isam::Factor Class Reference

#include <Factor.h>

Inheritance diagram for isam::Factor:

List of all members.

Public Member Functions
virtual Eigen::VectorXd	basic_error (Selector s=ESTIMATE) const =0
bool	deleted () const
virtual Eigen::VectorXd	error (Selector s=ESTIMATE) const
Eigen::VectorXd	evaluate () const
	Factor (const char *name, int dim, const Noise &noise)
virtual void	initialize ()=0
virtual void	initialize_internal ()
virtual Jacobian	jacobian ()
virtual Jacobian	jacobian_internal (bool force_numerical)
void	mark_deleted ()
std::vector< Node * > &	nodes ()
int	num_measurements () const
virtual void	set_cost_function (cost_func_t *ptr)
virtual const Eigen::MatrixXd &	sqrtinf () const
virtual void	write (std::ostream &out) const
virtual	~Factor ()
Protected Attributes
std::vector< Node * >	_nodes
const Noise	_noise
Private Member Functions
virtual Eigen::MatrixXd	numerical_jacobian ()
Private Attributes
bool	_deleted
cost_func_t *	ptr_cost_func
Static Private Attributes
static int	_next_id = 0
Friends
std::ostream &	operator<< (std::ostream &output, const Factor &e)

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Detailed Description

Definition at line 49 of file Factor.h.

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Constructor & Destructor Documentation

isam::Factor::Factor	(	const char *	name,
		int	dim,
		const Noise &	noise
	)		[inline]

Definition at line 81 of file Factor.h.

virtual isam::Factor::~Factor

(

)

[inline, virtual]

Definition at line 94 of file Factor.h.

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Member Function Documentation

virtual Eigen::VectorXd isam::Factor::basic_error

(

Selector

s = ESTIMATE

)

const [pure virtual]

Implemented in isam::Pose2d_Point2d_Factor, isam::Pose2d_Pose2d_Factor, isam::Pose3d_Point3d_Factor, isam::Stereo_Factor, isam::Depthmono_Factor, isam::Pose3d_Pose3d_Factor, isam::Monocular_Factor, isam::GLC_Factor, isam::Pose2d_Factor, isam::Pose3d_Factor, and isam::Point2d_Factor.

bool isam::Factor::deleted

(

)

const [inline]

Definition at line 145 of file Factor.h.

virtual Eigen::VectorXd isam::Factor::error

(

Selector

s = ESTIMATE

)

const [inline, virtual]

Definition at line 67 of file Factor.h.

Eigen::VectorXd isam::Factor::evaluate

(

)

const [inline, virtual]

Implements isam::Function.

Definition at line 111 of file Factor.h.

virtual void isam::Factor::initialize

(

)

[pure virtual]

Implemented in isam::Pose2d_Point2d_Factor, isam::Pose3d_Point3d_Factor, isam::Stereo_Factor, isam::Depthmono_Factor, isam::Pose2d_Pose2d_Factor, isam::Monocular_Factor, isam::Pose3d_Pose3d_Factor, isam::GLC_Factor, isam::Pose2d_Factor, isam::Pose3d_Factor, and isam::Point2d_Factor.

virtual void isam::Factor::initialize_internal

(

)

[inline, virtual]

Definition at line 98 of file Factor.h.

virtual Jacobian isam::Factor::jacobian

(

)

[inline, virtual]

Reimplemented in isam::Pose2d_Point2d_Factor, isam::Pose2d_Pose2d_Factor, isam::GLC_Factor, and isam::Pose2d_Factor.

Definition at line 125 of file Factor.h.

virtual Jacobian isam::Factor::jacobian_internal

(

bool

force_numerical

)

[inline, virtual]

Definition at line 115 of file Factor.h.

void isam::Factor::mark_deleted

(

)

[inline]

Definition at line 144 of file Factor.h.

std::vector<Node*>& isam::Factor::nodes

(

)

[inline, virtual]

Implements isam::Function.

Definition at line 79 of file Factor.h.

int isam::Factor::num_measurements

(

)

const [inline, virtual]

Implements isam::Function.

Definition at line 140 of file Factor.h.

virtual Eigen::MatrixXd isam::Factor::numerical_jacobian

(

)

[inline, private, virtual]

Definition at line 158 of file Factor.h.

virtual void isam::Factor::set_cost_function

(

cost_func_t *

ptr

)

[inline, virtual]

Definition at line 105 of file Factor.h.

virtual const Eigen::MatrixXd& isam::Factor::sqrtinf

(

)

const [inline, virtual]

Definition at line 109 of file Factor.h.

virtual void isam::Factor::write

(

std::ostream &

out

)

const [inline, virtual]

Reimplemented from isam::Element.

Reimplemented in isam::FactorT< T >, isam::FactorT< Point2d >, isam::FactorT< Point3d >, isam::FactorT< DepthmonoMeasurement >, isam::FactorT< MonocularMeasurement >, isam::FactorT< StereoMeasurement >, isam::FactorT< Pose3d >, isam::FactorT< Pose2d >, and isam::GLC_Factor.

Definition at line 147 of file Factor.h.

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	output,
		const Factor &	e
	)		[friend]

Definition at line 50 of file Factor.h.

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Member Data Documentation

bool isam::Factor::_deleted [private]

Definition at line 58 of file Factor.h.

int isam::Factor::_next_id = 0 [static, private]

Definition at line 57 of file Factor.h.

std::vector<Node*> isam::Factor::_nodes [protected]

Definition at line 63 of file Factor.h.

const Noise isam::Factor::_noise [protected]

Definition at line 61 of file Factor.h.

cost_func_t* isam::Factor::ptr_cost_func [private]

Definition at line 55 of file Factor.h.

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

• Factor.h
• Slam.cpp