Class FactorDynamicsConstVel

Defined in File FactorDynamicsConstVel.h

Inheritance Relationships

Base Type

public mola::FactorBase (Class FactorBase)

Class Documentation

class FactorDynamicsConstVel : public mola::FactorBase 

Public Functions

FactorDynamicsConstVel() = default

inline FactorDynamicsConstVel(id_t kf_from, id_t kf_to): Creates relative pose constraint of KF to as seem from from.

inline virtual std::size_t edge_count() const override: Number of entities involved in this factor: 1 for unary factors, 2 for binary, etc.

virtual mola::id_t edge_indices(const std::size_t i) const override: Access entity indices involved in this factor

Public Members

id_t from_kf_ = {INVALID_ID}

id_t to_kf_ = {INVALID_ID}