#include <AttitudeFactor.h>

Inheritance diagram for gtsam::Pose3AttitudeFactor:

[legend]

Public Types
typedef boost::shared_ptr< Pose3AttitudeFactor >	shared_ptr
	shorthand for a smart pointer to a factor More...

typedef Pose3AttitudeFactor	This
	Typedef to this class. More...

Public Types inherited from gtsam::NoiseModelFactor1< Pose3 >
typedef Pose3	X

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

Vector	evaluateError (const Pose3 &nTb, boost::optional< Matrix & > H=boost::none) const override

	Pose3AttitudeFactor ()

	Pose3AttitudeFactor (Key key, const Unit3 &nZ, const SharedNoiseModel &model, const Unit3 &bRef=Unit3(0, 0, 1))
	Constructor. More...

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

	~Pose3AttitudeFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactor1< Pose3 >
	NoiseModelFactor1 ()

	NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)

	~NoiseModelFactor1 () override

Key	key () const

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

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 ()

Public Member Functions inherited from gtsam::AttitudeFactor
Vector	attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H=boost::none) const

	AttitudeFactor ()

	AttitudeFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1))
	Constructor. More...

const Unit3 &	bRef () const

const Unit3 &	nZ () const

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

Private Types
typedef NoiseModelFactor1< Pose3 >	Base

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

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor1< Pose3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< 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...

Protected Attributes inherited from gtsam::AttitudeFactor
Unit3	bRef_
	Position measurement in. More...

Unit3	nZ_

Detailed Description

Definition at line 152 of file AttitudeFactor.h.

Member Typedef Documentation

typedef NoiseModelFactor1<Pose3> gtsam::Pose3AttitudeFactor::Base

private

Definition at line 155 of file AttitudeFactor.h.

typedef boost::shared_ptr<Pose3AttitudeFactor> gtsam::Pose3AttitudeFactor::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 160 of file AttitudeFactor.h.

typedef Pose3AttitudeFactor gtsam::Pose3AttitudeFactor::This

Typedef to this class.

Definition at line 163 of file AttitudeFactor.h.

Constructor & Destructor Documentation

gtsam::Pose3AttitudeFactor::Pose3AttitudeFactor ( )

inline

default constructor - only use for serialization

Definition at line 166 of file AttitudeFactor.h.

gtsam::Pose3AttitudeFactor::~Pose3AttitudeFactor ( )

inlineoverride

Definition at line 169 of file AttitudeFactor.h.

gtsam::Pose3AttitudeFactor::Pose3AttitudeFactor	(	Key	key,
		const Unit3 &	nZ,
		const SharedNoiseModel &	model,
		const Unit3 &	bRef = `Unit3(0, 0, 1)`
	)

inline

Constructor.

Parameters

key	of the Pose3 variable that will be constrained
nZ	measured direction in navigation frame
model	Gaussian noise model
bRef	reference direction in body frame (default Z-axis)

Definition at line 179 of file AttitudeFactor.h.

Member Function Documentation

gtsam::NonlinearFactor::shared_ptr gtsam::Pose3AttitudeFactor::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 185 of file AttitudeFactor.h.

bool gtsam::Pose3AttitudeFactor::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 70 of file AttitudeFactor.cpp.

Vector gtsam::Pose3AttitudeFactor::evaluateError	(	const Pose3 &	nTb,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlineoverridevirtual

vector of errors

Implements gtsam::NoiseModelFactor1< Pose3 >.

Definition at line 198 of file AttitudeFactor.h.

void gtsam::Pose3AttitudeFactor::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 61 of file AttitudeFactor.cpp.

template<class ARCHIVE >

void gtsam::Pose3AttitudeFactor::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 214 of file AttitudeFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 212 of file AttitudeFactor.h.

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

Public Types

Public Member Functions

Private Types

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation