isam::Pose3d_Point3d_Factor Class Reference

#include <slam3d.h>

Inheritance diagram for isam::Pose3d_Point3d_Factor:

List of all members.

Public Member Functions
Eigen::VectorXd	basic_error (Selector s=ESTIMATE) const
void	initialize ()
	Pose3d_Point3d_Factor (Pose3d_Node *pose, Point3d_Node *point, const Point3d &measure, const Noise &noise)
Private Attributes
Point3d_Node *	_point
Pose3d_Node *	_pose

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Detailed Description

Definition at line 195 of file slam3d.h.

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Constructor & Destructor Documentation

isam::Pose3d_Point3d_Factor::Pose3d_Point3d_Factor	(	Pose3d_Node *	pose,
		Point3d_Node *	point,
		const Point3d &	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 3x3 square root information matrix (upper triangular).

Definition at line 208 of file slam3d.h.

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Member Function Documentation

Eigen::VectorXd isam::Pose3d_Point3d_Factor::basic_error

(

Selector

s = ESTIMATE

)

const [inline, virtual]

Implements isam::Factor.

Definition at line 225 of file slam3d.h.

void isam::Pose3d_Point3d_Factor::initialize

(

)

[inline, virtual]

Implements isam::Factor.

Definition at line 216 of file slam3d.h.

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Member Data Documentation

Point3d_Node* isam::Pose3d_Point3d_Factor::_point [private]

Definition at line 197 of file slam3d.h.

Pose3d_Node* isam::Pose3d_Point3d_Factor::_pose [private]

Definition at line 196 of file slam3d.h.

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

• slam3d.h