#include <PosePriorFactor.h>
Inheritance diagram for gtsam::PosePriorFactor< POSE >:
Public Types | |
| typedef boost::shared_ptr< PosePriorFactor< POSE > > | shared_ptr |
| shorthand for a smart pointer to a factor More... | |
 Public Types inherited from gtsam::NoiseModelFactor1< POSE > | |
| typedef POSE | 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 POSE &p, boost::optional< Matrix & > H=boost::none) const override |
| PosePriorFactor () | |
| PosePriorFactor (Key key, const POSE &prior, const SharedNoiseModel &model, boost::optional< POSE > body_P_sensor=boost::none) | |
| void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| const POSE & | prior () const |
| ~PosePriorFactor () override | |
| Public Member Functions inherited from gtsam::NoiseModelFactor1< POSE > | |
| 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 |
| 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 NoiseModelFactor1< POSE > | Base |
| typedef PosePriorFactor< 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 | prior_ |
Friends | |
| class | boost::serialization::access |
Additional Inherited Members | |
| Protected Types inherited from gtsam::NoiseModelFactor1< POSE > | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor1< 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::PosePriorFactor< POSE >
Definition at line 29 of file PosePriorFactor.h.
Member Typedef Documentation
template<class POSE >
|
private |
Definition at line 34 of file PosePriorFactor.h.
template<class POSE >
| typedef boost::shared_ptr<PosePriorFactor<POSE> > gtsam::PosePriorFactor< POSE >::shared_ptr |
shorthand for a smart pointer to a factor
concept check by type
Definition at line 45 of file PosePriorFactor.h.
template<class POSE >
|
private |
Definition at line 33 of file PosePriorFactor.h.
Constructor & Destructor Documentation
template<class POSE >
|
inline |
default constructor - only use for serialization
Definition at line 48 of file PosePriorFactor.h.
template<class POSE >
|
inlineoverride |
Definition at line 50 of file PosePriorFactor.h.
template<class POSE >
|
inline |
Constructor
Definition at line 53 of file PosePriorFactor.h.
Member Function Documentation
template<class POSE >
|
inlineoverridevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
Definition at line 59 of file PosePriorFactor.h.
template<class POSE >
|
inlineoverridevirtual |
template<class POSE >
|
inlineoverridevirtual |
implement functions needed to derive from Factor vector of errors
Implements gtsam::NoiseModelFactor1< POSE >.
Definition at line 86 of file PosePriorFactor.h.
template<class POSE >
|
inlineoverridevirtual |
implement functions needed for Testable print
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 66 of file PosePriorFactor.h.
template<class POSE >
|
inline |
Definition at line 97 of file PosePriorFactor.h.
template<class POSE >
template<class ARCHIVE >
|
inlineprivate |
Definition at line 104 of file PosePriorFactor.h.
Friends And Related Function Documentation
template<class POSE >
|
friend |
Serialization function
Definition at line 102 of file PosePriorFactor.h.
Member Data Documentation
template<class POSE >
|
private |
The pose of the sensor in the body frame.
The measurement
Definition at line 37 of file PosePriorFactor.h.
template<class POSE >
|
private |
Definition at line 36 of file PosePriorFactor.h.
The documentation for this class was generated from the following file: