NonlinearFactor.h File Reference

Non-linear factor base classes. More...

#include <gtsam/nonlinear/Values.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/inference/Factor.h>
#include <gtsam/base/OptionalJacobian.h>
#include <gtsam/base/utilities.h>
#include <cstddef>
#include <type_traits>

Include dependency graph for NonlinearFactor.h:

Go to the source code of this file.

Classes
class	gtsam::NoiseModelFactor
struct	gtsam::detail::NoiseModelFactorAliases< typename,... >
struct	gtsam::detail::NoiseModelFactorAliases< T1 >
struct	gtsam::detail::NoiseModelFactorAliases< T1, T2 >
struct	gtsam::detail::NoiseModelFactorAliases< T1, T2, T3 >
struct	gtsam::detail::NoiseModelFactorAliases< T1, T2, T3, T4 >
struct	gtsam::detail::NoiseModelFactorAliases< T1, T2, T3, T4, T5 >
struct	gtsam::detail::NoiseModelFactorAliases< T1, T2, T3, T4, T5, T6, TExtra... >
class	gtsam::NoiseModelFactorN< ValueTypes >
class	gtsam::NonlinearFactor
struct	gtsam::traits< NonlinearFactor >
	traits More...

Namespaces
	gtsam
	traits
	gtsam::detail

Macros
#define	NoiseModelFactor1   NoiseModelFactorN
#define	NoiseModelFactor2   NoiseModelFactorN
#define	NoiseModelFactor3   NoiseModelFactorN
#define	NoiseModelFactor4   NoiseModelFactorN
#define	NoiseModelFactor5   NoiseModelFactorN
#define	NoiseModelFactor6   NoiseModelFactorN
#define	OptionalNone   static_cast<Matrix*>(nullptr)

Typedefs
using	gtsam::OptionalMatrixType = Matrix *
using	gtsam::OptionalMatrixVecType = std::vector< Matrix > *

Detailed Description

Non-linear factor base classes.

Author

Frank Dellaert

Richard Roberts

Gerry Chen

Definition in file NonlinearFactor.h.

Macro Definition Documentation

NoiseModelFactor1

#define NoiseModelFactor1   NoiseModelFactorN

Definition at line 764 of file NonlinearFactor.h.

NoiseModelFactor2

#define NoiseModelFactor2   NoiseModelFactorN

Definition at line 765 of file NonlinearFactor.h.

NoiseModelFactor3

#define NoiseModelFactor3   NoiseModelFactorN

Definition at line 766 of file NonlinearFactor.h.

NoiseModelFactor4

#define NoiseModelFactor4   NoiseModelFactorN

Definition at line 767 of file NonlinearFactor.h.

NoiseModelFactor5

#define NoiseModelFactor5   NoiseModelFactorN

Definition at line 768 of file NonlinearFactor.h.

NoiseModelFactor6

#define NoiseModelFactor6   NoiseModelFactorN

Definition at line 769 of file NonlinearFactor.h.

OptionalNone

#define OptionalNone   static_cast<Matrix*>(nullptr)

These typedefs and aliases will help with making the evaluateError interface independent of boost TODO(kartikarcot): Change this to OptionalMatrixNone This typedef is used to indicate that the Jacobian is not required and the default value used for optional matrix pointer arguments in evaluateError. Had to use the static_cast of a nullptr, because the compiler is not able to deduce the type of the nullptr when expanding the evaluateError templates.

Definition at line 49 of file NonlinearFactor.h.