gtsam::example::impl Namespace Reference

Typedefs
typedef std::shared_ptr< NonlinearFactor >	shared_nlf

Functions
Symbol	key (size_t x, size_t y)

Variables
static const Key	_l1_ =0
static const Key	_x1_ =1
static const Key	_x2_ =2
static const Key	_x_ =0
static const Key	_y_ =1
static const Key	_z_ =2
static SharedDiagonal	kConstrainedModel = noiseModel::Constrained::All(2)
static SharedDiagonal	kSigma0_1 = noiseModel::Isotropic::Sigma(2,0.1)
static SharedDiagonal	kSigma0_2 = noiseModel::Isotropic::Sigma(2,0.2)
static SharedDiagonal	kSigma1_0 = noiseModel::Isotropic::Sigma(2,1.0)

Detailed Description

Create small example for non-linear factor graph Create values structure to go with it The ground truth values structure for the example above Vector Values equivalent create a noisy values structure for a nonlinear factor graph Zero delta config Delta config that, when added to noisyValues, returns the ground truth create a linear factor graph The non-linear graph above evaluated at NoisyValues create small Chordal Bayes Net x <- y Create really non-linear factor graph (cos/sin) Create a full nonlinear smoother

Parameters

T	number of time-steps Create a Kalman smoother by linearizing a non-linear factor graph
T	number of time-steps Creates a simple constrained graph with one linear factor and one binary equality constraint that sets x = y Creates a simple constrained graph with one linear factor and one binary constraint. Creates a constrained graph with a linear factor and two binary constraints that share a node

Typedef Documentation

shared_nlf

typedef std::shared_ptr<NonlinearFactor> gtsam::example::impl::shared_nlf

Definition at line 159 of file smallExample.h.

Function Documentation

key()

Symbol gtsam::example::impl::key ( size_t  x, size_t  y  )

inline

Definition at line 619 of file smallExample.h.

Variable Documentation

_l1_

const Key gtsam::example::impl::_l1_ =0

static

Definition at line 166 of file smallExample.h.

_x1_

const Key gtsam::example::impl::_x1_ =1

static

Definition at line 166 of file smallExample.h.

_x2_

const Key gtsam::example::impl::_x2_ =2

static

Definition at line 166 of file smallExample.h.

_x_

const Key gtsam::example::impl::_x_ =0

static

Definition at line 167 of file smallExample.h.

_y_

const Key gtsam::example::impl::_y_ =1

static

Definition at line 167 of file smallExample.h.

_z_

const Key gtsam::example::impl::_z_ =2

static

Definition at line 167 of file smallExample.h.

kConstrainedModel

SharedDiagonal gtsam::example::impl::kConstrainedModel = noiseModel::Constrained::All(2)

static

Definition at line 164 of file smallExample.h.

kSigma0_1

SharedDiagonal gtsam::example::impl::kSigma0_1 = noiseModel::Isotropic::Sigma(2,0.1)

static

Definition at line 162 of file smallExample.h.

kSigma0_2

SharedDiagonal gtsam::example::impl::kSigma0_2 = noiseModel::Isotropic::Sigma(2,0.2)

static

Definition at line 163 of file smallExample.h.

kSigma1_0

SharedDiagonal gtsam::example::impl::kSigma1_0 = noiseModel::Isotropic::Sigma(2,1.0)

static

Definition at line 161 of file smallExample.h.