#include <BearingRangeFactor.h>

Inheritance diagram for gtsam::BearingRangeFactor< A1, A2, B, R >:

Public Types
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::ExpressionFactorN< BearingRange< A1, A2 >, A1, A2 >
using	ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >

Public Types inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
typedef std::shared_ptr< ExpressionFactor< BearingRange< A1, A2 > > >	shared_ptr

Public Member Functions
	BearingRangeFactor ()
	Default constructor. More...

	BearingRangeFactor (Key key1, Key key2, const B &measuredBearing, const R &measuredRange, const SharedNoiseModel &model)
	Construct from separate bearing and range. More...

	BearingRangeFactor (Key key1, Key key2, const T &bearingRange, const SharedNoiseModel &model)
	Construct from BearingRange instance. More...

gtsam::NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const A1 &a1, const A2 &a2, OptionalMatrixType H1=OptionalNone, OptionalMatrixType H2=OptionalNone) const

Expression< T >	expression (const typename Base::ArrayNKeys &keys) const override

void	print (const std::string &s="", const KeyFormatter &kf=DefaultKeyFormatter) const override
	print More...

	~BearingRangeFactor () override

Public Member Functions inherited from gtsam::ExpressionFactorN< BearingRange< A1, A2 >, A1, A2 >
virtual Expression< BearingRange< A1, A2 > >	expression (const ArrayNKeys &keys) const

Public Member Functions inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
gtsam::NonlinearFactor::shared_ptr	clone () const override

bool	equals (const NonlinearFactor &f, double tol) const override
	equals relies on Testable traits being defined for T More...

	ExpressionFactor (const SharedNoiseModel &noiseModel, const BearingRange< A1, A2 > &measurement, const Expression< BearingRange< A1, A2 > > &expression)

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const BearingRange< A1, A2 > &	measured () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print relies on Testable traits being defined for T More...

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

	~ExpressionFactor () override
	Destructor. More...

Private Types
typedef ExpressionFactorN< T, A1, A2 >	Base

typedef BearingRange< A1, A2 >	T

typedef BearingRangeFactor< A1, A2 >	This

Additional Inherited Members
Static Public Attributes inherited from gtsam::ExpressionFactorN< BearingRange< A1, A2 >, A1, A2 >
static const std::size_t	NARY_EXPRESSION_SIZE

Protected Types inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
typedef ExpressionFactor< BearingRange< A1, A2 > >	This

Protected Member Functions inherited from gtsam::ExpressionFactorN< BearingRange< A1, A2 >, A1, A2 >
	ExpressionFactorN ()=default
	Default constructor, for serialization. More...

	ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const BearingRange< A1, A2 > &measurement)
	Constructor takes care of keys, but still need to call initialize. More...

Protected Member Functions inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
	ExpressionFactor ()

	ExpressionFactor (const SharedNoiseModel &noiseModel, const BearingRange< A1, A2 > &measurement)
	Default constructor, for serialization. More...

void	initialize (const Expression< BearingRange< A1, A2 > > &expression)
	Initialize with constructor arguments. More...

Protected Attributes inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
FastVector< int >	dims_
	dimensions of the Jacobian matrices More...

Expression< BearingRange< A1, A2 > >	expression_
	the expression that is AD enabled More...

BearingRange< A1, A2 >	measured_
	the measurement to be compared with the expression More...

Static Protected Attributes inherited from gtsam::ExpressionFactor< BearingRange< A1, A2 > >
static const int	Dim

Detailed Description

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
class gtsam::BearingRangeFactor< A1, A2, B, R >

Binary factor for a bearing/range measurement

Definition at line 34 of file sam/BearingRangeFactor.h.