isam::GLC_Reparam Class Reference

#include <GLCReparam.h>

Inheritance diagram for isam::GLC_Reparam:

List of all members.

Public Member Functions
virtual GLC_Reparam *	clone ()=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

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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.

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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:

nodes

Vector of Node pointers which support the factor

Implemented in isam::GLC_RootShift.

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

• GLCReparam.h