Public Types | Public Member Functions | Private Types | Private Attributes | List of all members
gtsam::TransformBtwRobotsUnaryFactor< VALUE > Class Template Reference

#include <TransformBtwRobotsUnaryFactor.h>

Inheritance diagram for gtsam::TransformBtwRobotsUnaryFactor< VALUE >:
Inheritance graph
[legend]

Public Types

typedef std::shared_ptr< TransformBtwRobotsUnaryFactorshared_ptr
 
typedef VALUE T
 
- 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
 
size_t dim () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
double error (const gtsam::Values &x) const override
 
std::shared_ptr< gtsam::GaussianFactorlinearize (const gtsam::Values &x) const override
 
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
void setValAValB (const gtsam::Values &valA, const gtsam::Values &valB)
 
 TransformBtwRobotsUnaryFactor ()
 
 TransformBtwRobotsUnaryFactor (Key key, const VALUE &measured, Key keyA, Key keyB, const gtsam::Values &valA, const gtsam::Values &valB, const SharedGaussian &model)
 
gtsam::Vector unwhitenedError (const gtsam::Values &x) const
 
gtsam::Vector whitenedError (const gtsam::Values &x, OptionalMatrixVecType H=nullptr) const
 
gtsam::Vector whitenedError (const gtsam::Values &x, std::vector< Matrix > &H) const
 
 ~TransformBtwRobotsUnaryFactor () 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 ()
 

Private Types

typedef gtsam::NonlinearFactor Base
 
typedef TransformBtwRobotsUnaryFactor< VALUE > This
 

Private Attributes

gtsam::Key key_
 
gtsam::Key keyA_
 
gtsam::Key keyB_
 
VALUE measured_
 
SharedGaussian model_
 
gtsam::Values valA_
 
gtsam::Values valB_
 

Additional Inherited Members

- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- 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::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Detailed Description

template<class VALUE>
class gtsam::TransformBtwRobotsUnaryFactor< VALUE >

A class for a measurement predicted by "between(config[key1],config[key2])"

Template Parameters
VALUEthe Value type

Definition at line 35 of file TransformBtwRobotsUnaryFactor.h.

Member Typedef Documentation

◆ Base

template<class VALUE>
typedef gtsam::NonlinearFactor gtsam::TransformBtwRobotsUnaryFactor< VALUE >::Base
private

Definition at line 44 of file TransformBtwRobotsUnaryFactor.h.

◆ shared_ptr

template<class VALUE>
typedef std::shared_ptr<TransformBtwRobotsUnaryFactor> gtsam::TransformBtwRobotsUnaryFactor< VALUE >::shared_ptr

concept check by type

Definition at line 64 of file TransformBtwRobotsUnaryFactor.h.

◆ T

template<class VALUE>
typedef VALUE gtsam::TransformBtwRobotsUnaryFactor< VALUE >::T

Definition at line 39 of file TransformBtwRobotsUnaryFactor.h.

◆ This

template<class VALUE>
typedef TransformBtwRobotsUnaryFactor<VALUE> gtsam::TransformBtwRobotsUnaryFactor< VALUE >::This
private

Definition at line 43 of file TransformBtwRobotsUnaryFactor.h.

Constructor & Destructor Documentation

◆ TransformBtwRobotsUnaryFactor() [1/2]

template<class VALUE>
gtsam::TransformBtwRobotsUnaryFactor< VALUE >::TransformBtwRobotsUnaryFactor ( )
inline

default constructor - only use for serialization

Definition at line 67 of file TransformBtwRobotsUnaryFactor.h.

◆ TransformBtwRobotsUnaryFactor() [2/2]

template<class VALUE>
gtsam::TransformBtwRobotsUnaryFactor< VALUE >::TransformBtwRobotsUnaryFactor ( Key  key,
const VALUE &  measured,
Key  keyA,
Key  keyB,
const gtsam::Values valA,
const gtsam::Values valB,
const SharedGaussian model 
)
inline

Constructor

Definition at line 70 of file TransformBtwRobotsUnaryFactor.h.

◆ ~TransformBtwRobotsUnaryFactor()

template<class VALUE>
gtsam::TransformBtwRobotsUnaryFactor< VALUE >::~TransformBtwRobotsUnaryFactor ( )
inlineoverride

Definition at line 80 of file TransformBtwRobotsUnaryFactor.h.

Member Function Documentation

◆ clone()

template<class VALUE>
gtsam::NonlinearFactor::shared_ptr gtsam::TransformBtwRobotsUnaryFactor< VALUE >::clone ( ) const
inlineoverridevirtual

Clone

Reimplemented from gtsam::NonlinearFactor.

