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73 assert(
model->dim() == 1);
90 return std::static_pointer_cast<gtsam::NonlinearFactor>(
117 #ifdef GTSAM_ROT3_EXPMAP
118 const Vector full_tangent = T::LocalCoordinates(
p,
H ? &H_local :
nullptr);
120 const Vector full_tangent = T::Logmap(
p,
H ? &H_local :
nullptr);
124 (*H) = Matrix::Zero(
indices_.size(), T::dimension);
132 partial_tangent(
i) = full_tangent(
indices_.at(
i));
135 return partial_tangent -
prior_;
143 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
145 friend class boost::serialization::access;
146 template<
class ARCHIVE>
147 void serialize(ARCHIVE & ar,
const unsigned int ) {
149 ar & boost::serialization::make_nvp(
"NoiseModelFactor1",
150 boost::serialization::base_object<Base>(*
this));
151 ar & BOOST_SERIALIZATION_NVP(
prior_);
152 ar & BOOST_SERIALIZATION_NVP(
indices_);
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std::shared_ptr< This > shared_ptr
std::vector< size_t > indices_
Indices of the measured tangent space parameters.
~PartialPriorFactor() override
bool equals(const NonlinearFactor &expected, double tol=1e-9) const override
Array< double, 1, 3 > e(1./3., 0.5, 2.)
PartialPriorFactor(Key key, size_t idx, double prior, const SharedNoiseModel &model)
void print(const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
virtual Vector evaluateError(const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
bool equal_with_abs_tol(const Eigen::DenseBase< MATRIX > &A, const Eigen::DenseBase< MATRIX > &B, double tol=1e-9)
PartialPriorFactor< VALUE > This
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
#define GTSAM_CONCEPT_LIE_TYPE(T)
Vector prior_
Measurement on tangent space parameters, in compressed form.
void print(const Matrix &A, const string &s, ostream &stream)
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
bool equals(const NonlinearFactor &f, double tol=1e-9) const override
noiseModel::Base::shared_ptr SharedNoiseModel
noiseModel::Diagonal::shared_ptr model
PartialPriorFactor(Key key, const std::vector< size_t > &indices, const Vector &prior, const SharedNoiseModel &model)
Non-linear factor base classes.
const Vector & prior() const
Base class and basic functions for Lie types.
Vector evaluateError(const T &p, OptionalMatrixType H) const override
Matrix * OptionalMatrixType
The matrix class, also used for vectors and row-vectors.
gtsam::NonlinearFactor::shared_ptr clone() const override
std::uint64_t Key
Integer nonlinear key type.
const std::vector< size_t > & indices() const
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:34:16