#include <RotateFactor.h>
Inheritance diagram for gtsam::RotateFactor:
Public Member Functions | |
| gtsam::NonlinearFactor::shared_ptr | clone () const override |
| Vector | evaluateError (const Rot3 &R, 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... | |
| RotateFactor (Key key, const Rot3 &P, const Rot3 &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 () |
Private Types | |
| typedef NoiseModelFactor1< Rot3 > | Base |
| typedef RotateFactor | This |
Private Attributes | |
| Point3 | p_ |
| Point3 | z_ |
| Predicted and measured directions, p = iRc * z. More... | |
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 incremental rotations c1Rc2 = iRc' * i1Ri2 * iRc Which we can write (see doc/math.lyx) e^[z] = iRc' * e^[p] * iRc = e^([iRc'*p]) with z and p measured and predicted angular velocities, and hence p = iRc * z
Definition at line 23 of file RotateFactor.h.
Member Typedef Documentation
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private |
Definition at line 27 of file RotateFactor.h.
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private |
Definition at line 28 of file RotateFactor.h.
Constructor & Destructor Documentation
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inline |
Constructor.
Definition at line 33 of file RotateFactor.h.
Member Function Documentation
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inlineoverridevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
Definition at line 39 of file RotateFactor.h.
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inlineoverridevirtual |
vector of errors returns 2D vector
Implements gtsam::NoiseModelFactor1< Rot3 >.
Definition at line 53 of file RotateFactor.h.
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inlineoverridevirtual |
Member Data Documentation
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private |
Definition at line 25 of file RotateFactor.h.
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private |
Predicted and measured directions, p = iRc * z.
Definition at line 25 of file RotateFactor.h.
The documentation for this class was generated from the following file: