#include <simulated2D.h>

Inheritance diagram for simulated2D::GenericOdometry< VALUE >:

[legend]

Public Types
typedef NoiseModelFactorN< VALUE, VALUE >	Base
	base class More...

typedef VALUE	Pose
	shortcut to Pose type More...

typedef std::shared_ptr< GenericOdometry< VALUE > >	shared_ptr

typedef GenericOdometry< VALUE >	This

Public Types inherited from gtsam::NoiseModelFactorN< VALUE, VALUE >
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< 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...

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

Vector	evaluateError (const Pose &x1, const Pose &x2, OptionalMatrixType H1, OptionalMatrixType H2) const override
	Evaluate error and optionally return derivatives. More...

	GenericOdometry (const Pose &measured, const SharedNoiseModel &model, Key i1, Key i2)
	Create odometry. More...

	~GenericOdometry () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< VALUE, VALUE >
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

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)

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

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 ()

Public Attributes
Pose	measured_
	odometry measurement More...

Private Member Functions
	GenericOdometry ()
	Default constructor. More...

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< VALUE, VALUE >
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)

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

template<class VALUE = Point2>
class simulated2D::GenericOdometry< VALUE >

Binary factor simulating "odometry" between two Vectors

Definition at line 178 of file simulated2D.h.

Member Typedef Documentation

◆ Base

template<class VALUE = Point2>

typedef NoiseModelFactorN<VALUE, VALUE> simulated2D::GenericOdometry< VALUE >::Base

base class

Definition at line 180 of file simulated2D.h.

◆ Pose

template<class VALUE = Point2>

typedef VALUE simulated2D::GenericOdometry< VALUE >::Pose

shortcut to Pose type

Definition at line 183 of file simulated2D.h.

◆ shared_ptr

template<class VALUE = Point2>

typedef std::shared_ptr<GenericOdometry<VALUE> > simulated2D::GenericOdometry< VALUE >::shared_ptr

Definition at line 182 of file simulated2D.h.

◆ This

template<class VALUE = Point2>

typedef GenericOdometry<VALUE> simulated2D::GenericOdometry< VALUE >::This

Definition at line 181 of file simulated2D.h.

Constructor & Destructor Documentation

◆ GenericOdometry() [1/2]

template<class VALUE = Point2>

simulated2D::GenericOdometry< VALUE >::GenericOdometry	(	const Pose &	measured,
		const SharedNoiseModel &	model,
		Key	i1,
		Key	i2
	)

inline

Create odometry.

Definition at line 191 of file simulated2D.h.

◆ ~GenericOdometry()

template<class VALUE = Point2>

simulated2D::GenericOdometry< VALUE >::~GenericOdometry ( )

inlineoverride

Definition at line 201 of file simulated2D.h.

◆ GenericOdometry() [2/2]

template<class VALUE = Point2>

simulated2D::GenericOdometry< VALUE >::GenericOdometry ( )

inlineprivate

Default constructor.

Definition at line 211 of file simulated2D.h.

Member Function Documentation

◆ clone()

template<class VALUE = Point2>

gtsam::NonlinearFactor::shared_ptr simulated2D::GenericOdometry< VALUE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 204 of file simulated2D.h.

◆ evaluateError()

template<class VALUE = Point2>

Vector simulated2D::GenericOdometry< VALUE >::evaluateError	(	const Pose &	x1,
		const Pose &	x2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

Evaluate error and optionally return derivatives.

Definition at line 196 of file simulated2D.h.

Member Data Documentation

◆ measured_

template<class VALUE = Point2>

Pose simulated2D::GenericOdometry< VALUE >::measured_

odometry measurement

Definition at line 188 of file simulated2D.h.

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

simulated2D.h

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

template<class VALUE = Point2> class simulated2D::GenericOdometry< VALUE >

Member Typedef Documentation

◆ Base

◆ Pose

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ GenericOdometry() [1/2]

◆ ~GenericOdometry()

◆ GenericOdometry() [2/2]

Member Function Documentation

◆ clone()

◆ evaluateError()

Member Data Documentation

◆ measured_

template<class VALUE = Point2>
class simulated2D::GenericOdometry< VALUE >