dcsam::DCContinuousFactor Class Reference

Implementation of a discrete-continuous factor. This is used internally within the DCSAM solver. Essentially this class wraps a DCFactor (given as argument) into a continuous factor (gtsam::NonlinearFactor) that can be passed to GTSAM/iSAM/iSAM2 for continuous optimization with a fixed assignment to discrete variables. More...

#include <DCContinuousFactor.h>

Inheritance diagram for dcsam::DCContinuousFactor:

Collaboration diagram for dcsam::DCContinuousFactor:

Public Types
using	Base = gtsam::NonlinearFactor

Public Member Functions
	DCContinuousFactor ()=default
	DCContinuousFactor (boost::shared_ptr< DCFactor > dcfactor)
double	error (const gtsam::Values &continuousVals) const override
boost::shared_ptr< gtsam::GaussianFactor >	linearize (const gtsam::Values &continuousVals) const override
DCContinuousFactor &	operator= (const DCContinuousFactor &rhs)
	~DCContinuousFactor ()=default
bool	updateDiscrete (const DiscreteValues &discreteVals)
size_t	dim () const override
bool	allInitialized () const

Detailed Description

Implementation of a discrete-continuous factor. This is used internally within the DCSAM solver. Essentially this class wraps a DCFactor (given as argument) into a continuous factor (gtsam::NonlinearFactor) that can be passed to GTSAM/iSAM/iSAM2 for continuous optimization with a fixed assignment to discrete variables.

After running an iteration of continuous optimization (and separately, discrete optimization), the updateDiscrete function is used to ensure the stored discrete value assignment matches the most recent estimate for discrete variables.

The discrete analogue is DCDiscreteFactor.

Member Typedef Documentation

Base

using dcsam::DCContinuousFactor::Base = gtsam::NonlinearFactor

Constructor & Destructor Documentation

DCContinuousFactor() [1/2]

dcsam::DCContinuousFactor::DCContinuousFactor ( )

default

DCContinuousFactor() [2/2]

dcsam::DCContinuousFactor::DCContinuousFactor ( boost::shared_ptr< DCFactor >  dcfactor )

inlineexplicit

~DCContinuousFactor()

dcsam::DCContinuousFactor::~DCContinuousFactor ( )

default

Member Function Documentation

allInitialized()

bool dcsam::DCContinuousFactor::allInitialized ( ) const

inline

dim()

size_t dcsam::DCContinuousFactor::dim ( ) const

inlineoverride

error()

double dcsam::DCContinuousFactor::error ( const gtsam::Values &  continuousVals ) const

inlineoverride

linearize()

boost::shared_ptr<gtsam::GaussianFactor> dcsam::DCContinuousFactor::linearize ( const gtsam::Values &  continuousVals ) const

inlineoverride

operator=()

DCContinuousFactor& dcsam::DCContinuousFactor::operator= ( const DCContinuousFactor &  rhs )

inline

updateDiscrete()

bool dcsam::DCContinuousFactor::updateDiscrete ( const DiscreteValues &  discreteVals )

inline

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

• include/dcsam/DCContinuousFactor.h