#include <PoseRotationPrior.h>

Inheritance diagram for gtsam::PoseRotationPrior< POSE >:

[legend]

Public Types
typedef NoiseModelFactor1< POSE >	Base

typedef POSE	Pose

typedef POSE::Rotation	Rotation

typedef PoseRotationPrior< POSE >	This

typedef POSE::Translation	Translation

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 &pose, boost::optional< Matrix & > H=boost::none) const override

const Rotation &	measured () const

	PoseRotationPrior (Key key, const Rotation &rot_z, const SharedNoiseModel &model)

	PoseRotationPrior (Key key, const POSE &pose_z, const SharedNoiseModel &model)

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

	~PoseRotationPrior () 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 ()

Static Public Attributes
static const int	rDim = FixedDimension<typename POSE::Rotation>::value

static const int	xDim = FixedDimension<POSE>::value

Protected Attributes
Rotation	measured_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

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< 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)

Detailed Description

template<class POSE>
class gtsam::PoseRotationPrior< POSE >

Definition at line 19 of file PoseRotationPrior.h.

Member Typedef Documentation

template<class POSE >

typedef NoiseModelFactor1<POSE> gtsam::PoseRotationPrior< POSE >::Base

Definition at line 23 of file PoseRotationPrior.h.

template<class POSE >

typedef POSE gtsam::PoseRotationPrior< POSE >::Pose

Definition at line 24 of file PoseRotationPrior.h.

template<class POSE >

typedef POSE::Rotation gtsam::PoseRotationPrior< POSE >::Rotation

Definition at line 26 of file PoseRotationPrior.h.

template<class POSE >

typedef PoseRotationPrior<POSE> gtsam::PoseRotationPrior< POSE >::This

Definition at line 22 of file PoseRotationPrior.h.

template<class POSE >

typedef POSE::Translation gtsam::PoseRotationPrior< POSE >::Translation

Definition at line 25 of file PoseRotationPrior.h.

Constructor & Destructor Documentation

template<class POSE >

gtsam::PoseRotationPrior< POSE >::PoseRotationPrior	(	Key	key,
		const Rotation &	rot_z,
		const SharedNoiseModel &	model
	)

inline

standard constructor

Definition at line 43 of file PoseRotationPrior.h.

template<class POSE >

gtsam::PoseRotationPrior< POSE >::PoseRotationPrior	(	Key	key,
		const POSE &	pose_z,
		const SharedNoiseModel &	model
	)

inline

Constructor that pulls the translation from an incoming POSE

Definition at line 47 of file PoseRotationPrior.h.

template<class POSE >

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

inlineoverride

Definition at line 50 of file PoseRotationPrior.h.

Member Function Documentation

template<class POSE >

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 53 of file PoseRotationPrior.h.

template<class POSE >

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

inlineoverridevirtual

equals specialized to this factor

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 63 of file PoseRotationPrior.h.

template<class POSE >

Vector gtsam::PoseRotationPrior< POSE >::evaluateError	(	const Pose &	pose,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlineoverridevirtual

h(x)-z

Implements gtsam::NoiseModelFactor1< POSE >.

Definition at line 75 of file PoseRotationPrior.h.

template<class POSE >

const Rotation& gtsam::PoseRotationPrior< POSE >::measured ( ) const

inline

Definition at line 58 of file PoseRotationPrior.h.

template<class POSE >

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

inlineoverridevirtual

print contents

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 69 of file PoseRotationPrior.h.

template<class POSE >

template<class ARCHIVE >

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

inlineprivate

Definition at line 91 of file PoseRotationPrior.h.

Friends And Related Function Documentation

template<class POSE >

friend class boost::serialization::access

friend

Serialization function

Definition at line 89 of file PoseRotationPrior.h.

Member Data Documentation

template<class POSE >

Rotation gtsam::PoseRotationPrior< POSE >::measured_

protected

Definition at line 38 of file PoseRotationPrior.h.

template<class POSE >

const int gtsam::PoseRotationPrior< POSE >::rDim = FixedDimension<typename POSE::Rotation>::value

static

Definition at line 34 of file PoseRotationPrior.h.

template<class POSE >

const int gtsam::PoseRotationPrior< POSE >::xDim = FixedDimension<POSE>::value

static

Definition at line 33 of file PoseRotationPrior.h.

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

PoseRotationPrior.h

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class POSE> class gtsam::PoseRotationPrior< POSE >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class POSE>
class gtsam::PoseRotationPrior< POSE >