#include <PoseTranslationPrior.h>

Inheritance diagram for gtsam::PoseTranslationPrior< POSE >:

[legend]

Public Types
typedef NoiseModelFactorN< POSE >	Base

typedef POSE	Pose

typedef POSE::Rotation	Rotation

typedef PoseTranslationPrior< POSE >	This

typedef POSE::Translation	Translation

Public Types inherited from gtsam::NoiseModelFactorN< POSE >
enum
	N is the number of variables (N-way factor) More...

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

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override

Vector	evaluateError (const Pose &pose, OptionalMatrixType H) const override

const Translation &	measured () const

	PoseTranslationPrior ()

	PoseTranslationPrior (Key key, const POSE &pose_z, const noiseModel::Base::shared_ptr &model)

	PoseTranslationPrior (Key key, const Translation &measured, const noiseModel::Base::shared_ptr &model)

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

	~PoseTranslationPrior () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE >
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 ()

Protected Attributes
Translation	measured_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< POSE >
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)

Detailed Description

template<class POSE>
class gtsam::PoseTranslationPrior< POSE >

A prior on the translation part of a pose

Definition at line 21 of file PoseTranslationPrior.h.

Member Typedef Documentation

◆ Base

template<class POSE >

typedef NoiseModelFactorN<POSE> gtsam::PoseTranslationPrior< POSE >::Base

Definition at line 24 of file PoseTranslationPrior.h.

◆ Pose

template<class POSE >

typedef POSE gtsam::PoseTranslationPrior< POSE >::Pose

Definition at line 25 of file PoseTranslationPrior.h.

◆ Rotation

template<class POSE >

typedef POSE::Rotation gtsam::PoseTranslationPrior< POSE >::Rotation

Definition at line 27 of file PoseTranslationPrior.h.

◆ This

template<class POSE >

typedef PoseTranslationPrior<POSE> gtsam::PoseTranslationPrior< POSE >::This

Definition at line 23 of file PoseTranslationPrior.h.

◆ Translation

template<class POSE >

typedef POSE::Translation gtsam::PoseTranslationPrior< POSE >::Translation

Definition at line 26 of file PoseTranslationPrior.h.

Constructor & Destructor Documentation

◆ PoseTranslationPrior() [1/3]

template<class POSE >

gtsam::PoseTranslationPrior< POSE >::PoseTranslationPrior ( )

inline

default constructor - only use for serialization

Definition at line 43 of file PoseTranslationPrior.h.

◆ PoseTranslationPrior() [2/3]

template<class POSE >

gtsam::PoseTranslationPrior< POSE >::PoseTranslationPrior	(	Key	key,
		const Translation &	measured,
		const noiseModel::Base::shared_ptr &	model
	)

inline

standard constructor

Definition at line 46 of file PoseTranslationPrior.h.

◆ PoseTranslationPrior() [3/3]

template<class POSE >

gtsam::PoseTranslationPrior< POSE >::PoseTranslationPrior	(	Key	key,
		const POSE &	pose_z,
		const noiseModel::Base::shared_ptr &	model
	)

inline

Constructor that pulls the translation from an incoming POSE

Definition at line 51 of file PoseTranslationPrior.h.

◆ ~PoseTranslationPrior()

template<class POSE >

gtsam::PoseTranslationPrior< POSE >::~PoseTranslationPrior ( )

inlineoverride

Definition at line 55 of file PoseTranslationPrior.h.

Member Function Documentation

◆ clone()

template<class POSE >

gtsam::NonlinearFactor::shared_ptr gtsam::PoseTranslationPrior< POSE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 60 of file PoseTranslationPrior.h.

◆ equals()

template<class POSE >

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

inlineoverridevirtual

equals specialized to this factor

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 80 of file PoseTranslationPrior.h.

◆ evaluateError()

template<class POSE >

Vector gtsam::PoseTranslationPrior< POSE >::evaluateError	(	const Pose &	pose,
		OptionalMatrixType	H
	)		const

inlineoverride

h(x)-z

Definition at line 65 of file PoseTranslationPrior.h.

◆ measured()

template<class POSE >

const Translation& gtsam::PoseTranslationPrior< POSE >::measured ( ) const

inline

Definition at line 57 of file PoseTranslationPrior.h.

◆ print()

template<class POSE >

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

inlineoverridevirtual

print contents

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 86 of file PoseTranslationPrior.h.

Member Data Documentation

◆ measured_

template<class POSE >

Translation gtsam::PoseTranslationPrior< POSE >::measured_

protected

Definition at line 38 of file PoseTranslationPrior.h.

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

PoseTranslationPrior.h

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class POSE> class gtsam::PoseTranslationPrior< POSE >

Member Typedef Documentation

◆ Base

◆ Pose

◆ Rotation

◆ This

◆ Translation

Constructor & Destructor Documentation

◆ PoseTranslationPrior() [1/3]

◆ PoseTranslationPrior() [2/3]

◆ PoseTranslationPrior() [3/3]

◆ ~PoseTranslationPrior()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ measured()

◆ print()

Member Data Documentation

◆ measured_

template<class POSE>
class gtsam::PoseTranslationPrior< POSE >