#include <SmartRangeFactor.h>

Inheritance diagram for gtsam::SmartRangeFactor:

[legend]

Classes
struct	Circle2

Public Member Functions
void	addRange (Key key, double measuredRange)
	Add a range measurement to a pose with given key. More...

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

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

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

	SmartRangeFactor ()

	SmartRangeFactor (double s)

Point2	triangulate (const Values &x) const

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

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

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

	~SmartRangeFactor () override

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 Types
typedef SmartRangeFactor	This

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 Attributes
std::vector< double >	measurements_
	Range measurements. More...

double	variance_
	variance on noise More...

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
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 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

Smart factor for range SLAM

Definition at line 30 of file SmartRangeFactor.h.

Member Typedef Documentation

◆ This

typedef SmartRangeFactor gtsam::SmartRangeFactor::This

protected

Definition at line 40 of file SmartRangeFactor.h.

Constructor & Destructor Documentation

◆ SmartRangeFactor() [1/2]

gtsam::SmartRangeFactor::SmartRangeFactor ( )

inline

Default constructor: don't use directly

Definition at line 51 of file SmartRangeFactor.h.

◆ SmartRangeFactor() [2/2]

gtsam::SmartRangeFactor::SmartRangeFactor ( double s )

inlineexplicit

Constructor

Parameters

s	standard deviation of range measurement noise

Definition at line 58 of file SmartRangeFactor.h.

◆ ~SmartRangeFactor()

gtsam::SmartRangeFactor::~SmartRangeFactor ( )

inlineoverride

Definition at line 62 of file SmartRangeFactor.h.

Member Function Documentation

◆ addRange()

void gtsam::SmartRangeFactor::addRange	(	Key	key,
		double	measuredRange
	)

inline

Add a range measurement to a pose with given key.

Definition at line 66 of file SmartRangeFactor.h.

◆ clone()

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 182 of file SmartRangeFactor.h.

◆ equals()

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

inlineoverridevirtual

Check if two factors are equal

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 88 of file SmartRangeFactor.h.

◆ print()

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

inlineoverridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 81 of file SmartRangeFactor.h.

◆ triangulate()

Point2 gtsam::SmartRangeFactor::triangulate ( const Values & x ) const

inline

Triangulate a point from at least three pose-range pairs Checks for best pair that includes first point Raise runtime_error if not well defined.

Definition at line 99 of file SmartRangeFactor.h.

◆ unwhitenedError() [1/3]

Vector gtsam::SmartRangeFactor::unwhitenedError	(	const Values &	x,
		OptionalMatrixVecType	H = `nullptr`
	)		const

inlineoverridevirtual

Error function without the NoiseModel, $ z-h(x) $ .

Implements gtsam::NoiseModelFactor.

Definition at line 151 of file SmartRangeFactor.h.

◆ unwhitenedError() [2/3]

virtual Vector gtsam::NoiseModelFactor::unwhitenedError

Error function without the NoiseModel, $ z-h(x) $ . Override this method to finish implementing an N-way factor. If the optional arguments is specified, it should compute both the function evaluation and its derivative(s) in H.

◆ unwhitenedError() [3/3]

Vector gtsam::NoiseModelFactor::unwhitenedError

inline

support taking in the actual vector instead of the pointer as well to get access to this version of the function from derived classes one will need to use the "using" keyword and specify that like this: public: using NoiseModelFactor::unwhitenedError;

Definition at line 264 of file NonlinearFactor.h.

Member Data Documentation

◆ measurements_

std::vector<double> gtsam::SmartRangeFactor::measurements_

protected

Range measurements.

Definition at line 42 of file SmartRangeFactor.h.

◆ variance_

double gtsam::SmartRangeFactor::variance_

protected

variance on noise

Definition at line 43 of file SmartRangeFactor.h.

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

SmartRangeFactor.h

Classes

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ This

Constructor & Destructor Documentation

◆ SmartRangeFactor() [1/2]

◆ SmartRangeFactor() [2/2]

◆ ~SmartRangeFactor()

Member Function Documentation

◆ addRange()

◆ clone()

◆ equals()

◆ print()

◆ triangulate()

◆ unwhitenedError() [1/3]

◆ unwhitenedError() [2/3]

◆ unwhitenedError() [3/3]

Member Data Documentation

◆ measurements_

◆ variance_