#include <slam2d.h>

Inheritance diagram for isam::Pose2d_Pose2d_Factor:

Public Member Functions
Eigen::VectorXd	basic_error (Selector s=LINPOINT) const
void	initialize ()
Jacobian	jacobian ()
	Pose2d_Pose2d_Factor (Pose2d_Node pose1, Pose2d_Node pose2, const Pose2d &measure, const Noise &noise, Anchor2d_Node anchor1=NULL, Anchor2d_Node anchor2=NULL)
Private Attributes
Pose2d_Node *	_pose1
Pose2d_Node *	_pose2

Detailed Description

Odometry or loop closing constraint, from pose1 to pose2.

Definition at line 130 of file slam2d.h.

Constructor & Destructor Documentation

isam::Pose2d_Pose2d_Factor::Pose2d_Pose2d_Factor	(	Pose2d_Node *	pose1,
		Pose2d_Node *	pose2,
		const Pose2d &	measure,
		const Noise &	noise,
		Anchor2d_Node *	anchor1 = `NULL`,
		Anchor2d_Node *	anchor2 = `NULL`
	)		`[inline]`

Constructor.

Parameters:

pose1	The pose from which the measurement starts.
pose2	The pose to which the measurement extends.
measure	The relative measurement from pose1 to pose2 (pose2 in pose1's frame).
noise	The 3x3 square root information matrix (upper triangular).
anchor1	Optional anchor node for trajectory to which pose1 belongs to.
anchor2	Optional anchor node for trajectory to which pose2 belongs to.