34 lines
1.2 KiB
Plaintext
34 lines
1.2 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "markdown",
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"id": "f4c73cc1",
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"metadata": {},
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"source": [
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"# LinearContainerFactor\n",
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"\n",
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"## Overview\n",
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"\n",
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"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.\n",
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"\n",
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"## Key Features\n",
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"\n",
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"- **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.\n",
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"- **Error Calculation**: It provides mechanisms to compute the error of the factor given a set of values.\n",
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"- **Jacobian Computation**: The class can compute the Jacobian matrix, which is essential for optimization processes.\n",
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"\n",
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"## Key Methods\n",
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"\n",
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"- **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."
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]
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}
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],
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"metadata": {
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"language_info": {
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"name": "python"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}
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