#include <BetweenFactor.h>

Inheritance diagram for gtsam::BetweenFactor< VALUE >:

[legend]

Public Types
typedef std::shared_ptr< BetweenFactor >	shared_ptr

typedef VALUE	T

Public Types inherited from gtsam::NoiseModelFactorN< VALUE, VALUE >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys. More...

typedef KeyVector::iterator	iterator
	Iterator over keys. More...

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

	~BetweenFactor () override

Standard Constructors
	BetweenFactor ()

	BetweenFactor (Key key1, Key key2, const VALUE &measured, const SharedNoiseModel &model=nullptr)

Testable
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print with optional string More...

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override
	assert equality up to a tolerance More...

NoiseModelFactorN methods
Vector	evaluateError (const T &p1, const T &p2, OptionalMatrixType H1, OptionalMatrixType H2) const override
	evaluate error, returns vector of errors size of tangent space More...

Standard interface
const VALUE &	measured () const
	return the measurement More...

Public Member Functions inherited from gtsam::NoiseModelFactorN< VALUE, VALUE >
Key	key () const

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

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

	~NoiseModelFactorN () override

	NoiseModelFactorN ()
	Default Constructor for I/O. More...

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)

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

virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

AreAllMatrixPtrs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Key	key6 () const

Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

size_t	dim () const override

double	error (const Values &c) const override

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

const SharedNoiseModel &	noiseModel () const
	access to the noise model More...

	NoiseModelFactor ()

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)

Vector	unweightedWhitenedError (const Values &c) const

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

double	weight (const Values &c) const

Vector	whitenedError (const Values &c) const

	~NoiseModelFactor () override

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &) const

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

bool	empty () const
	Whether the factor is empty (involves zero variables). More...

Key	front () const
	First key. More...

Key	back () const
	Last key. More...

const_iterator	find (Key key) const
	find More...

const KeyVector &	keys () const
	Access the factor's involved variable keys. More...

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Private Types
typedef NoiseModelFactorN< VALUE, VALUE >	Base

typedef BetweenFactor< VALUE >	This

Private Member Functions
	GTSAM_CONCEPT_ASSERT (IsLieGroup< VALUE >)

	GTSAM_CONCEPT_ASSERT (IsTestable< VALUE >)

Private Attributes
VALUE	measured_

Static Private Attributes
constexpr static auto	NeedsToAlign = (sizeof(VALUE) % 16) == 0

Additional Inherited Members
Static Public Attributes inherited from gtsam::NoiseModelFactorN< VALUE, VALUE >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< VALUE, VALUE >
using	Base = NoiseModelFactor

using	KeyType = Key

using	MatrixTypeT = Matrix

using	OptionalMatrixTypeT = Matrix *

using	This = NoiseModelFactorN< ValueTypes... >

using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

template<class VALUE>
class gtsam::BetweenFactor< VALUE >

A class for a measurement predicted by "between(config[key1],config[key2])"

Template Parameters

VALUE the Value type

Definition at line 40 of file BetweenFactor.h.

Member Typedef Documentation

◆ Base

template<class VALUE >

typedef NoiseModelFactorN<VALUE, VALUE> gtsam::BetweenFactor< VALUE >::Base

private

Definition at line 53 of file BetweenFactor.h.

◆ shared_ptr

template<class VALUE >

typedef std::shared_ptr<BetweenFactor> gtsam::BetweenFactor< VALUE >::shared_ptr

Definition at line 63 of file BetweenFactor.h.

◆ T

template<class VALUE >

typedef VALUE gtsam::BetweenFactor< VALUE >::T

Definition at line 48 of file BetweenFactor.h.

◆ This

template<class VALUE >

typedef BetweenFactor<VALUE> gtsam::BetweenFactor< VALUE >::This

private

Definition at line 52 of file BetweenFactor.h.

Constructor & Destructor Documentation

◆ BetweenFactor() [1/2]

template<class VALUE >

gtsam::BetweenFactor< VALUE >::BetweenFactor ( )

inline

default constructor - only use for serialization

Definition at line 69 of file BetweenFactor.h.

◆ BetweenFactor() [2/2]

template<class VALUE >

gtsam::BetweenFactor< VALUE >::BetweenFactor	(	Key	key1,
		Key	key2,
		const VALUE &	measured,
		const SharedNoiseModel &	model = `nullptr`
	)

inline

Constructor

Definition at line 72 of file BetweenFactor.h.

◆ ~BetweenFactor()

template<class VALUE >

gtsam::BetweenFactor< VALUE >::~BetweenFactor ( )

inlineoverride

Definition at line 79 of file BetweenFactor.h.

Member Function Documentation

◆ clone()

template<class VALUE >

gtsam::NonlinearFactor::shared_ptr gtsam::BetweenFactor< VALUE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 82 of file BetweenFactor.h.

◆ equals()

template<class VALUE >

bool gtsam::BetweenFactor< VALUE >::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

assert equality up to a tolerance

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 101 of file BetweenFactor.h.

◆ evaluateError()

template<class VALUE >

Vector gtsam::BetweenFactor< VALUE >::evaluateError	(	const T &	p1,
		const T &	p2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

evaluate error, returns vector of errors size of tangent space

Definition at line 111 of file BetweenFactor.h.

◆ GTSAM_CONCEPT_ASSERT() [1/2]

template<class VALUE >

gtsam::BetweenFactor< VALUE >::GTSAM_CONCEPT_ASSERT ( IsLieGroup< VALUE > )

private

◆ GTSAM_CONCEPT_ASSERT() [2/2]

template<class VALUE >

gtsam::BetweenFactor< VALUE >::GTSAM_CONCEPT_ASSERT ( IsTestable< VALUE > )

private

◆ measured()

template<class VALUE >

const VALUE& gtsam::BetweenFactor< VALUE >::measured ( ) const

inline

return the measurement

Definition at line 131 of file BetweenFactor.h.

◆ print()

template<class VALUE >

void gtsam::BetweenFactor< VALUE >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print with optional string

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 90 of file BetweenFactor.h.

Member Data Documentation

◆ measured_

template<class VALUE >

VALUE gtsam::BetweenFactor< VALUE >::measured_

private

Definition at line 55 of file BetweenFactor.h.

◆ NeedsToAlign

template<class VALUE >

constexpr static auto gtsam::BetweenFactor< VALUE >::NeedsToAlign = (sizeof(VALUE) % 16) == 0

inlinestaticconstexprprivate

Definition at line 151 of file BetweenFactor.h.

The documentation for this class was generated from the following file:

BetweenFactor.h

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

template<class VALUE> class gtsam::BetweenFactor< VALUE >

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ T

◆ This

Constructor & Destructor Documentation

◆ BetweenFactor() [1/2]

◆ BetweenFactor() [2/2]

◆ ~BetweenFactor()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ GTSAM_CONCEPT_ASSERT() [1/2]

◆ GTSAM_CONCEPT_ASSERT() [2/2]

◆ measured()

◆ print()

Member Data Documentation

◆ measured_

◆ NeedsToAlign

template<class VALUE>
class gtsam::BetweenFactor< VALUE >