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43 return std::static_pointer_cast<gtsam::NonlinearFactor>(
47 void print(
const std::string&
s =
"",
50 std::cout <<
"RotateFactor:]\n";
51 std::cout <<
"p: " <<
p_.transpose() << std::endl;
52 std::cout <<
"z: " <<
z_.transpose() << std::endl;
60 return (
Vector(3) <<
q.x()-
p_.x(),
q.y()-
p_.y(),
q.z()-
p_.z()).finished();
97 return std::static_pointer_cast<gtsam::NonlinearFactor>(
104 std::cout <<
"RotateDirectionsFactor:" << std::endl;
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std::shared_ptr< This > shared_ptr
Vector evaluateError(const Rot3 &R, OptionalMatrixType H) const override
vector of errors returns 2D vector
Point3 z_
Predicted and measured directions, p = iRc * z.
RotateFactor(Key key, const Rot3 &P, const Rot3 &Z, const SharedNoiseModel &model)
Constructor.
static const Rot3 iRc(cameraX, cameraY, cameraZ)
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
print
NoiseModelFactorN< Rot3 > Base
double error(const Values &c) const override
virtual Vector evaluateError(const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
Vector2 error(const Unit3 &q, OptionalJacobian< 2, 2 > H_q={}) const
Unit3 c_z_
Predicted and measured directions, i_p = iRc * c_z.
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
NoiseModelFactorN< Rot3 > Base
3D rotation represented as a rotation matrix or quaternion
EIGEN_DEVICE_FUNC const Scalar & q
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
RotateDirectionsFactor(Key key, const Unit3 &i_p, const Unit3 &c_z, const SharedNoiseModel &model)
Constructor.
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
static Rot3 Initialize(const Unit3 &i_p, const Unit3 &c_z)
Initialize rotation iRc such that i_p = iRc * c_z.
noiseModel::Base::shared_ptr SharedNoiseModel
noiseModel::Diagonal::shared_ptr model
Non-linear factor base classes.
gtsam::NonlinearFactor::shared_ptr clone() const override
The quaternion class used to represent 3D orientations and rotations.
void print(const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
print
Matrix * OptionalMatrixType
Represents a 3D point on a unit sphere.
Vector3 unitVector(OptionalJacobian< 3, 2 > H={}) const
Return unit-norm Vector.
std::uint64_t Key
Integer nonlinear key type.
Vector evaluateError(const Rot3 &iRc, OptionalMatrixType H) const override
vector of errors returns 2D vector
#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW
void print(const std::string &s=std::string()) const
The print fuction.
Rot2 R(Rot2::fromAngle(0.1))
gtsam::NonlinearFactor::shared_ptr clone() const override
RotateDirectionsFactor This
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:35:00