Public Member Functions | Public Attributes
isam::GLC_Factor Class Reference

#include <glc.h>

Inheritance diagram for isam::GLC_Factor:
Inheritance graph
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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

Detailed Description

Generic Linear Constraint

Definition at line 78 of file glc.h.


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:
posesVector of Pose3d_Node pointers which support the factor
xThe state vector used as the linearization point for the GLC
GThe PCA transformation calculated from the target information
rpReparametrization 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.

Definition at line 109 of file glc.h.


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.


Member Data Documentation

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

Definition at line 82 of file glc.h.

Definition at line 83 of file glc.h.

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

Definition at line 81 of file glc.h.


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


demo_rgbd
Author(s): Ji Zhang
autogenerated on Mon Jan 6 2014 11:16:09