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45 throw std::runtime_error(
"Cannot convert HessianFactor to LinearCost");
52 throw std::runtime_error(
53 "Cannot convert a constrained JacobianFactor to LinearCost");
57 throw std::runtime_error(
58 "Only support single-valued linear cost factor!");
81 template<
typename TERMS>
104 > (std::make_shared < LinearCost > (*
this));
Vector unweighted_error(const VectorValues &c) const
A Gaussian factor using the canonical parameters (information form)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
const SharedDiagonal & get_model() const
Eigen::RowVectorXd RowVector
bool equals(const GaussianFactor &lf, double tol=1e-9) const override
bool isConstrained() const
const KeyFormatter & formatter
std::shared_ptr< This > shared_ptr
shared_ptr to this class
double error(const VectorValues &c) const override
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
JacobianFactor Base
Typedef to base class.
Vector error_vector(const VectorValues &c) const
LinearCost(Key i1, const RowVector &A1, Key i2, const RowVector &A2, Key i3, const RowVector &A3)
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
std::shared_ptr< This > shared_ptr
shared_ptr to this class
LinearCost(Key i1, const RowVector &A1, Key i2, const RowVector &A2, double b)
void print(const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
bool equals(const GaussianFactor &lf, double tol=1e-9) const override
assert equality up to a tolerance
void print(const std::string &s="", const KeyFormatter &formatter=DefaultKeyFormatter) const override
print with optional string
LinearCost(const JacobianFactor &jf)
The matrix class, also used for vectors and row-vectors.
LinearCost This
Typedef to this class.
LinearCost(const TERMS &terms)
std::uint64_t Key
Integer nonlinear key type.
LinearCost(Key i1, const RowVector &A1)
LinearCost(const HessianFactor &hf)
GaussianFactor::shared_ptr clone() const override
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:33:07