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26 template <
typename A1,
typename A2>
35 template <
typename A1,
typename A2,
36 typename T =
typename Bearing<A1, A2>::result_type>
58 void print(
const std::string&
s =
"",
60 std::cout <<
s <<
"BearingFactor" << std::endl;
66 std::vector<Matrix> Hs(2);
78 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
79 friend class boost::serialization::access;
80 template <
class ARCHIVE>
81 void serialize(ARCHIVE& ar,
const unsigned int ) {
82 ar& boost::serialization::make_nvp(
83 "Base", boost::serialization::base_object<Base>(*
this));
89 template <
typename A1,
typename A2,
typename T>
91 :
public Testable<BearingFactor<A1, A2, T> > {};
const Symbol key1('v', 1)
GenericValue< T > genericValue(const T &v)
virtual Vector unwhitenedError(const Values &x, OptionalMatrixVecType H=nullptr) const =0
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
BearingFactor()
default constructor
const Symbol key2('v', 2)
Expression< T > expression(const typename Base::ArrayNKeys &keys) const override
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
void initialize(const Expression< typename Bearing< A1, A2 >::result_type > &expression)
Initialize with constructor arguments.
Expression< typename Bearing< A1, A2 >::result_type > expression() const override
Return an expression that predicts the measurement given Values.
noiseModel::Base::shared_ptr SharedNoiseModel
A small structure to hold a non zero as a triplet (i,j,value).
std::array< Key, NARY_EXPRESSION_SIZE > ArrayNKeys
noiseModel::Diagonal::shared_ptr model
const typename Bearing< A1, A2 >::result_type & measured() const
const KeyVector & keys() const
Access the factor's involved variable keys.
void print(const std::string &s="", const KeyFormatter &kf=DefaultKeyFormatter) const override
print
Matrix * OptionalMatrixType
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
print relies on Testable traits being defined for T
std::uint64_t Key
Integer nonlinear key type.
Vector evaluateError(const A1 &a1, const A2 &a2, OptionalMatrixType H1=OptionalNone, OptionalMatrixType H2=OptionalNone) const
ExpressionFactorN< T, A1, A2 > Base
BearingFactor(Key key1, Key key2, const T &measured, const SharedNoiseModel &model)
primary constructor
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:00