#include <RangeFactor.h>
Inheritance diagram for gtsam::RangeFactorWithTransform< A1, A2, T >:
Public Member Functions | |
| gtsam::NonlinearFactor::shared_ptr | clone () const override |
| Vector | evaluateError (const A1 &a1, const A2 &a2, Matrix &H1, Matrix &H2) const |
| 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 &keyFormatter=DefaultKeyFormatter) const override |
| RangeFactorWithTransform () | |
| RangeFactorWithTransform (Key key1, Key key2, T measured, const SharedNoiseModel &model, const A1 &body_T_sensor) | |
| ~RangeFactorWithTransform () override | |
 Public Member Functions inherited from gtsam::ExpressionFactorN< typename Range< A1, A1 >::result_type, A1, A1 > | |
| virtual Expression< typename Range< A1, A1 >::result_type > | expression (const ArrayNKeys &keys) const |
| Public Member Functions inherited from gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type > | |
| 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 typename Range< A1, A1 >::result_type &measurement, const Expression< typename Range< A1, A1 >::result_type > &expression) | |
| std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
| const typename Range< A1, A1 >::result_type & | 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 RangeFactorWithTransform< A1, A2 > | This |
Private Attributes | |
| A1 | body_T_sensor_ |
| The pose of the sensor in the body frame. More... | |
Additional Inherited Members | |
| Public Types inherited from gtsam::ExpressionFactorN< typename Range< A1, A1 >::result_type, A1, A1 > | |
| using | ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE > |
| Public Types inherited from gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type > | |
| typedef std::shared_ptr< ExpressionFactor< typename Range< A1, A1 >::result_type > > | shared_ptr |
| Static Public Attributes inherited from gtsam::ExpressionFactorN< typename Range< A1, A1 >::result_type, A1, A1 > | |
| static const std::size_t | NARY_EXPRESSION_SIZE |
| Protected Types inherited from gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type > | |
| typedef ExpressionFactor< typename Range< A1, A1 >::result_type > | This |
| Protected Member Functions inherited from gtsam::ExpressionFactorN< typename Range< A1, A1 >::result_type, A1, A1 > | |
| ExpressionFactorN ()=default | |
| Default constructor, for serialization. More... | |
| ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const typename Range< A1, A1 >::result_type &measurement) | |
| Constructor takes care of keys, but still need to call initialize. More... | |
| Protected Member Functions inherited from gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type > | |
| ExpressionFactor () | |
| ExpressionFactor (const SharedNoiseModel &noiseModel, const typename Range< A1, A1 >::result_type &measurement) | |
| Default constructor, for serialization. More... | |
| void | initialize (const Expression< typename Range< A1, A1 >::result_type > &expression) |
| Initialize with constructor arguments. More... | |
| Protected Attributes inherited from gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type > | |
| FastVector< int > | dims_ |
| dimensions of the Jacobian matrices More... | |
| Expression< typename Range< A1, A1 >::result_type > | expression_ |
| the expression that is AD enabled More... | |
| typename Range< A1, A1 >::result_type | measured_ |
| the measurement to be compared with the expression More... | |
| Static Protected Attributes inherited from gtsam::ExpressionFactor< typename Range< A1, A1 >::result_type > | |
| static const int | Dim |
Detailed Description
template<typename A1, typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
class gtsam::RangeFactorWithTransform< A1, A2, T >
Binary factor for a range measurement, with a transform applied
Definition at line 104 of file sam/RangeFactor.h.
Member Typedef Documentation
◆ Base
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
|
private |
Definition at line 107 of file sam/RangeFactor.h.
◆ This
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
|
private |
Definition at line 106 of file sam/RangeFactor.h.
Constructor & Destructor Documentation
◆ RangeFactorWithTransform() [1/2]
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
|
inline |
Definition at line 113 of file sam/RangeFactor.h.
◆ RangeFactorWithTransform() [2/2]
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
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inline |
Definition at line 115 of file sam/RangeFactor.h.
◆ ~RangeFactorWithTransform()
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
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inlineoverride |
Definition at line 122 of file sam/RangeFactor.h.
Member Function Documentation
◆ clone()
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
|
inlineoverride |
- Returns
- a deep copy of this factor
Definition at line 125 of file sam/RangeFactor.h.
◆ evaluateError() [1/2]
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
|
inline |
Definition at line 154 of file sam/RangeFactor.h.
◆ evaluateError() [2/2]
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
|
inline |
Definition at line 140 of file sam/RangeFactor.h.
◆ expression()
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
|
inlineoverride |
Definition at line 131 of file sam/RangeFactor.h.
◆ print()
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
|
inlineoverride |
print contents
Definition at line 159 of file sam/RangeFactor.h.
Member Data Documentation
◆ body_T_sensor_
template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>
|
private |
The pose of the sensor in the body frame.
Definition at line 109 of file sam/RangeFactor.h.
The documentation for this class was generated from the following file: