#include <RelativeElevationFactor.h>

Inheritance diagram for gtsam::RelativeElevationFactor:

[legend]

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

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

Vector	evaluateError (const Pose3 &pose, const Point3 &point, OptionalMatrixType H1, OptionalMatrixType H2) const override

double	measured () const

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

	RelativeElevationFactor ()

	RelativeElevationFactor (Key poseKey, Key pointKey, double measured, const SharedNoiseModel &model)

	~RelativeElevationFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Point3 >
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< Pose3, Point3 >	Base

typedef RelativeElevationFactor	This

Private Attributes
double	measured_

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Point3 >
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...

Protected Types inherited from gtsam::NoiseModelFactorN< Pose3, Point3 >
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

Binary factor for a relative elevation. Note that this factor takes into account only elevation, and corrects for orientation. Unlike a range factor, the relative elevation is signed, and only affects the Z coordinate. Measurement function h(pose, pt) = h.z() - pt.z()

Dimension: 1

TODO: enable use of a Pose3 for the target as well

Definition at line 28 of file RelativeElevationFactor.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Pose3, Point3> gtsam::RelativeElevationFactor::Base

private

Definition at line 34 of file RelativeElevationFactor.h.

◆ This

typedef RelativeElevationFactor gtsam::RelativeElevationFactor::This

private

measurement

Definition at line 33 of file RelativeElevationFactor.h.

Constructor & Destructor Documentation

◆ RelativeElevationFactor() [1/2]

gtsam::RelativeElevationFactor::RelativeElevationFactor ( )

inline

Definition at line 41 of file RelativeElevationFactor.h.

◆ RelativeElevationFactor() [2/2]

gtsam::RelativeElevationFactor::RelativeElevationFactor	(	Key	poseKey,
		Key	pointKey,
		double	measured,
		const SharedNoiseModel &	model
	)

Definition at line 13 of file RelativeElevationFactor.cpp.

◆ ~RelativeElevationFactor()

gtsam::RelativeElevationFactor::~RelativeElevationFactor ( )

inlineoverride

Definition at line 46 of file RelativeElevationFactor.h.

Member Function Documentation

◆ clone()

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 49 of file RelativeElevationFactor.h.

◆ equals()

bool gtsam::RelativeElevationFactor::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

overridevirtual

equals specialized to this factor

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 39 of file RelativeElevationFactor.cpp.

◆ evaluateError()

Vector gtsam::RelativeElevationFactor::evaluateError	(	const Pose3 &	pose,
		const Point3 &	point,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

override

h(x)-z

Definition at line 20 of file RelativeElevationFactor.cpp.

◆ measured()

double gtsam::RelativeElevationFactor::measured ( ) const

inline

return the measured

Definition at line 58 of file RelativeElevationFactor.h.

◆ print()

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

overridevirtual

print contents

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 45 of file RelativeElevationFactor.cpp.

Member Data Documentation

◆ measured_

double gtsam::RelativeElevationFactor::measured_

private

Definition at line 31 of file RelativeElevationFactor.h.

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

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ This

Constructor & Destructor Documentation

◆ RelativeElevationFactor() [1/2]

◆ RelativeElevationFactor() [2/2]

◆ ~RelativeElevationFactor()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ measured()

◆ print()

Member Data Documentation

◆ measured_