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64 typedef typename std::shared_ptr<TransformBtwRobotsUnaryFactor>
shared_ptr;
91 std::cout <<
s <<
"TransformBtwRobotsUnaryFactor("
92 << keyFormatter(
key_) <<
")\n";
93 std::cout <<
"MR between factor keys: "
94 << keyFormatter(
keyA_) <<
","
95 << keyFormatter(
keyB_) <<
"\n";
97 model_->print(
" noise model: ");
103 const This *
t =
dynamic_cast<const This*
> (&
f);
116 throw(
"something is wrong!");
145 return std::shared_ptr<gtsam::JacobianFactor>();
149 std::vector<gtsam::Matrix>
A(this->
size());
165 T currA_T_currB_pred;
167 Matrix H_compose, H_between1;
168 T orgA_T_currB = orgA_T_orgB.compose(orgB_T_currB, H_compose, {});
169 currA_T_currB_pred = orgA_T_currA.between(orgA_T_currB, {}, H_between1);
170 (*H)[0] = H_compose * H_between1;
173 T orgA_T_currB = orgA_T_orgB.compose(orgB_T_currB);
174 currA_T_currB_pred = orgA_T_currA.between(orgA_T_currB);
178 Vector error = currA_T_currB_msr.localCoordinates(currA_T_currB_pred);
204 T orgA_T_currB = orgA_T_orgB.compose(orgB_T_currB);
205 T currA_T_currB_pred = orgA_T_currA.between(orgA_T_currB);
208 return currA_T_currB_msr.localCoordinates(currA_T_currB_pred);
213 size_t dim()
const override {
219 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
221 friend class boost::serialization::access;
222 template<
class ARCHIVE>
223 void serialize(ARCHIVE & ar,
const unsigned int ) {
224 ar & boost::serialization::make_nvp(
"NonlinearFactor",
225 boost::serialization::base_object<Base>(*
this));
232 template<
class VALUE>
234 public Testable<TransformBtwRobotsUnaryFactor<VALUE> > {
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std::shared_ptr< This > shared_ptr
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Concept check for values that can be used in unit tests.
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
virtual bool equals(const NonlinearFactor &f, double tol=1e-9) const
virtual bool active(const Values &) const
FastVector< Key > KeyVector
Define collection type once and for all - also used in wrappers.
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
#define GTSAM_CONCEPT_LIE_TYPE(T)
const ValueType at(Key j) const
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
static shared_ptr Create(size_t dim)
noiseModel::Gaussian::shared_ptr SharedGaussian
noiseModel::Diagonal::shared_ptr model
const gtsam::Symbol key('X', 0)
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Non-linear factor base classes.
std::vector< Matrix > * OptionalMatrixVecType
Base class and basic functions for Lie types.
#define GTSAM_CONCEPT_TESTABLE_TYPE(T)
A factor with a quadratic error function - a Gaussian.
std::uint64_t Key
Integer nonlinear key type.
gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:18:00