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26 #ifndef KALMANFILTER_DEFAULT_FACTORIZATION
27 #define KALMANFILTER_DEFAULT_FACTORIZATION QR
72 n_(
n), I_(
Matrix::Identity(n_, n_)), function_(
89 void print(
const std::string&
s =
"")
const;
93 return p->firstFrontalKey();
static Key step(const State &p)
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Linear Factor Graph where all factors are Gaussians.
void print(const Matrix &A, const string &s, ostream &stream)
KalmanFilter(size_t n, Factorization method=KALMANFILTER_DEFAULT_FACTORIZATION)
std::shared_ptr< This > shared_ptr
shared_ptr to this class
noiseModel::Diagonal::shared_ptr SharedDiagonal
detail::initimpl::constructor< Args... > init()
Binds an existing constructor taking arguments Args...
noiseModel::Diagonal::shared_ptr model
The quaternion class used to represent 3D orientations and rotations.
GaussianDensity::shared_ptr State
std::function< EliminationResult(const FactorGraphType &, const Ordering &)> Eliminate
The function type that does a single dense elimination step on a subgraph.
#define KALMANFILTER_DEFAULT_FACTORIZATION
std::pair< std::shared_ptr< GaussianConditional >, std::shared_ptr< HessianFactor > > EliminateCholesky(const GaussianFactorGraph &factors, const Ordering &keys)
const GaussianFactorGraph::Eliminate function_
std::uint64_t Key
Integer nonlinear key type.
std::shared_ptr< GaussianDensity > shared_ptr
std::pair< GaussianConditional::shared_ptr, JacobianFactor::shared_ptr > EliminateQR(const GaussianFactorGraph &factors, const Ordering &keys)
gtsam
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autogenerated on Fri Nov 1 2024 03:33:00