Public Types | Public Member Functions | Protected Attributes | List of all members
gtsam::PoseTranslationPrior< POSE > Class Template Reference

#include <PoseTranslationPrior.h>

Inheritance diagram for gtsam::PoseTranslationPrior< POSE >:
Inheritance graph
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Public Types

typedef NoiseModelFactorN< POSE > Base
 
typedef POSE Pose
 
typedef POSE::Rotation Rotation
 
typedef PoseTranslationPrior< POSE > This
 
typedef POSE::Translation Translation
 
- Public Types inherited from gtsam::NoiseModelFactorN< POSE >
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

gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 
Vector evaluateError (const Pose &pose, OptionalMatrixType H) const override
 
const Translationmeasured () const
 
 PoseTranslationPrior ()
 
 PoseTranslationPrior (Key key, const Translation &measured, const noiseModel::Base::shared_ptr &model)
 
 PoseTranslationPrior (Key key, const POSE &pose_z, const noiseModel::Base::shared_ptr &model)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
 ~PoseTranslationPrior () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE >
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
 
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)
 
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 ()
 

Protected Attributes

Translation measured_
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< POSE >
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)
 

Detailed Description

template<class POSE>
class gtsam::PoseTranslationPrior< POSE >

A prior on the translation part of a pose

Definition at line 21 of file PoseTranslationPrior.h.

Member Typedef Documentation

◆ Base

template<class POSE>
typedef NoiseModelFactorN<POSE> gtsam::PoseTranslationPrior< POSE >::Base

Definition at line 24 of file PoseTranslationPrior.h.

◆ Pose

template<class POSE>
typedef POSE gtsam::PoseTranslationPrior< POSE >::Pose

Definition at line 25 of file PoseTranslationPrior.h.

◆ Rotation

template<class POSE>
typedef POSE::Rotation gtsam::PoseTranslationPrior< POSE >::Rotation

Definition at line 27 of file PoseTranslationPrior.h.

◆ This

template<class POSE>
typedef PoseTranslationPrior<POSE> gtsam::PoseTranslationPrior< POSE >::This

Definition at line 23 of file PoseTranslationPrior.h.

◆ Translation

template<class POSE>
typedef POSE::Translation gtsam::PoseTranslationPrior< POSE >::Translation

Definition at line 26 of file PoseTranslationPrior.h.

Constructor & Destructor Documentation

◆ PoseTranslationPrior() [1/3]

template<class POSE>
gtsam::PoseTranslationPrior< POSE >::PoseTranslationPrior ( )
inline

default constructor - only use for serialization

Definition at line 43 of file PoseTranslationPrior.h.

◆ PoseTranslationPrior() [2/3]

template<class POSE>
gtsam::PoseTranslationPrior< POSE >::PoseTranslationPrior ( Key  key,
const Translation measured,
const noiseModel::Base::shared_ptr model 
)
inline

standard constructor

Definition at line 46 of file PoseTranslationPrior.h.

◆ PoseTranslationPrior() [3/3]

template<class POSE>
gtsam::PoseTranslationPrior< POSE >::PoseTranslationPrior ( Key  key,
const POSE &  pose_z,
const noiseModel::Base::shared_ptr model 
)
inline

Constructor that pulls the translation from an incoming POSE

Definition at line 51 of file PoseTranslationPrior.h.

◆ ~PoseTranslationPrior()

template<class POSE>
gtsam::PoseTranslationPrior< POSE >::~PoseTranslationPrior ( )
inlineoverride

Definition at line 55 of file PoseTranslationPrior.h.

Member Function Documentation

◆ clone()

template<class POSE>
gtsam::NonlinearFactor::shared_ptr gtsam::PoseTranslationPrior< POSE >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 60 of file PoseTranslationPrior.h.

◆ equals()

template<class POSE>
bool gtsam::PoseTranslationPrior< POSE >::equals ( const NonlinearFactor expected,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals specialized to this factor

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 80 of file PoseTranslationPrior.h.

◆ evaluateError()

template<class POSE>
Vector gtsam::PoseTranslationPrior< POSE >::evaluateError ( const Pose pose,
OptionalMatrixType  H 
) const
inlineoverride

h(x)-z

Definition at line 65 of file PoseTranslationPrior.h.

◆ measured()

template<class POSE>
const Translation& gtsam::PoseTranslationPrior< POSE >::measured ( ) const
inline

Definition at line 57 of file PoseTranslationPrior.h.

◆ print()

template<class POSE>
void gtsam::PoseTranslationPrior< POSE >::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

print contents

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 86 of file PoseTranslationPrior.h.

Member Data Documentation

◆ measured_

template<class POSE>
Translation gtsam::PoseTranslationPrior< POSE >::measured_
protected

Definition at line 38 of file PoseTranslationPrior.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:07