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30 using namespace gtsam;
46 Values() : nrPoses_(0), nrPoints_(0) {
51 Base(
base), nrPoses_(0), nrPoints_(0) {
107 if (H1) *H1 = -I_2x2;
120 if (H1) *H1 = -I_2x2;
128 template<
class VALUE = Po
int2>
137 using Base::evaluateError;
155 return std::static_pointer_cast<gtsam::NonlinearFactor>(
163 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
164 friend class boost::serialization::access;
166 template<
class ARCHIVE>
167 void serialize(ARCHIVE & ar,
const unsigned int ) {
168 ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
169 ar & BOOST_SERIALIZATION_NVP(measured_);
177 template<
class VALUE = Po
int2>
186 using Base::evaluateError;
198 return (
odo(
x1,
x2, H1, H2) - measured_);
205 return std::static_pointer_cast<gtsam::NonlinearFactor>(
213 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
214 friend class boost::serialization::access;
216 template<
class ARCHIVE>
217 void serialize(ARCHIVE & ar,
const unsigned int ) {
218 ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
219 ar & BOOST_SERIALIZATION_NVP(measured_);
227 template<
class POSE,
class LANDMARK>
232 typedef std::shared_ptr<GenericMeasurement<POSE, LANDMARK> >
shared_ptr;
237 using Base::evaluateError;
249 return (
mea(
x1,
x2, H1, H2) - measured_);
256 return std::static_pointer_cast<gtsam::NonlinearFactor>(
264 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
265 friend class boost::serialization::access;
267 template<
class ARCHIVE>
268 void serialize(ARCHIVE & ar,
const unsigned int ) {
269 ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
270 ar & BOOST_SERIALIZATION_NVP(measured_);
291 template<
class POSE,
class LANDMARK>
293 simulated2D::GenericMeasurement<POSE, LANDMARK> > {
Point2 pose(Key i) const
Return pose i.
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std::shared_ptr< This > shared_ptr
GenericOdometry(const Pose &measured, const SharedNoiseModel &model, Key i1, Key i2)
Create odometry.
gtsam::NonlinearFactor::shared_ptr clone() const override
GenericPrior< Point2 > Prior
std::shared_ptr< GenericPrior< VALUE > > shared_ptr
Annotation indicating that a class derives from another given type.
GenericOdometry< VALUE > This
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
NoiseModelFactorN< POSE, LANDMARK > Base
base class
Vector evaluateError(const Pose &x, OptionalMatrixType H) const override
Return error and optional derivative.
GenericPrior()
Default constructor.
VALUE Pose
shortcut to Pose type
Landmark measured_
Measurement.
void insertPoint(Key j, const Point2 &p)
Insert a point.
gtsam::NonlinearFactor::shared_ptr clone() const override
gtsam::Values Base
base class
GenericMeasurement< POSE, LANDMARK > This
Point2 mea(const Point2 &x, const Point2 &l)
measurement between landmark and pose
GenericOdometry()
Default constructor.
Vector evaluateError(const Pose &x1, const Landmark &x2, OptionalMatrixType H1, OptionalMatrixType H2) const override
Evaluate error and optionally return derivatives.
std::shared_ptr< Point2 > sharedPoint
shortcut to shared Point type
Vector evaluateError(const Pose &x1, const Pose &x2, OptionalMatrixType H1, OptionalMatrixType H2) const override
Evaluate error and optionally return derivatives.
int nrPoses() const
Number of poses.
GenericMeasurement< Point2, Point2 > Measurement
POSE Pose
shortcut to Pose type
VALUE Pose
shortcut to Pose type
GenericPrior< VALUE > This
~GenericOdometry() override
std::shared_ptr< GenericMeasurement< POSE, LANDMARK > > shared_ptr
NoiseModelFactorN< VALUE, VALUE > Base
base class
gtsam::NonlinearFactor::shared_ptr clone() const override
static const Line3 l(Rot3(), 1, 1)
std::shared_ptr< GenericOdometry< VALUE > > shared_ptr
Pose measured_
odometry measurement
LANDMARK Landmark
shortcut to Landmark type
Special class for optional Jacobian arguments.
noiseModel::Base::shared_ptr SharedNoiseModel
GenericPrior(const Pose &z, const SharedNoiseModel &model, Key key)
Create generic prior.
noiseModel::Diagonal::shared_ptr model
const gtsam::Symbol key('X', 0)
Non-linear factor base classes.
Point2 prior(const Point2 &x)
Prior on a single pose.
~GenericMeasurement() override
NoiseModelFactorN< VALUE > Base
base class
Factor Graph consisting of non-linear factors.
GenericMeasurement()
Default constructor.
GenericMeasurement(const Landmark &measured, const SharedNoiseModel &model, Key i, Key j)
Create measurement factor.
Point2 odo(const Point2 &x1, const Point2 &x2)
odometry between two poses
void insert(Key j, const Value &val)
Matrix * OptionalMatrixType
int nrPoints() const
Number of points.
std::uint64_t Key
Integer nonlinear key type.
Pose3 x2(Rot3::Ypr(0.0, 0.0, 0.0), l2)
void insertPose(Key i, const Point2 &p)
Insert a pose.
Values(const Base &base)
Copy constructor.
GenericOdometry< Point2 > Odometry
Point2 point(Key j) const
Return point j.
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:04:18