26 using NoiseModelFactor2<Pose3, OrientedPlane3>::evaluateError;
42 : Base(noiseModel, poseKey, landmarkKey), measured_p_(z) {}
45 void print(
const std::string&
s =
"OrientedPlane3Factor",
63 using Base::evaluateError;
73 : Base(noiseModel, key), measured_p_(z) {}
76 void print(
const std::string&
s =
"OrientedPlane3DirectionPrior",
OrientedPlane3DirectionPrior This
void print(const Matrix &A, const string &s, ostream &stream)
const gtsam::Symbol key('X', 0)
OrientedPlane3Factor(const Vector4 &z, const SharedGaussian &noiseModel, Key poseKey, Key landmarkKey)
OrientedPlane3DirectionPrior(Key key, const Vector4 &z, const SharedGaussian &noiseModel)
Constructor with measured plane coefficients (a,b,c,d), noise model, landmark symbol.
~OrientedPlane3Factor() override
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static const KeyFormatter DefaultKeyFormatter
Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distan...
Matrix * OptionalMatrixType
Array< double, 1, 3 > e(1./3., 0.5, 2.)
NoiseModelFactorN< Pose3, OrientedPlane3 > Base
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
NoiseModelFactorN< OrientedPlane3 > Base
measured plane parameters
OrientedPlane3 measured_p_
Non-linear factor base classes.
OrientedPlane3 measured_p_
OrientedPlane3Factor()
Constructor.
std::uint64_t Key
Integer nonlinear key type.
noiseModel::Gaussian::shared_ptr SharedGaussian
OrientedPlane3DirectionPrior()
Constructor.