#include <NonlinearFactor.h>
Inheritance diagram for gtsam::NoiseModelFactor3< VALUE1, VALUE2, VALUE3 >:
Public Types | |
| typedef VALUE1 | X1 |
| typedef VALUE2 | X2 |
| typedef VALUE3 | X3 |
 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 | |
| virtual Vector | evaluateError (const X1 &, const X2 &, const X3 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const =0 |
| Key | key1 () const |
| Key | key2 () const |
| Key | key3 () const |
| NoiseModelFactor3 () | |
| NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3) | |
| Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
| ~NoiseModelFactor3 () override | |
| Public Member Functions inherited from gtsam::NoiseModelFactor | |
| shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
| size_t | dim () const override |
| bool | equals (const NonlinearFactor &f, double tol=1e-9) 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) | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| 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 () |
Protected Types | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor3< VALUE1, VALUE2, VALUE3 > | 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 |
Private Member Functions | |
| template<class ARCHIVE > | |
| void | serialize (ARCHIVE &ar, const unsigned int) |
Friends | |
| class | boost::serialization::access |
Additional Inherited Members | |
| 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 VALUE1, class VALUE2, class VALUE3>
class gtsam::NoiseModelFactor3< VALUE1, VALUE2, VALUE3 >
A convenient base class for creating your own NoiseModelFactor with 3 variables. To derive from this class, implement evaluateError().
Definition at line 436 of file NonlinearFactor.h.
Member Typedef Documentation
template<class VALUE1, class VALUE2, class VALUE3>
|
protected |
Definition at line 447 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3>
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protected |
Definition at line 448 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3>
| typedef VALUE1 gtsam::NoiseModelFactor3< VALUE1, VALUE2, VALUE3 >::X1 |
Definition at line 441 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3>
| typedef VALUE2 gtsam::NoiseModelFactor3< VALUE1, VALUE2, VALUE3 >::X2 |
Definition at line 442 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3>
| typedef VALUE3 gtsam::NoiseModelFactor3< VALUE1, VALUE2, VALUE3 >::X3 |
Definition at line 443 of file NonlinearFactor.h.
Constructor & Destructor Documentation
template<class VALUE1, class VALUE2, class VALUE3>
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inline |
Default Constructor for I/O
Definition at line 455 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3>
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inline |
Constructor
- Parameters
-
noiseModel shared pointer to noise model j1 key of the first variable j2 key of the second variable j3 key of the third variable
Definition at line 464 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3>
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inlineoverride |
Definition at line 467 of file NonlinearFactor.h.
Member Function Documentation
template<class VALUE1, class VALUE2, class VALUE3>
|
pure virtual |
Override this method to finish implementing a trinary factor. If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2, X3).
Implemented in gtsam::ImuFactor2, gtsam::GeneralSFMFactor2< CALIBRATION >, gtsam::InvDepthFactorVariant3b, gtsam::PendulumFactorPk1, gtsam::MagFactor3, gtsam::AHRSFactor, gtsam::PendulumFactorPk, gtsam::DiscreteEulerPoincareHelicopter, gtsam::ReferenceFrameFactor< POINT, TRANSFORM >, gtsam::PendulumFactor2, gtsam::LocalOrientedPlane3Factor, gtsam::PendulumFactor1, and gtsam::VelocityConstraint3.
template<class VALUE1, class VALUE2, class VALUE3>
|
inline |
methods to retrieve keys
Definition at line 470 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3>
|
inline |
Definition at line 471 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3>
|
inline |
Definition at line 472 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3>
template<class ARCHIVE >
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inlineprivate |
Definition at line 503 of file NonlinearFactor.h.
template<class VALUE1, class VALUE2, class VALUE3>
|
inlineoverridevirtual |
Calls the 3-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
Implements gtsam::NoiseModelFactor.
Definition at line 476 of file NonlinearFactor.h.
Friends And Related Function Documentation
template<class VALUE1, class VALUE2, class VALUE3>
|
friend |
Serialization function
Definition at line 501 of file NonlinearFactor.h.
The documentation for this class was generated from the following file: