Class FactorBase
Defined in File FactorBase.h
Inheritance Relationships
Base Type
public mrpt::serialization::CSerializable
Derived Types
public mola::FactorDynamicsConstVel(Class FactorDynamicsConstVel)public mola::FactorRelativePose3(Class FactorRelativePose3)public mola::FactorStereoProjectionPose(Class FactorStereoProjectionPose)public mola::SmartFactorIMU(Class SmartFactorIMU)public mola::SmartFactorStereoProjectionPose(Class SmartFactorStereoProjectionPose)
Class Documentation
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class FactorBase : public mrpt::serialization::CSerializable
Base class for all “factors” in the world model
Subclassed by mola::FactorDynamicsConstVel, mola::FactorRelativePose3, mola::FactorStereoProjectionPose, mola::SmartFactorIMU, mola::SmartFactorStereoProjectionPose
Public Functions
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FactorBase() = default
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virtual ~FactorBase()
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virtual std::size_t edge_count() const = 0
Number of entities involved in this factor: 1 for unary factors, 2 for binary, etc.
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virtual mola::id_t edge_indices(const std::size_t i) const = 0
Access entity indices involved in this factor
Public Members
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mola::fid_t my_id_ = {mola::INVALID_FID}
The unique ID of this factor in the world model. Stored here for convenience, notice that it is redundant since entities are already stored in the WorldModel indexed by ID.
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mola::Robust robust_type_ = {mola::Robust::REGULAR_L2}
Type of robust error function to use
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double robust_param_ = {1.0}
Parameter for the robust error function, if so defined in robust_type_
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FactorBase() = default