#include <GLCReparam.h>
Inheritance diagram for isam::GLC_RootShift:
Public Member Functions | |
| GLC_RootShift * | clone () |
| Eigen::VectorXb | is_angle () |
| Eigen::MatrixXd | jacobian () |
| Eigen::VectorXd | reparameterize (Selector s) |
| Eigen::VectorXd | root_shift (Node *node_i, Node *node_j, Selector s) |
| void | set_nodes (std::vector< Node * > nodes) |
Private Attributes | |
| int | _dim |
| Eigen::VectorXb | _is_angle |
| std::vector< Node * > | _nodes |
Detailed Description
GLC_RootShift implementation of GLC_Reparam performs root shift operation
Definition at line 82 of file GLCReparam.h.
Member Function Documentation
| GLC_RootShift* isam::GLC_RootShift::clone | ( | ) | [inline, virtual] |
- Returns:
- a new instance of the derived class
Implements isam::GLC_Reparam.
Definition at line 105 of file GLCReparam.h.
| Eigen::VectorXb isam::GLC_RootShift::is_angle | ( | ) | [inline, virtual] |
- Returns:
- boolean vector indacating if elemetes reparameterized vector are angles
Implements isam::GLC_Reparam.
Definition at line 106 of file GLCReparam.h.
| MatrixXd isam::GLC_RootShift::jacobian | ( | ) | [virtual] |
- Returns:
- jacobian of reparameterized output wrt node input
Implements isam::GLC_Reparam.
Definition at line 118 of file GLCReparam.cpp.
| VectorXd isam::GLC_RootShift::reparameterize | ( | Selector | s | ) | [virtual] |
- Returns:
- reparameterized vector
Implements isam::GLC_Reparam.
Definition at line 45 of file GLCReparam.cpp.
| VectorXd isam::GLC_RootShift::root_shift | ( | Node * | node_i, |
| Node * | node_j, | ||
| Selector | s | ||
| ) |
Definition at line 87 of file GLCReparam.cpp.
| void isam::GLC_RootShift::set_nodes | ( | std::vector< Node * > | nodes | ) | [inline, virtual] |
- Parameters:
-
nodes Vector of Node pointers which support the factor
Implements isam::GLC_Reparam.
Definition at line 91 of file GLCReparam.h.
Member Data Documentation
int isam::GLC_RootShift::_dim [private] |
Definition at line 87 of file GLCReparam.h.
Definition at line 86 of file GLCReparam.h.
std::vector<Node*> isam::GLC_RootShift::_nodes [private] |
Definition at line 85 of file GLCReparam.h.
The documentation for this class was generated from the following files: