smallExample.h File Reference

Create small example with two poses and one landmark. More...

#include <tests/simulated2D.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <boost/assign/list_of.hpp>

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Classes
struct	gtsam::example::smallOptimize::UnaryFactor

Namespaces
	gtsam
	traits
	gtsam::example
	gtsam::example::impl
	gtsam::example::smallOptimize

Typedefs
typedef boost::shared_ptr< NonlinearFactor >	gtsam::example::impl::shared_nlf

Functions
VectorValues	gtsam::example::createCorrectDelta ()
GaussianFactorGraph	gtsam::example::createGaussianFactorGraph ()
GaussianFactorGraph	gtsam::example::createMultiConstraintGraph ()
VectorValues	gtsam::example::createMultiConstraintValues ()
Values	gtsam::example::createNoisyValues ()
NonlinearFactorGraph	gtsam::example::createNonlinearFactorGraph (const SharedNoiseModel &noiseModel1=impl::kSigma0_1, const SharedNoiseModel &noiseModel2=impl::kSigma0_2)
std::pair< NonlinearFactorGraph, Values >	gtsam::example::createNonlinearSmoother (int T)
NonlinearFactorGraph	gtsam::example::createReallyNonlinearFactorGraph ()
GaussianFactorGraph	gtsam::example::createSimpleConstraintGraph ()
VectorValues	gtsam::example::createSimpleConstraintValues ()
GaussianFactorGraph	gtsam::example::createSingleConstraintGraph ()
VectorValues	gtsam::example::createSingleConstraintValues ()
GaussianBayesNet	gtsam::example::createSmallGaussianBayesNet ()
GaussianFactorGraph	gtsam::example::createSmoother (int T)
Values	gtsam::example::createValues ()
VectorValues	gtsam::example::createVectorValues ()
VectorValues	gtsam::example::createZeroDelta ()
Point2	gtsam::example::smallOptimize::h (const Point2 &v)
Matrix	gtsam::example::smallOptimize::H (const Point2 &v)
Symbol	gtsam::example::impl::key (size_t x, size_t y)
NonlinearFactorGraph	gtsam::example::nonlinearFactorGraphWithGivenSigma (const double sigma)
std::pair< GaussianFactorGraph, VectorValues >	gtsam::example::planarGraph (size_t N)
Ordering	gtsam::example::planarOrdering (size_t N)
boost::shared_ptr< const Values >	gtsam::example::sharedNoisyValues ()
boost::shared_ptr< const NonlinearFactorGraph >	gtsam::example::sharedNonlinearFactorGraph (const SharedNoiseModel &noiseModel1=impl::kSigma0_1, const SharedNoiseModel &noiseModel2=impl::kSigma0_2)
NonlinearFactorGraph	gtsam::example::sharedNonRobustFactorGraphWithOutliers ()
boost::shared_ptr< const NonlinearFactorGraph >	gtsam::example::sharedReallyNonlinearFactorGraph ()
NonlinearFactorGraph	gtsam::example::sharedRobustFactorGraphWithOutliers ()
std::pair< GaussianFactorGraph::shared_ptr, GaussianFactorGraph::shared_ptr >	gtsam::example::splitOffPlanarTree (size_t N, const GaussianFactorGraph &original)

Variables
static const Key	gtsam::example::impl::_l1_ =0
static const Key	gtsam::example::impl::_x1_ =1
static const Key	gtsam::example::impl::_x2_ =2
static const Key	gtsam::example::impl::_x_ =0
static const Key	gtsam::example::impl::_y_ =1
static const Key	gtsam::example::impl::_z_ =2
static SharedDiagonal	gtsam::example::impl::kConstrainedModel = noiseModel::Constrained::All(2)
static SharedDiagonal	gtsam::example::impl::kSigma0_1 = noiseModel::Isotropic::Sigma(2,0.1)
static SharedDiagonal	gtsam::example::impl::kSigma0_2 = noiseModel::Isotropic::Sigma(2,0.2)
static SharedDiagonal	gtsam::example::impl::kSigma1_0 = noiseModel::Isotropic::Sigma(2,1.0)

Detailed Description

Create small example with two poses and one landmark.

smallExample

Author

Carlos Nieto

Definition in file smallExample.h.