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36 using NoiseModelFactor1<VALUE>::evaluateError;
51 typedef typename std::shared_ptr<PriorFactor<VALUE> >
shared_ptr;
73 return std::static_pointer_cast<gtsam::NonlinearFactor>(
81 std::cout <<
s <<
"PriorFactor on " << keyFormatter(this->
key()) <<
"\n";
86 std::cout <<
"no noise model" << std::endl;
108 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
110 friend class boost::serialization::access;
111 template<
class ARCHIVE>
112 void serialize(ARCHIVE & ar,
const unsigned int ) {
114 ar & boost::serialization::make_nvp(
"NoiseModelFactor1",
115 boost::serialization::base_object<Base>(*
this));
116 ar & BOOST_SERIALIZATION_NVP(
prior_);
127 template<
class VALUE>
double Gaussian(double mu, double sigma, double z)
Gaussian density function.
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std::shared_ptr< This > shared_ptr
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Concept check for values that can be used in unit tests.
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std::shared_ptr< PriorFactor< VALUE > > shared_ptr
shorthand for a smart pointer to a factor
void print(const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
SharedNoiseModel noiseModel_
PriorFactor(Key key, const VALUE &prior, const Matrix &covariance)
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
PriorFactor< VALUE > This
Typedef to this class.
gtsam::NonlinearFactor::shared_ptr clone() const override
const SharedNoiseModel & noiseModel() const
access to the noise model
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
bool equals(const NonlinearFactor &f, double tol=1e-9) const override
noiseModel::Base::shared_ptr SharedNoiseModel
noiseModel::Diagonal::shared_ptr model
Non-linear factor base classes.
Vector evaluateError(const T &x, OptionalMatrixType H) const override
PriorFactor(Key key, const VALUE &prior, const SharedNoiseModel &model=nullptr)
NoiseModelFactorN< VALUE > Base
bool equals(const NonlinearFactor &expected, double tol=1e-9) const override
#define GTSAM_CONCEPT_TESTABLE_TYPE(T)
void Print(const CONTAINER &keys, const string &s, const KeyFormatter &keyFormatter)
Matrix * OptionalMatrixType
#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
std::uint64_t Key
Integer nonlinear key type.
const VALUE & prior() const
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:34:25