Public Types | Public Member Functions | Private Attributes | List of all members
gtsam::OdometryFactorBase Class Reference

#include <TSAMFactors.h>

Inheritance diagram for gtsam::OdometryFactorBase:
Inheritance graph
[legend]

Public Types

typedef NoiseModelFactorN< Pose2, Pose2, Pose2, Pose2Base
 
typedef std::shared_ptr< Thisshared_ptr
 
typedef OdometryFactorBase This
 
- Public Types inherited from gtsam::NoiseModelFactorN< Pose2, Pose2, Pose2, Pose2 >
enum  
 N is the number of variables (N-way factor) More...
 
using ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type
 
- 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

Vector evaluateError (const Pose2 &base1, const Pose2 &pose1, const Pose2 &base2, const Pose2 &pose2, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3, OptionalMatrixType H4) const override
 Evaluate measurement error h(x)-z. More...
 
 OdometryFactorBase (Key b1, Key i, Key b2, Key j, const Pose2 &measured, const SharedNoiseModel &model)
 Constructor. More...
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose2, Pose2, Pose2, Pose2 >
Key key () const
 
 ~NoiseModelFactorN () override
 
 NoiseModelFactorN ()
 Default Constructor for I/O. More...
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
virtual Vector evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
 
Vector evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const
 
Vector evaluateError (const ValueTypes &... x) const
 
AreAllMatrixRefs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
AreAllMatrixPtrs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Key key6 () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
double error (const Values &c) const override
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () const
 access to the noise model More...
 
 NoiseModelFactor ()
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
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 clone () 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 Attributes

Pose2 measured_
 the measurement More...
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< Pose2, Pose2, Pose2, Pose2 >
using Base = NoiseModelFactor
 
using KeyType = Key
 
using MatrixTypeT = Matrix
 
using OptionalMatrixTypeT = Matrix *
 
using This = NoiseModelFactorN< ValueTypes... >
 
using IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type
 
using IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type
 
using ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type
 
using IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >
 
using AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix &>::value), Ret >
 
using IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix *>
 
using IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >
 
using AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value||IsNullpointer< Args >::value)), Ret >
 
- 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::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::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Detailed Description

OdometryFactorBase: Pose2 odometry, with Basenodes

Definition at line 116 of file TSAMFactors.h.

Member Typedef Documentation

◆ Base

Definition at line 120 of file TSAMFactors.h.

◆ shared_ptr

typedef std::shared_ptr<This> gtsam::OdometryFactorBase::shared_ptr

Definition at line 121 of file TSAMFactors.h.

◆ This

Definition at line 119 of file TSAMFactors.h.

Constructor & Destructor Documentation

◆ OdometryFactorBase()

gtsam::OdometryFactorBase::OdometryFactorBase ( Key  b1,
Key  i,
Key  b2,
Key  j,
const Pose2 measured,
const SharedNoiseModel model 
)
inline

Constructor.

Definition at line 132 of file TSAMFactors.h.

Member Function Documentation

◆ evaluateError()

Vector gtsam::OdometryFactorBase::evaluateError ( const Pose2 base1,
const Pose2 pose1,
const Pose2 base2,
const Pose2 pose2,
OptionalMatrixType  H1,
OptionalMatrixType  H2,
OptionalMatrixType  H3,
OptionalMatrixType  H4 
) const
inlineoverride

Evaluate measurement error h(x)-z.

Definition at line 138 of file TSAMFactors.h.

Member Data Documentation

◆ measured_

Pose2 gtsam::OdometryFactorBase::measured_
private

the measurement

Definition at line 124 of file TSAMFactors.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:05