isam::Pose2d_Point2d_Factor Class Reference

#include <slam2d.h>

Inheritance diagram for isam::Pose2d_Point2d_Factor:

List of all members.

Public Member Functions
Eigen::VectorXd	basic_error (Selector s=LINPOINT) const
void	initialize ()
Jacobian	jacobian ()
	Pose2d_Point2d_Factor (Pose2d_Node *pose, Point2d_Node *point, const Point2d &measure, const Noise &noise)
Private Attributes
Point2d_Node *	_point
Pose2d_Node *	_pose

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Detailed Description

Landmark observation.

Definition at line 286 of file slam2d.h.

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Constructor & Destructor Documentation

isam::Pose2d_Point2d_Factor::Pose2d_Point2d_Factor	(	Pose2d_Node *	pose,
		Point2d_Node *	point,
		const Point2d &	measure,
		const Noise &	noise
	)		[inline]

Constructor.

Parameters:

pose	The pose from which the landmark is observed.
point	The point or landmark that is observed
measure	The relative observation of the landmark in the pose's frame.
noise	The 2x2 square root information matrix (upper triangular).

Definition at line 299 of file slam2d.h.

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Member Function Documentation

Eigen::VectorXd isam::Pose2d_Point2d_Factor::basic_error

(

Selector

s = LINPOINT

)

const [inline, virtual]

Implements isam::Factor.

Definition at line 317 of file slam2d.h.

void isam::Pose2d_Point2d_Factor::initialize

(

)

[inline, virtual]

Implements isam::Factor.

Definition at line 307 of file slam2d.h.

Jacobian isam::Pose2d_Point2d_Factor::jacobian

(

)

[inline, virtual]

Reimplemented from isam::Factor.

Definition at line 325 of file slam2d.h.

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Member Data Documentation

Point2d_Node* isam::Pose2d_Point2d_Factor::_point [private]

Definition at line 288 of file slam2d.h.

Pose2d_Node* isam::Pose2d_Point2d_Factor::_pose [private]

Definition at line 287 of file slam2d.h.

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

• slam2d.h