#include <PriorFactor.h>

Inheritance diagram for gtsam::PriorFactor< VALUE >:

[legend]

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

typedef VALUE	T

typedef PriorFactor< VALUE >	This
	Typedef to this class. More...

Public Types inherited from gtsam::NoiseModelFactor1< VALUE >
typedef VALUE	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 T &x, boost::optional< Matrix & > H=boost::none) const override

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

const VALUE &	prior () const

	PriorFactor ()

	PriorFactor (Key key, const VALUE &prior, const SharedNoiseModel &model=nullptr)

	PriorFactor (Key key, const VALUE &prior, const Matrix &covariance)

	~PriorFactor () override

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

	~NoiseModelFactor1 () override

Key	key () const

	NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)

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
enum	{ NeedsToAlign = (sizeof(T) % 16) == 0 }

typedef NoiseModelFactor1< VALUE >	Base

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

Private Attributes
VALUE	prior_

Friends
class	boost::serialization::access

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

typedef NoiseModelFactor1< VALUE >	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 VALUE>
class gtsam::PriorFactor< VALUE >

Definition at line 30 of file nonlinear/PriorFactor.h.

Member Typedef Documentation

template<class VALUE>

typedef NoiseModelFactor1<VALUE> gtsam::PriorFactor< VALUE >::Base

private

Definition at line 37 of file nonlinear/PriorFactor.h.

template<class VALUE>

typedef boost::shared_ptr<PriorFactor<VALUE> > gtsam::PriorFactor< VALUE >::shared_ptr

shorthand for a smart pointer to a factor

The measurement concept check by type

Definition at line 47 of file nonlinear/PriorFactor.h.

template<class VALUE>

typedef VALUE gtsam::PriorFactor< VALUE >::T

Definition at line 33 of file nonlinear/PriorFactor.h.

template<class VALUE>

typedef PriorFactor<VALUE> gtsam::PriorFactor< VALUE >::This

Typedef to this class.

Definition at line 50 of file nonlinear/PriorFactor.h.

Member Enumeration Documentation

template<class VALUE>

anonymous enum

private

Enumerator
NeedsToAlign

Definition at line 115 of file nonlinear/PriorFactor.h.

Constructor & Destructor Documentation

template<class VALUE>

gtsam::PriorFactor< VALUE >::PriorFactor ( )

inline

default constructor - only use for serialization

Definition at line 53 of file nonlinear/PriorFactor.h.

template<class VALUE>

gtsam::PriorFactor< VALUE >::~PriorFactor ( )

inlineoverride

Definition at line 55 of file nonlinear/PriorFactor.h.

template<class VALUE>

gtsam::PriorFactor< VALUE >::PriorFactor	(	Key	key,
		const VALUE &	prior,
		const SharedNoiseModel &	model = `nullptr`
	)

inline

Constructor

Definition at line 58 of file nonlinear/PriorFactor.h.

template<class VALUE>

gtsam::PriorFactor< VALUE >::PriorFactor	(	Key	key,
		const VALUE &	prior,
		const Matrix &	covariance
	)

inline

Convenience constructor that takes a full covariance argument

Definition at line 63 of file nonlinear/PriorFactor.h.

Member Function Documentation

template<class VALUE>

gtsam::NonlinearFactor::shared_ptr gtsam::PriorFactor< VALUE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 68 of file nonlinear/PriorFactor.h.

template<class VALUE>

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 86 of file nonlinear/PriorFactor.h.

template<class VALUE>

Vector gtsam::PriorFactor< VALUE >::evaluateError	(	const T &	x,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlineoverridevirtual

implement functions needed to derive from Factor vector of errors

Implements gtsam::NoiseModelFactor1< VALUE >.

Definition at line 94 of file nonlinear/PriorFactor.h.

template<class VALUE>

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

inlineoverridevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 75 of file nonlinear/PriorFactor.h.

template<class VALUE>

const VALUE& gtsam::PriorFactor< VALUE >::prior ( ) const

inline

Definition at line 101 of file nonlinear/PriorFactor.h.

template<class VALUE>

template<class ARCHIVE >

void gtsam::PriorFactor< VALUE >::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 108 of file nonlinear/PriorFactor.h.

Friends And Related Function Documentation

template<class VALUE>

friend class boost::serialization::access

friend

Serialization function

Definition at line 106 of file nonlinear/PriorFactor.h.

Member Data Documentation

template<class VALUE>

VALUE gtsam::PriorFactor< VALUE >::prior_

private

Definition at line 39 of file nonlinear/PriorFactor.h.

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

nonlinear/PriorFactor.h

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

template<class VALUE> class gtsam::PriorFactor< VALUE >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class VALUE>
class gtsam::PriorFactor< VALUE >