#include <PoseBetweenFactor.h>

Inheritance diagram for gtsam::PoseBetweenFactor< POSE >:

[legend]

Public Types
typedef boost::shared_ptr< PoseBetweenFactor >	shared_ptr

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

typedef POSE	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

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

const POSE &	measured () const

	PoseBetweenFactor ()

	PoseBetweenFactor (Key key1, Key key2, const POSE &measured, const SharedNoiseModel &model, boost::optional< POSE > body_P_sensor=boost::none)

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

	~PoseBetweenFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactor2< POSE, POSE >
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...

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< POSE, POSE >	Base

typedef PoseBetweenFactor< POSE >	This

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

Private Attributes
boost::optional< POSE >	body_P_sensor_
	The pose of the sensor in the body frame. More...

POSE	measured_

Friends
class	boost::serialization::access

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

typedef NoiseModelFactor2< POSE, POSE >	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 POSE>
class gtsam::PoseBetweenFactor< POSE >

Definition at line 32 of file PoseBetweenFactor.h.

Member Typedef Documentation

template<class POSE >

typedef NoiseModelFactor2<POSE, POSE> gtsam::PoseBetweenFactor< POSE >::Base

private

Definition at line 37 of file PoseBetweenFactor.h.

template<class POSE >

typedef boost::shared_ptr<PoseBetweenFactor> gtsam::PoseBetweenFactor< POSE >::shared_ptr

concept check by type

Definition at line 48 of file PoseBetweenFactor.h.

template<class POSE >

typedef PoseBetweenFactor<POSE> gtsam::PoseBetweenFactor< POSE >::This

private

Definition at line 36 of file PoseBetweenFactor.h.

Constructor & Destructor Documentation

template<class POSE >

gtsam::PoseBetweenFactor< POSE >::PoseBetweenFactor ( )

inline

default constructor - only use for serialization

Definition at line 51 of file PoseBetweenFactor.h.

template<class POSE >

gtsam::PoseBetweenFactor< POSE >::PoseBetweenFactor	(	Key	key1,
		Key	key2,
		const POSE &	measured,
		const SharedNoiseModel &	model,
		boost::optional< POSE >	body_P_sensor = `boost::none`
	)

inline

Constructor

Definition at line 54 of file PoseBetweenFactor.h.

template<class POSE >

gtsam::PoseBetweenFactor< POSE >::~PoseBetweenFactor ( )

inlineoverride

Definition at line 59 of file PoseBetweenFactor.h.

Member Function Documentation

template<class POSE >

gtsam::NonlinearFactor::shared_ptr gtsam::PoseBetweenFactor< POSE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 62 of file PoseBetweenFactor.h.

template<class POSE >

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 80 of file PoseBetweenFactor.h.

template<class POSE >

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

inlineoverridevirtual

implement functions needed to derive from Factor vector of errors

Implements gtsam::NoiseModelFactor2< POSE, POSE >.

Definition at line 91 of file PoseBetweenFactor.h.

template<class POSE >

const POSE& gtsam::PoseBetweenFactor< POSE >::measured ( ) const

inline

return the measured

Definition at line 114 of file PoseBetweenFactor.h.

template<class POSE >

void gtsam::PoseBetweenFactor< POSE >::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 69 of file PoseBetweenFactor.h.

template<class POSE >

template<class ARCHIVE >

void gtsam::PoseBetweenFactor< POSE >::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 123 of file PoseBetweenFactor.h.

Friends And Related Function Documentation

template<class POSE >

friend class boost::serialization::access

friend

Serialization function

Definition at line 121 of file PoseBetweenFactor.h.

Member Data Documentation

template<class POSE >

boost::optional<POSE> gtsam::PoseBetweenFactor< POSE >::body_P_sensor_

private

The pose of the sensor in the body frame.

The measurement

Definition at line 40 of file PoseBetweenFactor.h.

template<class POSE >

POSE gtsam::PoseBetweenFactor< POSE >::measured_

private

Definition at line 39 of file PoseBetweenFactor.h.

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

PoseBetweenFactor.h

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

template<class POSE> class gtsam::PoseBetweenFactor< POSE >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class POSE>
class gtsam::PoseBetweenFactor< POSE >