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61 static double f(
double z,
double u,
double p) {
77 double e = u -
z, e2 =
e *
e;
113 void print(
const std::string&
p =
"WhiteNoiseFactor",
116 std::cout <<
p +
".z: " <<
z_ << std::endl;
124 size_t dim()
const override {
~WhiteNoiseFactor() override
Destructor.
A Gaussian factor using the canonical parameters (information form)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Pose3 g1(Rot3(), Point3(100.0, 0.0, 300.0))
void print(const std::string &p="WhiteNoiseFactor", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
Print.
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static double f(double z, double u, double p)
negative log likelihood as a function of mean and precision
Contains the HessianFactor class, a general quadratic factor.
const EIGEN_DEVICE_FUNC LogReturnType log() const
std::shared_ptr< This > shared_ptr
A shared_ptr to this class.
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
Key meanKey_
key by which to access mean variable
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Pose3 g2(g1.expmap(h *V1_g1))
const double logSqrt2PI
constant needed below
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
size_t dim() const override
get the dimension of the factor (number of rows on linearization)
Non-linear factor base classes.
std::shared_ptr< GaussianFactor > linearize(const Values &x) const override
linearize returns a Hessianfactor that is an approximation of error(p)
Key precisionKey_
key by which to access precision variable
Binary factor to estimate parameters of zero-mean Gaussian white noise.
std::uint64_t Key
Integer nonlinear key type.
virtual Vector unwhitenedError(const Values &x) const
WhiteNoiseFactor(double z, Key meanKey, Key precisionKey)
Jet< T, N > sqrt(const Jet< T, N > &f)
double error(const Values &x) const override
Calculate the error of the factor, typically equal to log-likelihood.
static HessianFactor::shared_ptr linearize(double z, double u, double p, Key j1, Key j2)
linearize returns a Hessianfactor that approximates error Hessian is
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:09:43