Definition at line 84 of file TransformBtwRobotsUnaryFactor.h.

◆ dim()

template<class VALUE>
size_t gtsam::TransformBtwRobotsUnaryFactor< VALUE >::dim ( ) const
inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

Definition at line 213 of file TransformBtwRobotsUnaryFactor.h.

◆ equals()

template<class VALUE>
bool gtsam::TransformBtwRobotsUnaryFactor< VALUE >::equals ( const NonlinearFactor f,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 102 of file TransformBtwRobotsUnaryFactor.h.

◆ error()

template<class VALUE>
double gtsam::TransformBtwRobotsUnaryFactor< VALUE >::error ( const gtsam::Values x) const
inlineoverridevirtual

Reimplemented from gtsam::NonlinearFactor.

Definition at line 131 of file TransformBtwRobotsUnaryFactor.h.

◆ linearize()

template<class VALUE>
std::shared_ptr<gtsam::GaussianFactor> gtsam::TransformBtwRobotsUnaryFactor< VALUE >::linearize ( const gtsam::Values x) const
inlineoverridevirtual

Linearize a non-linearFactorN to get a gtsam::GaussianFactor, $ Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z $ Hence $ b = z - h(x) = - \mathtt{error\_vector}(x) $

Implements gtsam::NonlinearFactor.

Definition at line 142 of file TransformBtwRobotsUnaryFactor.h.

◆ print()

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

implement functions needed for Testable print

Reimplemented from gtsam::NonlinearFactor.

Definition at line 90 of file TransformBtwRobotsUnaryFactor.h.

◆ setValAValB()

template<class VALUE>
void gtsam::TransformBtwRobotsUnaryFactor< VALUE >::setValAValB ( const gtsam::Values valA,
const gtsam::Values valB 
)
inline

implement functions needed to derive from Factor

Definition at line 114 of file TransformBtwRobotsUnaryFactor.h.

◆ unwhitenedError()

template<class VALUE>
gtsam::Vector gtsam::TransformBtwRobotsUnaryFactor< VALUE >::unwhitenedError ( const gtsam::Values x) const
inline

Definition at line 198 of file TransformBtwRobotsUnaryFactor.h.

◆ whitenedError() [1/2]

template<class VALUE>
gtsam::Vector gtsam::TransformBtwRobotsUnaryFactor< VALUE >::whitenedError ( const gtsam::Values x,
OptionalMatrixVecType  H = nullptr 
) const
inline

Definition at line 159 of file TransformBtwRobotsUnaryFactor.h.

◆ whitenedError() [2/2]

template<class VALUE>
gtsam::Vector gtsam::TransformBtwRobotsUnaryFactor< VALUE >::whitenedError ( const gtsam::Values x,
std::vector< Matrix > &  H 
) const
inline

A function overload to accept a vector<matrix> instead of a pointer to the said type.

Definition at line 192 of file TransformBtwRobotsUnaryFactor.h.

Member Data Documentation

◆ key_

template<class VALUE>
gtsam::Key gtsam::TransformBtwRobotsUnaryFactor< VALUE >::key_
private

Definition at line 46 of file TransformBtwRobotsUnaryFactor.h.

◆ keyA_

template<class VALUE>
gtsam::Key gtsam::TransformBtwRobotsUnaryFactor< VALUE >::keyA_
private

Definition at line 52 of file TransformBtwRobotsUnaryFactor.h.

◆ keyB_

template<class VALUE>
gtsam::Key gtsam::TransformBtwRobotsUnaryFactor< VALUE >::keyB_
private

Definition at line 53 of file TransformBtwRobotsUnaryFactor.h.

◆ measured_

template<class VALUE>
VALUE gtsam::TransformBtwRobotsUnaryFactor< VALUE >::measured_
private

Definition at line 48 of file TransformBtwRobotsUnaryFactor.h.

◆ model_

template<class VALUE>
SharedGaussian gtsam::TransformBtwRobotsUnaryFactor< VALUE >::model_
private

Definition at line 55 of file TransformBtwRobotsUnaryFactor.h.

◆ valA_

template<class VALUE>
gtsam::Values gtsam::TransformBtwRobotsUnaryFactor< VALUE >::valA_
private

The measurement

Definition at line 50 of file TransformBtwRobotsUnaryFactor.h.

◆ valB_

template<class VALUE>
gtsam::Values gtsam::TransformBtwRobotsUnaryFactor< VALUE >::valB_
private

Definition at line 51 of file TransformBtwRobotsUnaryFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:13