TestNaryFactor Class Reference

Inheritance diagram for TestNaryFactor:

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override
bool	equals (const gtsam::NonlinearFactor &expected, double tol=1e-9) const override
gtsam::Expression< gtsam::Point3 >	expression (const std::array< gtsam::Key, NARY_EXPRESSION_SIZE > &keys) const override
void	print (const std::string &s, const gtsam::KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override
	TestNaryFactor ()=default
	default constructor More...
	TestNaryFactor (gtsam::Key kR1, gtsam::Key kV1, gtsam::Key kR2, gtsam::Key kV2, const gtsam::SharedNoiseModel &model, const gtsam::Point3 &measured)
Public Member Functions inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
virtual Expression< gtsam::Point3 >	expression (const ArrayNKeys &keys) const
Public Member Functions inherited from gtsam::ExpressionFactor< gtsam::Point3 >
gtsam::NonlinearFactor::shared_ptr	clone () const override
bool	equals (const NonlinearFactor &f, double tol) const override
	equals relies on Testable traits being defined for T More...
	ExpressionFactor (const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement, const Expression< gtsam::Point3 > &expression)
std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override
const gtsam::Point3 &	measured () const
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print relies on Testable traits being defined for T More...
virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0
Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const
	~ExpressionFactor () override
	Destructor. More...

Private Types
using	Base = gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
using	This = TestNaryFactor

Additional Inherited Members
Public Types inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
using	ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >
Public Types inherited from gtsam::ExpressionFactor< gtsam::Point3 >
typedef std::shared_ptr< ExpressionFactor< gtsam::Point3 > >	shared_ptr
Static Public Attributes inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
static const std::size_t	NARY_EXPRESSION_SIZE
Protected Types inherited from gtsam::ExpressionFactor< gtsam::Point3 >
typedef ExpressionFactor< gtsam::Point3 >	This
Protected Member Functions inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
	ExpressionFactorN ()=default
	Default constructor, for serialization. More...
	ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement)
	Constructor takes care of keys, but still need to call initialize. More...
Protected Member Functions inherited from gtsam::ExpressionFactor< gtsam::Point3 >
	ExpressionFactor ()
	ExpressionFactor (const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement)
	Default constructor, for serialization. More...
void	initialize (const Expression< gtsam::Point3 > &expression)
	Initialize with constructor arguments. More...
Protected Attributes inherited from gtsam::ExpressionFactor< gtsam::Point3 >
FastVector< int >	dims_
	dimensions of the Jacobian matrices More...
Expression< gtsam::Point3 >	expression_
	the expression that is AD enabled More...
gtsam::Point3	measured_
	the measurement to be compared with the expression More...
Static Protected Attributes inherited from gtsam::ExpressionFactor< gtsam::Point3 >
static const int	Dim

Detailed Description

Definition at line 633 of file testExpressionFactor.cpp.

Member Typedef Documentation

Base

using TestNaryFactor::Base = gtsam::ExpressionFactorN<gtsam::Point3 , gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3>

private

Definition at line 641 of file testExpressionFactor.cpp.

This

using TestNaryFactor::This = TestNaryFactor

private

Definition at line 638 of file testExpressionFactor.cpp.

Constructor & Destructor Documentation

TestNaryFactor() [1/2]

TestNaryFactor::TestNaryFactor ( )

default

default constructor

TestNaryFactor() [2/2]

TestNaryFactor::TestNaryFactor ( gtsam::Key  kR1, gtsam::Key  kV1, gtsam::Key  kR2, gtsam::Key  kV2, const gtsam::SharedNoiseModel &  model, const gtsam::Point3 &  measured  )

inline

Definition at line 647 of file testExpressionFactor.cpp.

Member Function Documentation

clone()

gtsam::NonlinearFactor::shared_ptr TestNaryFactor::clone ( ) const

inlineoverride

Returns

a deep copy of this factor

Definition at line 654 of file testExpressionFactor.cpp.

equals()

bool TestNaryFactor::equals ( const gtsam::NonlinearFactor &  expected, double  tol = 1e-9  ) const

inlineoverride

equals

Definition at line 683 of file testExpressionFactor.cpp.

expression()

gtsam::Expression<gtsam::Point3> TestNaryFactor::expression ( const std::array< gtsam::Key, NARY_EXPRESSION_SIZE > &  keys ) const

inlineoverride

Definition at line 660 of file testExpressionFactor.cpp.

print()

void TestNaryFactor::print ( const std::string &  s, const gtsam::KeyFormatter &  keyFormatter = gtsam::DefaultKeyFormatter  ) const

inlineoverride

print

Definition at line 670 of file testExpressionFactor.cpp.

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The documentation for this class was generated from the following file:

• testExpressionFactor.cpp