#include <RotateFactor.h>

Inheritance diagram for gtsam::RotateDirectionsFactor:

[legend]

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const Rot3 &iRc, boost::optional< Matrix & > H=boost::none) const override
	vector of errors returns 2D vector More...

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

	RotateDirectionsFactor (Key key, const Unit3 &i_p, const Unit3 &c_z, const SharedNoiseModel &model)
	Constructor. More...

Public Member Functions inherited from gtsam::NoiseModelFactor1< Rot3 >
	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

bool	equals (const NonlinearFactor &f, double tol=1e-9) 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 Member Functions
static Rot3	Initialize (const Unit3 &i_p, const Unit3 &c_z)
	Initialize rotation iRc such that i_p = iRc * c_z. More...

Private Types
typedef NoiseModelFactor1< Rot3 >	Base

typedef RotateDirectionsFactor	This

Private Attributes
Unit3	c_z_
	Predicted and measured directions, i_p = iRc * c_z. More...

Unit3	i_p_

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor1< Rot3 >
typedef Rot3	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...

Protected Types inherited from gtsam::NoiseModelFactor1< Rot3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< Rot3 >	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

Factor on unknown rotation iRc that relates two directions c Directions provide less constraints than a full rotation

Definition at line 67 of file RotateFactor.h.

Member Typedef Documentation

typedef NoiseModelFactor1<Rot3> gtsam::RotateDirectionsFactor::Base

private

Definition at line 71 of file RotateFactor.h.

typedef RotateDirectionsFactor gtsam::RotateDirectionsFactor::This

private

Definition at line 72 of file RotateFactor.h.

Constructor & Destructor Documentation

gtsam::RotateDirectionsFactor::RotateDirectionsFactor	(	Key	key,
		const Unit3 &	i_p,
		const Unit3 &	c_z,
		const SharedNoiseModel &	model
	)

inline

Constructor.

Definition at line 77 of file RotateFactor.h.

Member Function Documentation

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 91 of file RotateFactor.h.

Vector gtsam::RotateDirectionsFactor::evaluateError	(	const Rot3 &	iRc,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlineoverridevirtual

vector of errors returns 2D vector

Implements gtsam::NoiseModelFactor1< Rot3 >.

Definition at line 105 of file RotateFactor.h.

static Rot3 gtsam::RotateDirectionsFactor::Initialize	(	const Unit3 &	i_p,
		const Unit3 &	c_z
	)

inlinestatic

Initialize rotation iRc such that i_p = iRc * c_z.

Definition at line 83 of file RotateFactor.h.

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

inlineoverridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 96 of file RotateFactor.h.

Member Data Documentation

Unit3 gtsam::RotateDirectionsFactor::c_z_

private

Predicted and measured directions, i_p = iRc * c_z.

Definition at line 69 of file RotateFactor.h.

Unit3 gtsam::RotateDirectionsFactor::i_p_

private

Definition at line 69 of file RotateFactor.h.

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

RotateFactor.h

Public Member Functions

Static Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation