#include <RangeFactor.h>

Inheritance diagram for gtsam::RangeFactorWithTransform< A1, A2, T >:

[legend]

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const A1 &a1, const A2 &a2, OptionalMatrixType H1=OptionalNone, OptionalMatrixType H2=OptionalNone) const

Vector	evaluateError (const A1 &a1, const A2 &a2, Matrix &H1, Matrix &H2) const

Expression< T >	expression (const typename Base::ArrayNKeys &keys) const override

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

	RangeFactorWithTransform ()

	RangeFactorWithTransform (Key key1, Key key2, T measured, const SharedNoiseModel &model, const A1 &body_T_sensor)

	~RangeFactorWithTransform () override

Public Member Functions inherited from gtsam::ExpressionFactorN< T, A1, A2 >
virtual Expression< T >	expression (const ArrayNKeys &keys) const

Public Member Functions inherited from gtsam::ExpressionFactor< T >
bool	equals (const NonlinearFactor &f, double tol) const override
	equals relies on Testable traits being defined for T More...

	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement, const Expression< T > &expression)

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const T &	measured () const

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

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override

double	error (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const SharedNoiseModel &	noiseModel () 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 KeyVector &	keys () 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...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Private Types
typedef ExpressionFactorN< T, A1, A2 >	Base

typedef RangeFactorWithTransform< A1, A2 >	This

Private Attributes
A1	body_T_sensor_
	The pose of the sensor in the body frame. More...

Additional Inherited Members
Public Types inherited from gtsam::ExpressionFactorN< T, A1, A2 >
using	ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >

Public Types inherited from gtsam::ExpressionFactor< T >
typedef std::shared_ptr< ExpressionFactor< T > >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< This >	shared_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...

Static Public Attributes inherited from gtsam::ExpressionFactorN< T, A1, A2 >
static const std::size_t	NARY_EXPRESSION_SIZE

Protected Types inherited from gtsam::ExpressionFactor< T >
typedef ExpressionFactor< T >	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< T, A1, A2 >
	ExpressionFactorN ()=default
	Default constructor, for serialization. More...

	ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const T &measurement)
	Constructor takes care of keys, but still need to call initialize. More...

Protected Member Functions inherited from gtsam::ExpressionFactor< T >
	ExpressionFactor ()

	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement)
	Default constructor, for serialization. More...

void	initialize (const Expression< T > &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< T >
FastVector< int >	dims_
	dimensions of the Jacobian matrices More...

Expression< T >	expression_
	the expression that is AD enabled More...

T	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< T >
static const int	Dim = traits<T>::dimension

Detailed Description

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.

Member Typedef Documentation

◆ Base

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

typedef ExpressionFactorN<T, A1, A2> gtsam::RangeFactorWithTransform< A1, A2, T >::Base

private

Definition at line 107 of file sam/RangeFactor.h.

◆ This

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

typedef RangeFactorWithTransform<A1, A2> gtsam::RangeFactorWithTransform< A1, A2, T >::This

private

Definition at line 106 of file sam/RangeFactor.h.

Constructor & Destructor Documentation

◆ RangeFactorWithTransform() [1/2]

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

gtsam::RangeFactorWithTransform< A1, A2, T >::RangeFactorWithTransform ( )

inline

Definition at line 113 of file sam/RangeFactor.h.

◆ RangeFactorWithTransform() [2/2]

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

gtsam::RangeFactorWithTransform< A1, A2, T >::RangeFactorWithTransform	(	Key	key1,
		Key	key2,
		T	measured,
		const SharedNoiseModel &	model,
		const A1 &	body_T_sensor
	)

inline

Definition at line 115 of file sam/RangeFactor.h.

◆ ~RangeFactorWithTransform()

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

gtsam::RangeFactorWithTransform< A1, A2, T >::~RangeFactorWithTransform ( )

inlineoverride

Definition at line 122 of file sam/RangeFactor.h.

Member Function Documentation

◆ clone()

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

gtsam::NonlinearFactor::shared_ptr gtsam::RangeFactorWithTransform< A1, A2, T >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::ExpressionFactor< T >.

Definition at line 125 of file sam/RangeFactor.h.

◆ evaluateError() [1/2]

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

Vector gtsam::RangeFactorWithTransform< A1, A2, T >::evaluateError	(	const A1 &	a1,
		const A2 &	a2,
		OptionalMatrixType	H1 = `OptionalNone`,
		OptionalMatrixType	H2 = `OptionalNone`
	)		const

inline

Definition at line 140 of file sam/RangeFactor.h.

◆ evaluateError() [2/2]

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

Vector gtsam::RangeFactorWithTransform< A1, A2, T >::evaluateError	(	const A1 &	a1,
		const A2 &	a2,
		Matrix &	H1,
		Matrix &	H2
	)		const

inline

Definition at line 154 of file sam/RangeFactor.h.

◆ expression()

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

Expression<T> gtsam::RangeFactorWithTransform< A1, A2, T >::expression ( const typename Base::ArrayNKeys & keys ) const

inlineoverride

Definition at line 131 of file sam/RangeFactor.h.

◆ print()

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

void gtsam::RangeFactorWithTransform< A1, A2, T >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print contents

Reimplemented from gtsam::ExpressionFactor< T >.

Definition at line 159 of file sam/RangeFactor.h.

Member Data Documentation

◆ body_T_sensor_

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

A1 gtsam::RangeFactorWithTransform< A1, A2, T >::body_T_sensor_

private

The pose of the sensor in the body frame.

Definition at line 109 of file sam/RangeFactor.h.

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

sam/RangeFactor.h

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type> class gtsam::RangeFactorWithTransform< A1, A2, T >

Member Typedef Documentation

◆ Base

◆ This

Constructor & Destructor Documentation

◆ RangeFactorWithTransform() [1/2]

◆ RangeFactorWithTransform() [2/2]

◆ ~RangeFactorWithTransform()

Member Function Documentation

◆ clone()

◆ evaluateError() [1/2]

◆ evaluateError() [2/2]

◆ expression()

◆ print()

Member Data Documentation

◆ body_T_sensor_

template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
class gtsam::RangeFactorWithTransform< A1, A2, T >