#include <RelativeElevationFactor.h>

Inheritance diagram for gtsam::RelativeElevationFactor:

[legend]

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 &pose, const Point3 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override

double	measured () const

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

	RelativeElevationFactor ()

	RelativeElevationFactor (Key poseKey, Key pointKey, double measured, const SharedNoiseModel &model)

	~RelativeElevationFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactor2< Pose3, Point3 >
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< Pose3, Point3 >	Base

typedef RelativeElevationFactor	This

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

Private Attributes
double	measured_

Friends
class	boost::serialization::access

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor2< Pose3, Point3 >
typedef Pose3	X1

typedef Point3	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...

Protected Types inherited from gtsam::NoiseModelFactor2< Pose3, Point3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Pose3, Point3 >	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

Binary factor for a relative elevation. Note that this factor takes into account only elevation, and corrects for orientation. Unlike a range factor, the relative elevation is signed, and only affects the Z coordinate. Measurement function h(pose, pt) = h.z() - pt.z()

Dimension: 1

TODO: enable use of a Pose3 for the target as well

Definition at line 28 of file RelativeElevationFactor.h.

Member Typedef Documentation

typedef NoiseModelFactor2<Pose3, Point3> gtsam::RelativeElevationFactor::Base

private

Definition at line 34 of file RelativeElevationFactor.h.

typedef RelativeElevationFactor gtsam::RelativeElevationFactor::This

private

measurement

Definition at line 33 of file RelativeElevationFactor.h.

Constructor & Destructor Documentation

gtsam::RelativeElevationFactor::RelativeElevationFactor ( )

inline

Definition at line 38 of file RelativeElevationFactor.h.

gtsam::RelativeElevationFactor::RelativeElevationFactor	(	Key	poseKey,
		Key	pointKey,
		double	measured,
		const SharedNoiseModel &	model
	)

Definition at line 13 of file RelativeElevationFactor.cpp.

gtsam::RelativeElevationFactor::~RelativeElevationFactor ( )

inlineoverride

Definition at line 43 of file RelativeElevationFactor.h.

Member Function Documentation

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 46 of file RelativeElevationFactor.h.

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

overridevirtual

equals specialized to this factor

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 39 of file RelativeElevationFactor.cpp.

Vector gtsam::RelativeElevationFactor::evaluateError	(	const Pose3 &	pose,
		const Point3 &	point,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

overridevirtual

h(x)-z

Implements gtsam::NoiseModelFactor2< Pose3, Point3 >.

Definition at line 20 of file RelativeElevationFactor.cpp.

double gtsam::RelativeElevationFactor::measured ( ) const

inline

return the measured

Definition at line 55 of file RelativeElevationFactor.h.

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

overridevirtual

print contents

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 45 of file RelativeElevationFactor.cpp.

template<class ARCHIVE >

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

inlineprivate

Definition at line 68 of file RelativeElevationFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 66 of file RelativeElevationFactor.h.

Member Data Documentation

double gtsam::RelativeElevationFactor::measured_

private

Definition at line 31 of file RelativeElevationFactor.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation