Custom factor that takes a std::function as the error. More...
Classes | |
| class | gtsam::PriorFactor< VALUE > |
Custom factor that takes a std::function as the error.
This factor is mainly for creating a custom factor in Python.
A NonlinearFactorGraph is a graph of non-Gaussian, i.e. non-linear factors, which derive from NonlinearFactor. The values structures are typically (in SAM) more general than just vectors, e.g., Rot3 or Pose3, which are objects in non-linear manifolds. Linearizing the non-linear factor graph creates a linear factor graph on the tangent vector space at the linearization point. Because the tangent space is a true vector space, the config type will be an VectorValues in that linearized factor graph.