#include <TransformBtwRobotsUnaryFactor.h>

Inheritance diagram for gtsam::TransformBtwRobotsUnaryFactor< VALUE >:

Public Types
typedef boost::shared_ptr< TransformBtwRobotsUnaryFactor >	shared_ptr

typedef VALUE	T

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

size_t	dim () const override

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override

double	error (const gtsam::Values &x) const override

boost::shared_ptr< gtsam::GaussianFactor >	linearize (const gtsam::Values &x) const override

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

void	setValAValB (const gtsam::Values &valA, const gtsam::Values &valB)

	TransformBtwRobotsUnaryFactor ()

	TransformBtwRobotsUnaryFactor (Key key, const VALUE &measured, Key keyA, Key keyB, const gtsam::Values &valA, const gtsam::Values &valB, const SharedGaussian &model)

gtsam::Vector	unwhitenedError (const gtsam::Values &x) const

gtsam::Vector	whitenedError (const gtsam::Values &x, boost::optional< std::vector< gtsam::Matrix > & > H=boost::none) const

	~TransformBtwRobotsUnaryFactor () 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 gtsam::NonlinearFactor	Base

typedef TransformBtwRobotsUnaryFactor< VALUE >	This

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

Private Attributes
gtsam::Key	key_

gtsam::Key	keyA_

gtsam::Key	keyB_

VALUE	measured_

SharedGaussian	model_

gtsam::Values	valA_

gtsam::Values	valB_

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

template<class VALUE>
class gtsam::TransformBtwRobotsUnaryFactor< VALUE >

Definition at line 35 of file TransformBtwRobotsUnaryFactor.h.

Member Typedef Documentation

template<class VALUE>

typedef gtsam::NonlinearFactor gtsam::TransformBtwRobotsUnaryFactor< VALUE >::Base

private

Definition at line 44 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

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

concept check by type

Definition at line 64 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

typedef VALUE gtsam::TransformBtwRobotsUnaryFactor< VALUE >::T

Definition at line 39 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

typedef TransformBtwRobotsUnaryFactor<VALUE> gtsam::TransformBtwRobotsUnaryFactor< VALUE >::This

private

Definition at line 43 of file TransformBtwRobotsUnaryFactor.h.

Constructor & Destructor Documentation

template<class VALUE>

gtsam::TransformBtwRobotsUnaryFactor< VALUE >::TransformBtwRobotsUnaryFactor ( )

inline

default constructor - only use for serialization

Definition at line 67 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

gtsam::TransformBtwRobotsUnaryFactor< VALUE >::TransformBtwRobotsUnaryFactor	(	Key	key,
		const VALUE &	measured,
		Key	keyA,
		Key	keyB,
		const gtsam::Values &	valA,
		const gtsam::Values &	valB,
		const SharedGaussian &	model
	)

inline

Constructor

Definition at line 70 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

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

inlineoverride

Definition at line 80 of file TransformBtwRobotsUnaryFactor.h.

Member Function Documentation

template<class VALUE>

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

inlineoverridevirtual

Clone

Reimplemented from gtsam::NonlinearFactor.

Definition at line 84 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

size_t gtsam::TransformBtwRobotsUnaryFactor< VALUE >::dim ( ) const

inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

Definition at line 206 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 102 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

double gtsam::TransformBtwRobotsUnaryFactor< VALUE >::error ( const gtsam::Values & c ) const

inlineoverridevirtual

Calculate the error of the factor This is typically equal to log-likelihood, e.g. $ 0.5(h(x)-z)^2/sigma^2 $ in case of Gaussian. You can override this for systems with unusual noise models.

Implements gtsam::NonlinearFactor.

Definition at line 131 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

boost::shared_ptr<gtsam::GaussianFactor> gtsam::TransformBtwRobotsUnaryFactor< VALUE >::linearize ( const gtsam::Values & x ) const

inlineoverridevirtual

Linearize a non-linearFactorN to get a gtsam::GaussianFactor, $Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z$ Hence $b = z - h(x) = - \mathtt{error\_vector}(x)$

Implements gtsam::NonlinearFactor.

Definition at line 142 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

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

inlineoverridevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NonlinearFactor.

Definition at line 90 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

template<class ARCHIVE >

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

inlineprivate

Definition at line 215 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

void gtsam::TransformBtwRobotsUnaryFactor< VALUE >::setValAValB	(	const gtsam::Values &	valA,
		const gtsam::Values &	valB
	)

inline

implement functions needed to derive from Factor

Definition at line 114 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

gtsam::Vector gtsam::TransformBtwRobotsUnaryFactor< VALUE >::unwhitenedError ( const gtsam::Values & x ) const

inline

Definition at line 191 of file TransformBtwRobotsUnaryFactor.h.

template<class VALUE>

gtsam::Vector gtsam::TransformBtwRobotsUnaryFactor< VALUE >::whitenedError	(	const gtsam::Values &	x,
		boost::optional< std::vector< gtsam::Matrix > & >	H = `boost::none`
	)		const