Inheritance diagram for NonlinearMotionModel:

[legend]

Public Member Functions
size_t	dim () const override

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override

double	error (const Values &c) const override

Vector	evaluateError (const Point2 &p1, const Point2 &p2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override

Point2	f (const Point2 &x_t0) const

Matrix	F (const Point2 &x_t0) const

boost::shared_ptr< GaussianFactor >	linearize (const Values &c) const override

	NonlinearMotionModel ()

	NonlinearMotionModel (const Symbol &TestKey1, const Symbol &TestKey2)

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

Matrix	QInvSqrt (const Point2 &x_t0) const

Vector	whitenedError (const Values &c) const

	~NonlinearMotionModel () override

Public Member Functions inherited from gtsam::NoiseModelFactor2< Point2, Point2 >
virtual Vector	evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const =0

Key	key1 () const

Key	key2 () const

	NoiseModelFactor2 ()

	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override

	~NoiseModelFactor2 () override

Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

const SharedNoiseModel &	noiseModel () const
	access to the noise model More...

	NoiseModelFactor ()

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)

Vector	unweightedWhitenedError (const Values &c) const

double	weight (const Values &c) const

Vector	whitenedError (const Values &c) const

	~NoiseModelFactor () override

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

virtual	~NonlinearFactor ()

virtual bool	active (const Values &) const

virtual shared_ptr	clone () const

shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

shared_ptr	rekey (const KeyVector &new_keys) const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

Key	front () const
	First key. More...

Key	back () const
	Last key. More...

const_iterator	find (Key key) const
	find More...

const KeyVector &	keys () const
	Access the factor's involved variable keys. More...

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

Protected Attributes
Matrix	Q_

Matrix	Q_invsqrt_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Private Types
typedef NoiseModelFactor2< Point2, Point2 >	Base

typedef NonlinearMotionModel	This

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor2< Point2, Point2 >
typedef Point2	X1

typedef Point2	X2

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys. More...

typedef KeyVector::iterator	iterator
	Iterator over keys. More...

Protected Types inherited from gtsam::NoiseModelFactor2< Point2, Point2 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Point2, Point2 >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Detailed Description

Definition at line 94 of file testExtendedKalmanFilter.cpp.

Member Typedef Documentation

typedef NoiseModelFactor2<Point2, Point2> NonlinearMotionModel::Base

private

Definition at line 96 of file testExtendedKalmanFilter.cpp.

typedef NonlinearMotionModel NonlinearMotionModel::This

private

Definition at line 97 of file testExtendedKalmanFilter.cpp.

Constructor & Destructor Documentation

NonlinearMotionModel::NonlinearMotionModel ( )

inline

Definition at line 104 of file testExtendedKalmanFilter.cpp.

NonlinearMotionModel::NonlinearMotionModel	(	const Symbol &	TestKey1,
		const Symbol &	TestKey2
	)

inline

Definition at line 106 of file testExtendedKalmanFilter.cpp.

NonlinearMotionModel::~NonlinearMotionModel ( )

inlineoverride

Definition at line 123 of file testExtendedKalmanFilter.cpp.

Member Function Documentation

size_t NonlinearMotionModel::dim ( ) const

inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 178 of file testExtendedKalmanFilter.cpp.

bool NonlinearMotionModel::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

Check if two factors are equal. Note type is IndexFactor and needs cast.

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 163 of file testExtendedKalmanFilter.cpp.

double NonlinearMotionModel::error ( const Values & c ) const

inlineoverridevirtual

calculate the error of the factor Override for systems with unusual noise models

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 172 of file testExtendedKalmanFilter.cpp.

Vector NonlinearMotionModel::evaluateError	(	const Point2 &	p1,
		const Point2 &	p2,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlineoverride

vector of errors

Definition at line 213 of file testExtendedKalmanFilter.cpp.

Point2 NonlinearMotionModel::f ( const Point2 & x_t0 ) const

inline

Definition at line 126 of file testExtendedKalmanFilter.cpp.

Matrix NonlinearMotionModel::F ( const Point2 & x_t0 ) const

inline

Definition at line 138 of file testExtendedKalmanFilter.cpp.

boost::shared_ptr<GaussianFactor> NonlinearMotionModel::linearize ( const Values & c ) const

inlineoverridevirtual

Linearize a non-linearFactor2 to get a GaussianFactor Ax-b h(x1+dx1,x2+dx2)-z = h(x1,x2) + A2*dx1 + A2*dx2 - z Hence b = z - h(x1,x2) = - error_vector(x)

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 192 of file testExtendedKalmanFilter.cpp.