Public Member Functions
isam::GLC_Reparam Class Reference

#include <GLCReparam.h>

Inheritance diagram for isam::GLC_Reparam:
Inheritance graph
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List of all members.

Public Member Functions

virtual GLC_Reparamclone ()=0
virtual Eigen::VectorXb is_angle ()=0
virtual Eigen::MatrixXd jacobian ()=0
virtual Eigen::VectorXd reparameterize (Selector s)=0
virtual void set_nodes (std::vector< Node * > nodes)=0

Detailed Description

interface class to allow for reparametrization by the user see GLC_RootShift implementation as an example

Definition at line 45 of file GLCReparam.h.


Member Function Documentation

virtual GLC_Reparam* isam::GLC_Reparam::clone ( ) [pure virtual]

clone()

Returns:
a new instance of the derived class

Implemented in isam::GLC_RootShift.

virtual Eigen::VectorXb isam::GLC_Reparam::is_angle ( ) [pure virtual]

is_angle()

Returns:
boolean vector indacating if elemetes reparameterized vector are angles

Implemented in isam::GLC_RootShift.

virtual Eigen::MatrixXd isam::GLC_Reparam::jacobian ( ) [pure virtual]

jacobian()

Returns:
jacobian of reparameterized output wrt node input

Implemented in isam::GLC_RootShift.

virtual Eigen::VectorXd isam::GLC_Reparam::reparameterize ( Selector  s) [pure virtual]

reparameterize()

Returns:
reparameterized vector

Implemented in isam::GLC_RootShift.

virtual void isam::GLC_Reparam::set_nodes ( std::vector< Node * >  nodes) [pure virtual]

set_nodes()

Parameters:
nodesVector of Node pointers which support the factor

Implemented in isam::GLC_RootShift.


The documentation for this class was generated from the following file:


demo_lidar
Author(s): Ji Zhang
autogenerated on Sun Oct 5 2014 23:22:43