70 const This *
e =
dynamic_cast<const This*
> (&
expected);
82 const Rotation& newR = pose.rotation();
85 std::pair<size_t, size_t> rotInterval = POSE::rotationInterval();
86 (*H).middleCols(rotInterval.first,
rDim).setIdentity(
rDim,
rDim);
94 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION 96 friend class boost::serialization::access;
97 template<
class ARCHIVE>
98 void serialize(ARCHIVE & ar,
const unsigned int ) {
100 ar & boost::serialization::make_nvp(
"NoiseModelFactor1",
101 boost::serialization::base_object<Base>(*
this));
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
NoiseModelFactorN< POSE > Base
gtsam::NonlinearFactor::shared_ptr clone() const override
Rot3_ rotation(const Pose3_ &pose)
std::string serialize(const T &input)
serializes to a string
noiseModel::Diagonal::shared_ptr model
bool equals(const NonlinearFactor &f, double tol=1e-9) const override
PoseRotationPrior(Key key, const Rotation &rot_z, const SharedNoiseModel &model)
virtual Vector evaluateError(const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
Give fixed size dimension of a type, fails at compile time if dynamic.
PoseRotationPrior< POSE > This
PoseRotationPrior(Key key, const POSE &pose_z, const SharedNoiseModel &model)
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static const KeyFormatter DefaultKeyFormatter
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
bool equals(const NonlinearFactor &expected, double tol=1e-9) const override
~PoseRotationPrior() override
#define GTSAM_CONCEPT_POSE_TYPE(T)
Matrix * OptionalMatrixType
POSE::Translation Translation
Array< double, 1, 3 > e(1./3., 0.5, 2.)
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Vector evaluateError(const Pose &pose, OptionalMatrixType H) const override
const Rotation & measured() const
#define GTSAM_CONCEPT_LIE_TYPE(T)
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
Non-linear factor base classes.
std::shared_ptr< This > shared_ptr
std::uint64_t Key
Integer nonlinear key type.
noiseModel::Base::shared_ptr SharedNoiseModel
#define GTSAM_CONCEPT_GROUP_TYPE(T)