Inheritance diagram for TestNaryFactor:

[legend]

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

bool	equals (const gtsam::NonlinearFactor &expected, double tol=1e-9) const override

gtsam::Expression< gtsam::Point3 >	expression (const std::array< gtsam::Key, NARY_EXPRESSION_SIZE > &keys) const override

void	print (const std::string &s, const gtsam::KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override

	TestNaryFactor ()=default
	default constructor More...

	TestNaryFactor (gtsam::Key kR1, gtsam::Key kV1, gtsam::Key kR2, gtsam::Key kV2, const gtsam::SharedNoiseModel &model, const gtsam::Point3 &measured)

	~TestNaryFactor () override=default

Public Member Functions inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
virtual Expression< gtsam::Point3 >	expression (const ArrayNKeys &keys) const

	~ExpressionFactorN () override=default
	Destructor. More...

Public Member Functions inherited from gtsam::ExpressionFactor< gtsam::Point3 >
gtsam::NonlinearFactor::shared_ptr	clone () const override

bool	equals (const NonlinearFactor &f, double tol) const override
	equals relies on Testable traits being defined for T More...

	ExpressionFactor (const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement, const Expression< gtsam::Point3 > &expression)

boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const gtsam::Point3 &	measured () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print relies on Testable traits being defined for T More...

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override

	~ExpressionFactor () override
	Destructor. More...

Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

size_t	dim () const override

double	error (const Values &c) const override

const SharedNoiseModel &	noiseModel () const
	access to the noise model More...

	NoiseModelFactor ()

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)

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

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...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys 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

Private Types
using	Base = gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >

using	This = TestNaryFactor

Private Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Friends
class	boost::serialization::access

Additional Inherited Members
Public Types inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
using	ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >

Public Types inherited from gtsam::ExpressionFactor< gtsam::Point3 >
typedef boost::shared_ptr< ExpressionFactor< gtsam::Point3 > >	shared_ptr

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...

Static Public Attributes inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
static const std::size_t	NARY_EXPRESSION_SIZE

Protected Types inherited from gtsam::ExpressionFactor< gtsam::Point3 >
typedef ExpressionFactor< gtsam::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::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
	ExpressionFactorN ()=default
	Default constructor, for serialization. More...

	ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement)
	Constructor takes care of keys, but still need to call initialize. More...

Protected Member Functions inherited from gtsam::ExpressionFactor< gtsam::Point3 >
	ExpressionFactor ()

	ExpressionFactor (const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement)
	Default constructor, for serialization. More...

void	initialize (const Expression< gtsam::Point3 > &expression)
	Initialize with constructor arguments. More...

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::ExpressionFactor< gtsam::Point3 >
FastVector< int >	dims_
	dimensions of the Jacobian matrices More...

Expression< gtsam::Point3 >	expression_
	the expression that is AD enabled More...

gtsam::Point3	measured_
	the measurement to be compared with the expression More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Static Protected Attributes inherited from gtsam::ExpressionFactor< gtsam::Point3 >
static const int	Dim

Detailed Description

Definition at line 636 of file testExpressionFactor.cpp.

Member Typedef Documentation

using TestNaryFactor::Base = gtsam::ExpressionFactorN<gtsam::Point3 , gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3>

private

Definition at line 644 of file testExpressionFactor.cpp.

using TestNaryFactor::This = TestNaryFactor

private

Definition at line 641 of file testExpressionFactor.cpp.

Constructor & Destructor Documentation

TestNaryFactor::TestNaryFactor ( )

default

default constructor

TestNaryFactor::~TestNaryFactor ( )

overridedefault

TestNaryFactor::TestNaryFactor	(	gtsam::Key	kR1,
		gtsam::Key	kV1,
		gtsam::Key	kR2,
		gtsam::Key	kV2,
		const gtsam::SharedNoiseModel &	model,
		const gtsam::Point3 &	measured
	)

inline

Definition at line 651 of file testExpressionFactor.cpp.

Member Function Documentation

gtsam::NonlinearFactor::shared_ptr TestNaryFactor::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 658 of file testExpressionFactor.cpp.

bool TestNaryFactor::equals	(	const gtsam::NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 687 of file testExpressionFactor.cpp.

gtsam::Expression<gtsam::Point3> TestNaryFactor::expression ( const std::array< gtsam::Key, NARY_EXPRESSION_SIZE > & keys ) const

inlineoverride

Definition at line 664 of file testExpressionFactor.cpp.

void TestNaryFactor::print	(	const std::string &	s,
		const gtsam::KeyFormatter &	keyFormatter = `gtsam::DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 674 of file testExpressionFactor.cpp.

template<class ARCHIVE >

void TestNaryFactor::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 698 of file testExpressionFactor.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 696 of file testExpressionFactor.cpp.

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

testExpressionFactor.cpp

Public Member Functions

Private Types

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation