isam::GLC_Factor Class Reference

#include <glc.h>

Inheritance diagram for isam::GLC_Factor:

List of all members.

Public Member Functions
Eigen::VectorXd	basic_error (Selector s=LINPOINT) const
	GLC_Factor (std::vector< Node * > nodes, const Eigen::VectorXd &x, const Eigen::MatrixXd &G, GLC_Reparam *rp=NULL)
void	initialize ()
Jacobian	jacobian ()
void	write (std::ostream &out) const
	~GLC_Factor ()
Public Attributes
const Eigen::MatrixXd	_G
GLC_Reparam *	_rp
const Eigen::VectorXd	_x

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Detailed Description

Generic Linear Constraint

Definition at line 78 of file glc.h.

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Constructor & Destructor Documentation

isam::GLC_Factor::GLC_Factor	(	std::vector< Node * >	nodes,
		const Eigen::VectorXd &	x,
		const Eigen::MatrixXd &	G,
		GLC_Reparam *	rp = NULL
	)		[inline]

Constructor.

Parameters:

poses	Vector of Pose3d_Node pointers which support the factor
x	The state vector used as the linearization point for the GLC
G	The PCA transformation calculated from the target information
rp	Reparametrization object, uses to implement root-shift or user defined reparameterizations to be applied before commiting to a linearization point

Definition at line 93 of file glc.h.

isam::GLC_Factor::~GLC_Factor

(

)

[inline]

Definition at line 109 of file glc.h.

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Member Function Documentation

Eigen::VectorXd isam::GLC_Factor::basic_error

(

Selector

s = LINPOINT

)

const [inline, virtual]

Implements isam::Factor.

Definition at line 160 of file glc.h.

void isam::GLC_Factor::initialize

(

)

[inline, virtual]

Implements isam::Factor.

Definition at line 114 of file glc.h.

Jacobian isam::GLC_Factor::jacobian

(

)

[inline, virtual]

Reimplemented from isam::Factor.

Definition at line 117 of file glc.h.

void isam::GLC_Factor::write

(

std::ostream &

out

)

const [inline, virtual]

Reimplemented from isam::Factor.

Definition at line 190 of file glc.h.

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Member Data Documentation

const Eigen::MatrixXd isam::GLC_Factor::_G

Definition at line 82 of file glc.h.

GLC_Reparam* isam::GLC_Factor::_rp

Definition at line 83 of file glc.h.

const Eigen::VectorXd isam::GLC_Factor::_x

Definition at line 81 of file glc.h.

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

• glc.h