#include <GaussMarkov1stOrderFactor.h>

Inheritance diagram for gtsam::GaussMarkov1stOrderFactor< VALUE >:

[legend]

Public Types
typedef boost::shared_ptr< GaussMarkov1stOrderFactor >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
typedef VALUE	X1

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

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

	GaussMarkov1stOrderFactor ()

	GaussMarkov1stOrderFactor (const Key &key1, const Key &key2, double delta_t, Vector tau, const SharedGaussian &model)

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

	~GaussMarkov1stOrderFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
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

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...

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

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

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Private Types
typedef NoiseModelFactor2< VALUE, VALUE >	Base

typedef GaussMarkov1stOrderFactor< VALUE >	This

Private Member Functions
SharedGaussian	calcDiscreteNoiseModel (const SharedGaussian &model, double delta_t)

template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Private Attributes
double	dt_

Vector	tau_

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< VALUE, VALUE >	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

template<class VALUE>
class gtsam::GaussMarkov1stOrderFactor< VALUE >

Definition at line 45 of file GaussMarkov1stOrderFactor.h.

Member Typedef Documentation

template<class VALUE >

typedef NoiseModelFactor2<VALUE, VALUE> gtsam::GaussMarkov1stOrderFactor< VALUE >::Base

private

Definition at line 50 of file GaussMarkov1stOrderFactor.h.

template<class VALUE >

typedef boost::shared_ptr<GaussMarkov1stOrderFactor> gtsam::GaussMarkov1stOrderFactor< VALUE >::shared_ptr

Definition at line 58 of file GaussMarkov1stOrderFactor.h.

template<class VALUE >

typedef GaussMarkov1stOrderFactor<VALUE> gtsam::GaussMarkov1stOrderFactor< VALUE >::This

private

Definition at line 49 of file GaussMarkov1stOrderFactor.h.

Constructor & Destructor Documentation

template<class VALUE >

gtsam::GaussMarkov1stOrderFactor< VALUE >::GaussMarkov1stOrderFactor ( )

inline

default constructor - only use for serialization

Definition at line 61 of file GaussMarkov1stOrderFactor.h.

template<class VALUE >

gtsam::GaussMarkov1stOrderFactor< VALUE >::GaussMarkov1stOrderFactor	(	const Key &	key1,
		const Key &	key2,
		double	delta_t,
		Vector	tau,
		const SharedGaussian &	model
	)

inline

Constructor

Definition at line 64 of file GaussMarkov1stOrderFactor.h.

template<class VALUE >

gtsam::GaussMarkov1stOrderFactor< VALUE >::~GaussMarkov1stOrderFactor ( )

inlineoverride

Definition at line 69 of file GaussMarkov1stOrderFactor.h.

Member Function Documentation

template<class VALUE >

SharedGaussian gtsam::GaussMarkov1stOrderFactor< VALUE >::calcDiscreteNoiseModel	(	const SharedGaussian &	model,
		double	delta_t
	)

inlineprivate

Definition at line 123 of file GaussMarkov1stOrderFactor.h.

template<class VALUE >

bool gtsam::GaussMarkov1stOrderFactor< VALUE >::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 82 of file GaussMarkov1stOrderFactor.h.

template<class VALUE >

Vector gtsam::GaussMarkov1stOrderFactor< VALUE >::evaluateError	(	const VALUE &	p1,
		const VALUE &	p2,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const