Public Member Functions | Private Attributes
isam::GLC_RootShift Class Reference

#include <GLCReparam.h>

Inheritance diagram for isam::GLC_RootShift:
Inheritance graph

List of all members.

Public Member Functions

GLC_RootShiftclone ()
Eigen::VectorXb is_angle ()
Eigen::MatrixXd jacobian ()
Eigen::VectorXd reparameterize (Selector s)
Eigen::VectorXd root_shift (Node *node_i, Node *node_j, Selector s)
void set_nodes (std::vector< Node * > nodes)

Private Attributes

int _dim
Eigen::VectorXb _is_angle
std::vector< Node * > _nodes

Detailed Description

GLC_RootShift implementation of GLC_Reparam performs root shift operation

Definition at line 82 of file GLCReparam.h.

Member Function Documentation

GLC_RootShift* isam::GLC_RootShift::clone ( ) [inline, virtual]


a new instance of the derived class

Implements isam::GLC_Reparam.

Definition at line 105 of file GLCReparam.h.


boolean vector indacating if elemetes reparameterized vector are angles

Implements isam::GLC_Reparam.

Definition at line 106 of file GLCReparam.h.

MatrixXd isam::GLC_RootShift::jacobian ( ) [virtual]


jacobian of reparameterized output wrt node input

Implements isam::GLC_Reparam.

Definition at line 118 of file GLCReparam.cpp.

VectorXd isam::GLC_RootShift::reparameterize ( Selector  s) [virtual]


reparameterized vector

Implements isam::GLC_Reparam.

Definition at line 45 of file GLCReparam.cpp.

VectorXd isam::GLC_RootShift::root_shift ( Node node_i,
Node node_j,
Selector  s 

Definition at line 87 of file GLCReparam.cpp.

void isam::GLC_RootShift::set_nodes ( std::vector< Node * >  nodes) [inline, virtual]


nodesVector of Node pointers which support the factor

Implements isam::GLC_Reparam.

Definition at line 91 of file GLCReparam.h.

Member Data Documentation

Definition at line 87 of file GLCReparam.h.

Definition at line 86 of file GLCReparam.h.

std::vector<Node*> isam::GLC_RootShift::_nodes [private]

Definition at line 85 of file GLCReparam.h.

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

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