gtsam::simulated3D::Simulated3DMeasurement Struct Reference

#include <simulated3D.h>

Inheritance diagram for gtsam::simulated3D::Simulated3DMeasurement:

Public Member Functions
Vector	evaluateError (const Point3 &x1, const Point3 &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
	Simulated3DMeasurement (const Point3 &measured, const SharedNoiseModel &model, Key i, Key j)
Public Member Functions inherited from gtsam::NoiseModelFactor2< Point3, Point3 >
Key	key1 () const
Key	key2 () const
	NoiseModelFactor2 ()
	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)
Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
	~NoiseModelFactor2 () override
Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
size_t	dim () const override
bool	equals (const NonlinearFactor &f, double tol=1e-9) const override
double	error (const Values &c) const override
boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const override
const SharedNoiseModel &	noiseModel () const
	access to the noise model More...
	NoiseModelFactor ()
template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
Vector	unweightedWhitenedError (const Values &c) const
double	weight (const Values &c) const
Vector	whitenedError (const Values &c) const
	~NoiseModelFactor () override
Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
virtual	~NonlinearFactor ()
virtual bool	active (const Values &) const
virtual shared_ptr	clone () const
shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
shared_ptr	rekey (const KeyVector &new_keys) const
Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...
Key	front () const
	First key. More...
Key	back () const
	Last key. More...
const_iterator	find (Key key) const
	find More...
const KeyVector &	keys () const
	Access the factor's involved variable keys. More...
const_iterator	begin () const
const_iterator	end () const
size_t	size () const
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...
KeyVector &	keys ()
iterator	begin ()
iterator	end ()

Public Attributes
Point3	measured_
	Linear displacement between a pose and landmark. More...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor2< Point3, Point3 >
typedef Point3	X1
typedef Point3	X2
Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr
Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys. More...
typedef KeyVector::iterator	iterator
	Iterator over keys. More...
Protected Types inherited from gtsam::NoiseModelFactor2< Point3, Point3 >
typedef NoiseModelFactor	Base
typedef NoiseModelFactor2< Point3, Point3 >	This
Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base
typedef NoiseModelFactor	This
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base
typedef NonlinearFactor	This
Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
Protected Member Functions inherited from gtsam::Factor
	Factor ()
template<typename CONTAINER >
	Factor (const CONTAINER &keys)
template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
bool	equals (const This &other, double tol=1e-9) const
	check equality More...
Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)
Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

Models a linear 3D measurement between 3D points

Definition at line 101 of file simulated3D.h.

Constructor & Destructor Documentation

gtsam::simulated3D::Simulated3DMeasurement::Simulated3DMeasurement ( const Point3 &  measured, const SharedNoiseModel &  model, Key  i, Key  j  )

inline

Creates a measurement factor with a given measurement

Parameters

measured	is the measurement, a linear displacement between poses and landmarks
model	is a measurement model for the factor (Dimension: 3)
poseKey	is the pose key of the robot
pointKey	is the point key for the landmark

Definition at line 112 of file simulated3D.h.

Member Function Documentation

Vector gtsam::simulated3D::Simulated3DMeasurement::evaluateError ( const Point3 &  x1, const Point3 &  x2, boost::optional< Matrix & >  H1 = boost::none, boost::optional< Matrix & >  H2 = boost::none  ) const

inlineoverridevirtual

Error function with optional derivatives

Parameters

x1	a robot pose value
x2	a landmark point value
H1	is an optional Jacobian matrix in terms of x1 (Dimension: 3x3)
H2	is an optional Jacobian matrix in terms of x2 (Dimension: 3x3)

Returns

vector error between measurement and prediction (Dimension: 3)

Implements gtsam::NoiseModelFactor2< Point3, Point3 >.

Definition at line 123 of file simulated3D.h.

Member Data Documentation

Point3 gtsam::simulated3D::Simulated3DMeasurement::measured_

Linear displacement between a pose and landmark.

Definition at line 103 of file simulated3D.h.

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

• simulated3D.h