#include <EssentialMatrixConstraint.h>
Inheritance diagram for gtsam::EssentialMatrixConstraint:
Public Types | |
| typedef boost::shared_ptr< EssentialMatrixConstraint > | shared_ptr |
 Public Types inherited from gtsam::NoiseModelFactor2< Pose3, Pose3 > | |
| typedef Pose3 | X1 |
| typedef Pose3 | 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... | |
Public Member Functions | |
| gtsam::NonlinearFactor::shared_ptr | clone () const override |
| bool | equals (const NonlinearFactor &expected, double tol=1e-9) const override |
| EssentialMatrixConstraint () | |
| EssentialMatrixConstraint (Key key1, Key key2, const EssentialMatrix &measuredE, const SharedNoiseModel &model) | |
| Vector | evaluateError (const Pose3 &p1, const Pose3 &p2, boost::optional< Matrix & > Hp1=boost::none, boost::optional< Matrix & > Hp2=boost::none) const override |
| const EssentialMatrix & | measured () const |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| ~EssentialMatrixConstraint () override | |
| Public Member Functions inherited from gtsam::NoiseModelFactor2< Pose3, Pose3 > | |
| 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 |
| size_t | dim () const override |
| double | error (const Values &c) const override |
| boost::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
| 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 |
| 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 |
Private Types | |
| typedef NoiseModelFactor2< Pose3, Pose3 > | Base |
| typedef EssentialMatrixConstraint | This |
Private Member Functions | |
| template<class ARCHIVE > | |
| void | serialize (ARCHIVE &ar, const unsigned int) |
Private Attributes | |
| EssentialMatrix | measuredE_ |
Friends | |
| class | boost::serialization::access |
Additional Inherited Members | |
| Protected Types inherited from gtsam::NoiseModelFactor2< Pose3, Pose3 > | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor2< Pose3, Pose3 > | 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) |
| Protected Attributes inherited from gtsam::NoiseModelFactor | |
| SharedNoiseModel | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. More... | |
Detailed Description
Definition at line 30 of file EssentialMatrixConstraint.h.
Member Typedef Documentation
|
private |
Definition at line 35 of file EssentialMatrixConstraint.h.
| typedef boost::shared_ptr<EssentialMatrixConstraint> gtsam::EssentialMatrixConstraint::shared_ptr |
The measurement is an essential matrix
Definition at line 42 of file EssentialMatrixConstraint.h.
|
private |
Definition at line 34 of file EssentialMatrixConstraint.h.
Constructor & Destructor Documentation
|
inline |
default constructor - only use for serialization
Definition at line 45 of file EssentialMatrixConstraint.h.
|
inline |
Constructor
- Parameters
-
key1 key for first pose key2 key for second pose measuredE measured EssentialMatrix model noise model, 5D !
Definition at line 55 of file EssentialMatrixConstraint.h.
|
inlineoverride |
Definition at line 60 of file EssentialMatrixConstraint.h.
Member Function Documentation
|
inlineoverridevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
Definition at line 64 of file EssentialMatrixConstraint.h.
|
overridevirtual |
equals
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 37 of file EssentialMatrixConstraint.cpp.
|
overridevirtual |
implement functions needed to derive from Factor vector of errors
Implements gtsam::NoiseModelFactor2< Pose3, Pose3 >.
Definition at line 45 of file EssentialMatrixConstraint.cpp.
|
inline |
return the measured
Definition at line 86 of file EssentialMatrixConstraint.h.
|
overridevirtual |
implement functions needed for Testable print
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 28 of file EssentialMatrixConstraint.cpp.
template<class ARCHIVE >
|
inlineprivate |
Definition at line 95 of file EssentialMatrixConstraint.h.
Friends And Related Function Documentation
|
friend |
Serialization function
Definition at line 93 of file EssentialMatrixConstraint.h.
Member Data Documentation
|
private |
Definition at line 37 of file EssentialMatrixConstraint.h.
The documentation for this class was generated from the following files: