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gtsam::NonlinearFactor::shared_ptr | clone () const override |
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Vector | evaluateError (const A1 &a1, const A2 &a2, OptionalMatrixType H1=OptionalNone, OptionalMatrixType H2=OptionalNone) const |
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Vector | evaluateError (const A1 &a1, const A2 &a2, Matrix &H1, Matrix &H2) const |
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Expression< T > | expression (const typename Base::ArrayNKeys &keys) const override |
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void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
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| RangeFactorWithTransform () |
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| RangeFactorWithTransform (Key key1, Key key2, T measured, const SharedNoiseModel &model, const A1 &body_T_sensor) |
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| ~RangeFactorWithTransform () override |
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virtual Expression< T > | expression (const ArrayNKeys &keys) const |
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bool | equals (const NonlinearFactor &f, double tol) const override |
| equals relies on Testable traits being defined for T More...
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| ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement, const Expression< T > &expression) |
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std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
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const T & | measured () const |
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Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override |
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| ~ExpressionFactor () override |
| Destructor. More...
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shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
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size_t | dim () const override |
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bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
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double | error (const Values &c) const override |
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std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
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const SharedNoiseModel & | noiseModel () const |
| access to the noise model More...
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| NoiseModelFactor () |
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template<typename CONTAINER > |
| NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) |
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Vector | unweightedWhitenedError (const Values &c) const |
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Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
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double | weight (const Values &c) const |
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Vector | whitenedError (const Values &c) const |
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| ~NoiseModelFactor () override |
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| NonlinearFactor () |
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template<typename CONTAINER > |
| NonlinearFactor (const CONTAINER &keys) |
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double | error (const HybridValues &c) const override |
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virtual bool | active (const Values &) const |
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virtual shared_ptr | rekey (const std::map< Key, Key > &rekey_mapping) const |
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virtual shared_ptr | rekey (const KeyVector &new_keys) const |
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virtual bool | sendable () const |
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virtual | ~Factor ()=default |
| Default destructor. More...
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bool | empty () const |
| Whether the factor is empty (involves zero variables). More...
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Key | front () const |
| First key. More...
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Key | back () const |
| Last key. More...
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const_iterator | find (Key key) const |
| find More...
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const KeyVector & | keys () const |
| Access the factor's involved variable keys. More...
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const_iterator | begin () const |
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const_iterator | end () const |
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size_t | size () const |
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virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print only keys More...
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bool | equals (const This &other, double tol=1e-9) const |
| check equality More...
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KeyVector & | keys () |
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iterator | begin () |
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iterator | end () |
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template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
class gtsam::RangeFactorWithTransform< A1, A2, T >
Binary factor for a range measurement, with a transform applied
Definition at line 104 of file sam/RangeFactor.h.