gtsam
nonlinear
ExpressionFactorGraph.h
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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#pragma once
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#include <
gtsam/nonlinear/ExpressionFactor.h
>
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#include <
gtsam/nonlinear/NonlinearFactorGraph.h
>
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namespace
gtsam
{
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class
ExpressionFactorGraph
:
public
NonlinearFactorGraph
{
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public
:
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template
<
typename
T>
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void
addExpressionFactor
(
const
Expression<T>
&
h
,
const
T
&
z
,
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const
SharedNoiseModel
&
R
) {
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using
F
=
ExpressionFactor<T>
;
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push_back
(std::allocate_shared<F>(
Eigen::aligned_allocator<F>
(),
R
,
z
,
h
));
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}
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};
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}
gtsam::ExpressionFactorGraph::addExpressionFactor
void addExpressionFactor(const Expression< T > &h, const T &z, const SharedNoiseModel &R)
Definition:
ExpressionFactorGraph.h:43
gtsam::ExpressionFactorGraph
Definition:
ExpressionFactorGraph.h:29
h
const double h
Definition:
testSimpleHelicopter.cpp:19
gtsam::Expression
Definition:
Expression.h:47
Eigen::aligned_allocator
STL compatible allocator to use with types requiring a non standrad alignment.
Definition:
Memory.h:878
gtsam::NonlinearFactorGraph
Definition:
NonlinearFactorGraph.h:55
pybind_wrapper_test_script.z
z
Definition:
pybind_wrapper_test_script.py:61
gtsam::SharedNoiseModel
noiseModel::Base::shared_ptr SharedNoiseModel
Definition:
NoiseModel.h:762
Eigen::Triplet< double >
gtsam::symbol_shorthand::F
Key F(std::uint64_t j)
Definition:
inference/Symbol.h:153
gtsam
traits
Definition:
SFMdata.h:40
NonlinearFactorGraph.h
Factor Graph consisting of non-linear factors.
gtsam::FactorGraph< NonlinearFactor >::push_back
IsDerived< DERIVEDFACTOR > push_back(std::shared_ptr< DERIVEDFACTOR > factor)
Add a factor directly using a shared_ptr.
Definition:
FactorGraph.h:147
ExpressionFactor.h
R
Rot2 R(Rot2::fromAngle(0.1))
gtsam::ExpressionFactor
Definition:
Expression.h:36
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:31