptr | deserializeValues (const std::string &serialized_values) |
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std::string | serializeValuesXML (const Values &values, const std::string &name="values") |
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Values::shared_ptr | deserializeValuesXML (const std::string &serialized_values, const std::string &name="values") |
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bool | serializeGraphToFile (const NonlinearFactorGraph &graph, const std::string &fname) |
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bool | serializeGraphToXMLFile (const NonlinearFactorGraph &graph, const std::string &fname, const std::string &name="graph") |
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bool | serializeValuesToFile (const Values &values, const std::string &fname) |
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bool | serializeValuesToXMLFile (const Values &values, const std::string &fname, const std::string &name="values") |
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NonlinearFactorGraph::shared_ptr | deserializeGraphFromFile (const std::string &fname) |
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