#include <OrientedPlane3Factor.h>

Inheritance diagram for gtsam::OrientedPlane3Factor:

[legend]

Public Member Functions
Vector	evaluateError (const Pose3 &pose, const OrientedPlane3 &plane, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
	evaluateError More...

	OrientedPlane3Factor ()
	Constructor. More...

	OrientedPlane3Factor (const Vector4 &z, const SharedGaussian &noiseModel, Key poseKey, Key landmarkKey)

void	print (const std::string &s="OrientedPlane3Factor", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print More...

	~OrientedPlane3Factor () override

Public Member Functions inherited from gtsam::NoiseModelFactor2< Pose3, OrientedPlane3 >
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

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)

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 NoiseModelFactor2< Pose3, OrientedPlane3 >	Base

Protected Types inherited from gtsam::NoiseModelFactor2< Pose3, OrientedPlane3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Pose3, OrientedPlane3 >	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 Attributes
OrientedPlane3	measured_p_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor2< Pose3, OrientedPlane3 >
typedef Pose3	X1

typedef OrientedPlane3	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 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

Factor to measure a planar landmark from a given pose

Definition at line 18 of file OrientedPlane3Factor.h.

Member Typedef Documentation

typedef NoiseModelFactor2<Pose3, OrientedPlane3> gtsam::OrientedPlane3Factor::Base

protected

Definition at line 21 of file OrientedPlane3Factor.h.

Constructor & Destructor Documentation

gtsam::OrientedPlane3Factor::OrientedPlane3Factor ( )

inline

Constructor.

Definition at line 25 of file OrientedPlane3Factor.h.

gtsam::OrientedPlane3Factor::~OrientedPlane3Factor ( )

inlineoverride

Definition at line 27 of file OrientedPlane3Factor.h.

gtsam::OrientedPlane3Factor::OrientedPlane3Factor	(	const Vector4 &	z,
		const SharedGaussian &	noiseModel,
		Key	poseKey,
		Key	landmarkKey
	)

inline

Constructor with measured plane (a,b,c,d) coefficients

Parameters

z	measured plane (a,b,c,d) coefficients as 4D vector
noiseModel	noiseModel Gaussian noise model
poseKey	Key or symbol for unknown pose
landmarkKey	Key or symbol for unknown planar landmark

Returns: the transformed plane

Definition at line 36 of file OrientedPlane3Factor.h.

Member Function Documentation

Vector gtsam::OrientedPlane3Factor::evaluateError	(	const Pose3 &	pose,
		const OrientedPlane3 &	plane,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

overridevirtual

evaluateError

Implements gtsam::NoiseModelFactor2< Pose3, OrientedPlane3 >.

Definition at line 25 of file OrientedPlane3Factor.cpp.

void gtsam::OrientedPlane3Factor::print	(	const std::string &	s = `"OrientedPlane3Factor"`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 15 of file OrientedPlane3Factor.cpp.

Member Data Documentation

OrientedPlane3 gtsam::OrientedPlane3Factor::measured_p_

protected

Definition at line 20 of file OrientedPlane3Factor.h.

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

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation