ComponentDerivativeFactor

Overview¶

ComponentDerivativeFactor is a unary factor that constrains the derivative of a single component of a vector-valued basis function at a given point.

Authors: Frank Dellaert, et al. (see THANKS for the full author list)

See LICENSE for the license information

# Install GTSAM from pip if running in Google Colab
try:
    import google.colab
    %pip install --quiet gtsam-develop
except ImportError:
    pass  # Not in Colab

Key Functionality / API¶

ComponentDerivativeFactor(key, z, model, P, N, i, x) constrains component i of $\mathbf{f}'(x)$ .
Optional interval parameters a, b scale the basis domain.

C++ Usage Example¶

auto model = gtsam::noiseModel::Isotropic::Sigma(1, 0.05);
size_t P = 3, N = 6, i = 2;
double x = 0.2;
double z = 0.0;
gtsam::ComponentDerivativeFactor<gtsam::Chebyshev2> factor(key, z, model, P, N, i, x);

Python Usage Example¶

import gtsam

model = gtsam.noiseModel.Isotropic.Sigma(1, 0.05)
key = gtsam.symbol("c", 0)
factor = gtsam.ComponentDerivativeFactorChebyshev2(key, 0.0, model, 3, 6, 2, 0.2)
print(factor)

  keys = { c0 }
isotropic dim=1 sigma=0.05
FunctorizedFactor(c0)
  measurement:  0
  noise model sigmas: 0.05

Source¶

BasisFactors.h