#include <SmartRangeFactor.h>
Inheritance diagram for gtsam::SmartRangeFactor:
Classes | |
| struct | Circle2 |
Public Member Functions | |
| void | addRange (Key key, double measuredRange) |
| Add a range measurement to a pose with given key. More... | |
| gtsam::NonlinearFactor::shared_ptr | clone () const override |
| bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| SmartRangeFactor () | |
| SmartRangeFactor (double s) | |
| Point2 | triangulate (const Values &x) const |
| Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override |
| ~SmartRangeFactor () override | |
 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< 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 () |
Protected Types | |
| typedef SmartRangeFactor | 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 Attributes | |
| std::vector< double > | measurements_ |
| Range measurements. More... | |
| double | variance_ |
| variance on noise More... | |
| 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 | |
| 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... | |
| 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
Smart factor for range SLAM
Definition at line 30 of file SmartRangeFactor.h.
Member Typedef Documentation
◆ This
|
protected |
Definition at line 40 of file SmartRangeFactor.h.
Constructor & Destructor Documentation
◆ SmartRangeFactor() [1/2]
|
inline |
Default constructor: don't use directly
Definition at line 51 of file SmartRangeFactor.h.
◆ SmartRangeFactor() [2/2]
|
inlineexplicit |
Constructor
- Parameters
-
s standard deviation of range measurement noise
Definition at line 58 of file SmartRangeFactor.h.
◆ ~SmartRangeFactor()
|
inlineoverride |
Definition at line 62 of file SmartRangeFactor.h.
Member Function Documentation
◆ addRange()
|
inline |
Add a range measurement to a pose with given key.
Definition at line 66 of file SmartRangeFactor.h.
◆ clone()
|
inlineoverridevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
Definition at line 182 of file SmartRangeFactor.h.
◆ equals()
|
inlineoverridevirtual |
Check if two factors are equal
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 88 of file SmartRangeFactor.h.
◆ print()
|
inlineoverridevirtual |
◆ triangulate()
Triangulate a point from at least three pose-range pairs Checks for best pair that includes first point Raise runtime_error if not well defined.
Definition at line 99 of file SmartRangeFactor.h.
◆ unwhitenedError()
|
inlineoverridevirtual |
Error function without the NoiseModel, 
.
Implements gtsam::NoiseModelFactor.
Definition at line 151 of file SmartRangeFactor.h.
Member Data Documentation
◆ measurements_
|
protected |
Range measurements.
Definition at line 42 of file SmartRangeFactor.h.
◆ variance_
|
protected |
variance on noise
Definition at line 43 of file SmartRangeFactor.h.
The documentation for this class was generated from the following file: