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29 template <
class T,
class ALLOC>
34 static const Key kKey(0);
35 for (
const auto&
R : rotations) {
60 template <
typename CONTAINER>
62 std::optional<double>
beta)
65 throw std::invalid_argument(
66 "KarcherMeanFactor needs dimension for dynamic types.");
72 std::map<Key, Matrix> terms;
77 std::make_shared<JacobianFactor>(terms, Vector::Zero(
d));
virtual const Values & optimize()
static const double d[K][N]
std::shared_ptr< JacobianFactor > whitenedJacobian_
Constant Jacobian made of d*d identity matrices.
Eigen::Triplet< double > T
double beta(double a, double b)
Matrix< SCALARA, Dynamic, Dynamic, opt_A > A
STL compatible allocator to use with types requiring a non standrad alignment.
T FindKarcherMean(std::initializer_list< T > &&rotations)
Factor Graph consisting of non-linear factors.
const KeyVector & keys() const
Access the factor's involved variable keys.
T FindKarcherMeanImpl(const vector< T, ALLOC > &rotations)
NonlinearFactorGraph graph
std::uint64_t Key
Integer nonlinear key type.
Jet< T, N > sqrt(const Jet< T, N > &f)
Rot2 R(Rot2::fromAngle(0.1))
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:33:00