Public Member Functions | Private Attributes
isam::GLC_RootShift Class Reference

#include <GLCReparam.h>

Inheritance diagram for isam::GLC_RootShift:
Inheritance graph
[legend]

List of all members.

Public Member Functions

GLC_RootShiftclone ()
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]

clone()

Returns:
a new instance of the derived class

Implements isam::GLC_Reparam.

Definition at line 105 of file GLCReparam.h.

is_angle()

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]

jacobian()

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]

reparameterize()

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]

set_nodes()

Parameters:
nodesVector of Node pointers which support the factor

Implements isam::GLC_Reparam.

Definition at line 91 of file GLCReparam.h.


Member Data Documentation

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:


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