Public Types | Public Member Functions | Private Types | List of all members
gtsam::BearingRangeFactor< A1, A2, B, R > Class Template Reference

#include <BearingRangeFactor.h>

Inheritance diagram for gtsam::BearingRangeFactor< A1, A2, B, R >:
Inheritance graph
[legend]

Public Types

typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::ExpressionFactorN< BearingRange< A1, A2 >, A1, A2 >
using ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >
 
- Public Types inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
typedef std::shared_ptr< ExpressionFactor< BearingRange< A1, A2 > > > shared_ptr
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< Thisshared_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

 BearingRangeFactor ()
 Default constructor. More...
 
 BearingRangeFactor (Key key1, Key key2, const T &bearingRange, const SharedNoiseModel &model)
 Construct from BearingRange instance. More...
 
 BearingRangeFactor (Key key1, Key key2, const B &measuredBearing, const R &measuredRange, const SharedNoiseModel &model)
 Construct from separate bearing and range. More...
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
Vector evaluateError (const A1 &a1, const A2 &a2, OptionalMatrixType H1=OptionalNone, OptionalMatrixType H2=OptionalNone) const
 
Expression< Texpression (const typename Base::ArrayNKeys &keys) const override
 
void print (const std::string &s="", const KeyFormatter &kf=DefaultKeyFormatter) const override
 print More...
 
 ~BearingRangeFactor () override
 
- Public Member Functions inherited from gtsam::ExpressionFactorN< BearingRange< A1, A2 >, A1, A2 >
virtual Expression< BearingRange< A1, A2 > > expression (const ArrayNKeys &keys) const
 
- Public Member Functions inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &f, double tol) const override
 equals relies on Testable traits being defined for T More...
 
 ExpressionFactor (const SharedNoiseModel &noiseModel, const BearingRange< A1, A2 > &measurement, const Expression< BearingRange< A1, A2 > > &expression)
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const BearingRange< A1, A2 > & measured () const
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print relies on Testable traits being defined for T More...
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
 ~ExpressionFactor () override
 Destructor. More...
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
double error (const Values &c) const override
 
const SharedNoiseModelnoiseModel () const
 access to the noise model More...
 
 NoiseModelFactor ()
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 
Vector unweightedWhitenedError (const Values &c) const
 
Vector unwhitenedError (const Values &x, std::vector< Matrix > &H) const
 
double weight (const Values &c) const
 
Vector whitenedError (const Values &c) const
 
 ~NoiseModelFactor () override
 
- Public Member Functions inherited from gtsam::NonlinearFactor
 NonlinearFactor ()
 
template<typename CONTAINER >
 NonlinearFactor (const CONTAINER &keys)
 
double error (const HybridValues &c) const override
 
virtual bool active (const Values &) const
 
virtual shared_ptr rekey (const std::map< Key, Key > &rekey_mapping) const
 
virtual shared_ptr rekey (const KeyVector &new_keys) const
 
virtual bool sendable () const
 
- Public Member Functions inherited from gtsam::Factor
virtual ~Factor ()=default
 Default destructor. More...
 
bool empty () const
 Whether the factor is empty (involves zero variables). More...
 
Key front () const
 First key. More...
 
Key back () const
 Last key. More...
 
const_iterator find (Key key) const
 find More...
 
const KeyVectorkeys () 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...
 
bool equals (const This &other, double tol=1e-9) const
 check equality More...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Types

typedef ExpressionFactorN< T, A1, A2 > Base
 
typedef BearingRange< A1, A2 > T
 
typedef BearingRangeFactor< A1, A2 > This
 

Additional Inherited Members

- Static Public Attributes inherited from gtsam::ExpressionFactorN< BearingRange< A1, A2 >, A1, A2 >
static const std::size_t NARY_EXPRESSION_SIZE
 
- Protected Types inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
typedef ExpressionFactor< BearingRange< A1, A2 > > This
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- Protected Member Functions inherited from gtsam::ExpressionFactorN< BearingRange< A1, A2 >, A1, A2 >
 ExpressionFactorN ()=default
 Default constructor, for serialization. More...
 
 ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const BearingRange< A1, A2 > &measurement)
 Constructor takes care of keys, but still need to call initialize. More...
 
