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| BearingFactor () |
| default constructor More...
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| BearingFactor (Key key1, Key key2, const T &measured, const SharedNoiseModel &model) |
| primary constructor More...
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Vector | evaluateError (const A1 &a1, const A2 &a2, OptionalMatrixType H1=OptionalNone, OptionalMatrixType H2=OptionalNone) const |
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Expression< T > | expression (const typename Base::ArrayNKeys &keys) const override |
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void | print (const std::string &s="", const KeyFormatter &kf=DefaultKeyFormatter) const override |
| print More...
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virtual Expression< typename Bearing< A1, A2 >::result_type > | expression (const ArrayNKeys &keys) const |
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gtsam::NonlinearFactor::shared_ptr | clone () const override |
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bool | equals (const NonlinearFactor &f, double tol) const override |
| equals relies on Testable traits being defined for T More...
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| ExpressionFactor (const SharedNoiseModel &noiseModel, const typename Bearing< A1, A2 >::result_type &measurement, const Expression< typename Bearing< A1, A2 >::result_type > &expression) |
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std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
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const typename Bearing< A1, A2 >::result_type & | measured () const |
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void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print relies on Testable traits being defined for T More...
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virtual Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0 |
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Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override |
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Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
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| ~ExpressionFactor () override |
| Destructor. More...
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static const std::size_t | NARY_EXPRESSION_SIZE |
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typedef ExpressionFactor< typename Bearing< A1, A2 >::result_type > | This |
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| ExpressionFactorN ()=default |
| Default constructor, for serialization. More...
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| ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const typename Bearing< A1, A2 >::result_type &measurement) |
| Constructor takes care of keys, but still need to call initialize. More...
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| ExpressionFactor () |
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| ExpressionFactor (const SharedNoiseModel &noiseModel, const typename Bearing< A1, A2 >::result_type &measurement) |
| Default constructor, for serialization. More...
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void | initialize (const Expression< typename Bearing< A1, A2 >::result_type > &expression) |
| Initialize with constructor arguments. More...
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FastVector< int > | dims_ |
| dimensions of the Jacobian matrices More...
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Expression< typename Bearing< A1, A2 >::result_type > | expression_ |
| the expression that is AD enabled More...
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typename Bearing< A1, A2 >::result_type | measured_ |
| the measurement to be compared with the expression More...
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static const int | Dim |
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template<typename A1, typename A2, typename T = typename Bearing<A1, A2>::result_type>
struct gtsam::BearingFactor< A1, A2, T >
Binary factor for a bearing measurement Works for any two types A1,A2 for which the functor Bearing<A1,A2>() is defined
Definition at line 37 of file sam/BearingFactor.h.