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47 return std::make_shared<GaussianDensity>(*posterior);
61 return solve(factorGraph);
71 return solve(factorGraph);
80 return solve(factorGraph);
85 cout <<
"KalmanFilter " <<
s <<
", dim = " << n_ << endl;
96 std::make_shared<JacobianFactor>(k, -
F, k + 1, I_,
B * u,
model));
105 assert(
F.rows() ==
n);
106 assert(
B.rows() ==
n);
107 assert(
B.cols() == u.size());
108 assert(
Q.rows() ==
n);
109 assert(
Q.cols() ==
n);
117 Matrix G12 = -Ft *
M, G11 = -G12 *
F, G22 =
M;
122 std::make_shared<HessianFactor>(k, k + 1, G11, G12,
g1, G22,
g2,
f));
131 return fuse(
p, std::make_shared<JacobianFactor>(k,
A0, k + 1,
A1,
b,
model));
141 return fuse(
p, std::make_shared<JacobianFactor>(k,
H,
z,
model));
152 return fuse(
p, std::make_shared<HessianFactor>(k,
G,
g,
f));
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std::shared_ptr< BayesNetType > eliminateSequential(OptionalOrderingType orderingType={}, const Eliminate &function=EliminationTraitsType::DefaultEliminate, OptionalVariableIndex variableIndex={}) const
EIGEN_STRONG_INLINE Packet4f print(const Packet4f &a)
Matrix< SCALARB, Dynamic, Dynamic, opt_B > B
A Gaussian factor using the canonical parameters (information form)
Concept check for values that can be used in unit tests.
Pose3 g1(Rot3(), Point3(100.0, 0.0, 300.0))
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
Contains the HessianFactor class, a general quadratic factor.
Chordal Bayes Net, the result of eliminating a factor graph.
Scalar EIGEN_BLAS_FUNC() dot(int *n, RealScalar *px, int *incx, RealScalar *py, int *incy)
const HybridBayesNet bayesNet
Pose3 g2(g1.expmap(h *V1_g1))
std::shared_ptr< This > shared_ptr
shared_ptr to this class
internal::DoglegState State
noiseModel::Diagonal::shared_ptr SharedDiagonal
def step(data, isam, result, truth, currPoseIndex, isamArgs=())
detail::initimpl::constructor< Args... > init()
Binds an existing constructor taking arguments Args...
noiseModel::Diagonal::shared_ptr model
void g(const string &key, int i)
static enum @1096 ordering
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Simple linear Kalman filter. Implemented using factor graphs, i.e., does Cholesky-based SRIF,...
The quaternion class used to represent 3D orientations and rotations.
GaussianDensity::shared_ptr State
IsDerived< DERIVEDFACTOR > push_back(std::shared_ptr< DERIVEDFACTOR > factor)
Add a factor directly using a shared_ptr.
ptrdiff_t DenseIndex
The index type for Eigen objects.
JacobiRotation< float > G
std::shared_ptr< This > shared_ptr
shared_ptr to this class
std::uint64_t Key
Integer nonlinear key type.
IsDerived< DERIVEDFACTOR > emplace_shared(Args &&... args)
Emplace a shared pointer to factor of given type.
Matrix< RealScalar, Dynamic, Dynamic > M
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:02:37