LinearContainerFactor

Overview¶

The LinearContainerFactor class in GTSAM is a specialized factor that encapsulates a linear factor within a nonlinear factor graph. This is used extensively when marginalizing out variables.

Key Features¶

• Encapsulation of Linear Factors: The primary function of the LinearContainerFactor is to store a linear factor and its associated values, enabling it to be used within a nonlinear context.
• Error Calculation: It provides mechanisms to compute the error of the factor given a set of values.
• Jacobian Computation: The class can compute the Jacobian matrix, which is essential for optimization processes.

Key Methods¶

• LinearContainerFactor: This constructor initializes the LinearContainerFactor with a linear factor and optionally with values. It serves as the entry point for creating an instance of this class.