- Protected Member Functions inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
 ExpressionFactor ()
 
 ExpressionFactor (const SharedNoiseModel &noiseModel, const BearingRange< A1, A2 > &measurement)
 Default constructor, for serialization. More...
 
void initialize (const Expression< BearingRange< A1, A2 > > &expression)
 Initialize with constructor arguments. More...
 
- Protected Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor (const SharedNoiseModel &noiseModel)
 
- Protected Member Functions inherited from gtsam::Factor
 Factor ()
 
template<typename CONTAINER >
 Factor (const CONTAINER &keys)
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 
- 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::ExpressionFactor< BearingRange< A1, A2 > >
FastVector< intdims_
 dimensions of the Jacobian matrices More...
 
Expression< BearingRange< A1, A2 > > expression_
 the expression that is AD enabled More...
 
BearingRange< A1, A2 > measured_
 the measurement to be compared with the expression More...
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 
- Static Protected Attributes inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
static const int Dim
 

Detailed Description

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
class gtsam::BearingRangeFactor< A1, A2, B, R >

Binary factor for a bearing/range measurement

Definition at line 34 of file sam/BearingRangeFactor.h.

Member Typedef Documentation

◆ Base

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
typedef ExpressionFactorN<T, A1, A2> gtsam::BearingRangeFactor< A1, A2, B, R >::Base
private

Definition at line 38 of file sam/BearingRangeFactor.h.

◆ shared_ptr

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
typedef std::shared_ptr<This> gtsam::BearingRangeFactor< A1, A2, B, R >::shared_ptr

Definition at line 42 of file sam/BearingRangeFactor.h.

◆ T

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
typedef BearingRange<A1, A2> gtsam::BearingRangeFactor< A1, A2, B, R >::T
private

Definition at line 37 of file sam/BearingRangeFactor.h.

◆ This

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
typedef BearingRangeFactor<A1, A2> gtsam::BearingRangeFactor< A1, A2, B, R >::This
private

Definition at line 39 of file sam/BearingRangeFactor.h.

Constructor & Destructor Documentation

◆ BearingRangeFactor() [1/3]

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
gtsam::BearingRangeFactor< A1, A2, B, R >::BearingRangeFactor ( )
inline

Default constructor.

Definition at line 45 of file sam/BearingRangeFactor.h.

◆ BearingRangeFactor() [2/3]

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
gtsam::BearingRangeFactor< A1, A2, B, R >::BearingRangeFactor ( Key  key1,
Key  key2,
const T bearingRange,
const SharedNoiseModel model 
)
inline

Construct from BearingRange instance.

Definition at line 48 of file sam/BearingRangeFactor.h.

◆ BearingRangeFactor() [3/3]

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
gtsam::BearingRangeFactor< A1, A2, B, R >::BearingRangeFactor ( Key  key1,
Key  key2,
const B measuredBearing,
const R measuredRange,
const SharedNoiseModel model 
)
inline

Construct from separate bearing and range.

Definition at line 55 of file sam/BearingRangeFactor.h.

◆ ~BearingRangeFactor()

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
gtsam::BearingRangeFactor< A1, A2, B, R >::~BearingRangeFactor ( )
inlineoverride

Definition at line 61 of file sam/BearingRangeFactor.h.

Member Function Documentation

◆ clone()

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
gtsam::NonlinearFactor::shared_ptr gtsam::BearingRangeFactor< A1, A2, B, R >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 64 of file sam/BearingRangeFactor.h.

◆ evaluateError()

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
Vector gtsam::BearingRangeFactor< A1, A2, B, R >::evaluateError ( const A1 &  a1,
const A2 &  a2,
OptionalMatrixType  H1 = OptionalNone,
OptionalMatrixType  H2 = OptionalNone 
) const
inline

Definition at line 75 of file sam/BearingRangeFactor.h.

◆ expression()

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
Expression<T> gtsam::BearingRangeFactor< A1, A2, B, R >::expression ( const typename Base::ArrayNKeys keys) const
inlineoverride

Definition at line 70 of file sam/BearingRangeFactor.h.

◆ print()

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
void gtsam::BearingRangeFactor< A1, A2, B, R >::print ( const std::string &  s = "",
const KeyFormatter kf = DefaultKeyFormatter 
) const
inlineoverridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 87 of file sam/BearingRangeFactor.h.


The documentation for this class was generated from the following file:


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:15