#include <TransformBtwRobotsUnaryFactor.h>

Inheritance diagram for gtsam::TransformBtwRobotsUnaryFactor< VALUE >:

Public Types
typedef std::shared_ptr< TransformBtwRobotsUnaryFactor >	shared_ptr

typedef VALUE	T

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

size_t	dim () const override

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

double	error (const gtsam::Values &x) const override

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

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

void	setValAValB (const gtsam::Values &valA, const gtsam::Values &valB)

	TransformBtwRobotsUnaryFactor ()

	TransformBtwRobotsUnaryFactor (Key key, const VALUE &measured, Key keyA, Key keyB, const gtsam::Values &valA, const gtsam::Values &valB, const SharedGaussian &model)

gtsam::Vector	unwhitenedError (const gtsam::Values &x) const

gtsam::Vector	whitenedError (const gtsam::Values &x, OptionalMatrixVecType H=nullptr) const

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

	~TransformBtwRobotsUnaryFactor () 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 gtsam::NonlinearFactor	Base

typedef TransformBtwRobotsUnaryFactor< VALUE >	This

Private Attributes
gtsam::Key	key_

gtsam::Key	keyA_

gtsam::Key	keyB_

VALUE	measured_

SharedGaussian	model_

gtsam::Values	valA_

gtsam::Values	valB_

Additional Inherited Members
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

template<class VALUE>
class gtsam::TransformBtwRobotsUnaryFactor< VALUE >

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

Template Parameters

VALUE the Value type

Definition at line 35 of file TransformBtwRobotsUnaryFactor.h.

Member Typedef Documentation

◆ Base

template<class VALUE >

typedef gtsam::NonlinearFactor gtsam::TransformBtwRobotsUnaryFactor< VALUE >::Base

private

Definition at line 44 of file TransformBtwRobotsUnaryFactor.h.

◆ shared_ptr

template<class VALUE >

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

concept check by type

Definition at line 64 of file TransformBtwRobotsUnaryFactor.h.

◆ T

template<class VALUE >

typedef VALUE gtsam::TransformBtwRobotsUnaryFactor< VALUE >::T

Definition at line 39 of file TransformBtwRobotsUnaryFactor.h.

◆ This

template<class VALUE >

typedef TransformBtwRobotsUnaryFactor<VALUE> gtsam::TransformBtwRobotsUnaryFactor< VALUE >::This

private

Definition at line 43 of file TransformBtwRobotsUnaryFactor.h.

Constructor & Destructor Documentation

◆ TransformBtwRobotsUnaryFactor() [1/2]

template<class VALUE >

gtsam::TransformBtwRobotsUnaryFactor< VALUE >::TransformBtwRobotsUnaryFactor ( )

inline

default constructor - only use for serialization

Definition at line 67 of file TransformBtwRobotsUnaryFactor.h.

◆ TransformBtwRobotsUnaryFactor() [2/2]

template<class VALUE >

gtsam::TransformBtwRobotsUnaryFactor< VALUE >::TransformBtwRobotsUnaryFactor	(	Key	key,
		const VALUE &	measured,
		Key	keyA,
		Key	keyB,
		const gtsam::Values &	valA,
		const gtsam::Values &	valB,
		const SharedGaussian &	model
	)

inline

Constructor

Definition at line 70 of file TransformBtwRobotsUnaryFactor.h.

◆ ~TransformBtwRobotsUnaryFactor()

template<class VALUE >

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

inlineoverride

Definition at line 80 of file TransformBtwRobotsUnaryFactor.h.

Member Function Documentation

◆ clone()

template<class VALUE >

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

inlineoverridevirtual

Clone

Reimplemented from gtsam::NonlinearFactor.

Definition at line 84 of file TransformBtwRobotsUnaryFactor.h.

◆ dim()

template<class VALUE >

size_t gtsam::TransformBtwRobotsUnaryFactor< VALUE >::dim ( ) const

inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

Definition at line 213 of file TransformBtwRobotsUnaryFactor.h.

◆ equals()

template<class VALUE >

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

inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 102 of file TransformBtwRobotsUnaryFactor.h.

◆ error()

template<class VALUE >

double gtsam::TransformBtwRobotsUnaryFactor< VALUE >::error ( const gtsam::Values & x ) const

inlineoverridevirtual

Reimplemented from gtsam::NonlinearFactor.

Definition at line 131 of file TransformBtwRobotsUnaryFactor.h.

◆ linearize()

template<class VALUE >

std::shared_ptr<gtsam::GaussianFactor> gtsam::TransformBtwRobotsUnaryFactor< VALUE >::linearize ( const gtsam::Values & x ) const

inlineoverridevirtual

Linearize a non-linearFactorN to get a gtsam::GaussianFactor, $Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z$ Hence $b = z - h(x) = - \mathtt{error\_vector}(x)$