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12 #include <gtsam_unstable/dllexport.h>
45 using Base::evaluateError;
65 :
Base(noiseModel,
poseKey, anchorPoseKey, landmarkKey), measured_p_(
z) {}
70 :
Base(noiseModel,
poseKey, anchorPoseKey, landmarkKey), measured_p_(
z) {}
73 void print(
const std::string&
s =
"LocalOrientedPlane3Factor",
LocalOrientedPlane3Factor(const OrientedPlane3 &z, const SharedNoiseModel &noiseModel, Key poseKey, Key anchorPoseKey, Key landmarkKey)
LocalOrientedPlane3Factor()
Constructor.
NoiseModelFactorN< Pose3, Pose3, OrientedPlane3 > Base
Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distan...
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
void print(const Matrix &A, const string &s, ostream &stream)
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
noiseModel::Base::shared_ptr SharedNoiseModel
LocalOrientedPlane3Factor(const Vector4 &z, const SharedNoiseModel &noiseModel, Key poseKey, Key anchorPoseKey, Key landmarkKey)
Non-linear factor base classes.
~LocalOrientedPlane3Factor() override
Matrix * OptionalMatrixType
OrientedPlane3 measured_p_
std::uint64_t Key
Integer nonlinear key type.
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:02:44