Public Types | Public Member Functions | Private Attributes | List of all members
gtsam::DeltaFactorBase Class Reference

#include <TSAMFactors.h>

Inheritance diagram for gtsam::DeltaFactorBase:
Inheritance graph
[legend]

Public Types

typedef NoiseModelFactor4< Pose2, Pose2, Pose2, Point2Base
 
typedef boost::shared_ptr< Thisshared_ptr
 
typedef DeltaFactorBase This
 
- Public Types inherited from gtsam::NoiseModelFactor4< Pose2, Pose2, Pose2, Point2 >
typedef Pose2 X1
 
typedef Pose2 X2
 
typedef Pose2 X3
 
typedef Point2 X4
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_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...
 

Public Member Functions

 DeltaFactorBase (Key b1, Key i, Key b2, Key j, const Point2 &measured, const SharedNoiseModel &model)
 Constructor. More...
 
Vector evaluateError (const Pose2 &base1, const Pose2 &pose, const Pose2 &base2, const Point2 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const override
 Evaluate measurement error h(x)-z. More...
 
- Public Member Functions inherited from gtsam::NoiseModelFactor4< Pose2, Pose2, Pose2, Point2 >
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
 NoiseModelFactor4 ()
 
 NoiseModelFactor4 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4)
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 
 ~NoiseModelFactor4 () 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< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () 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...
 
KeyVectorkeys ()
 
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 KeyVectorkeys () const
 Access the factor's involved variable keys. More...
 
const_iterator begin () const
 
const_iterator end () const
 
size_t size () const
 

Private Attributes

Point2 measured_
 the measurement More...
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor4< Pose2, Pose2, Pose2, Point2 >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor4< Pose2, Pose2, Pose2, Point2This
 
- 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

DeltaFactorBase: relative 2D measurement between Pose2 and Point2, with Basenodes

Definition at line 58 of file TSAMFactors.h.

Member Typedef Documentation

Definition at line 62 of file TSAMFactors.h.

typedef boost::shared_ptr<This> gtsam::DeltaFactorBase::shared_ptr

Definition at line 63 of file TSAMFactors.h.

Definition at line 61 of file TSAMFactors.h.

Constructor & Destructor Documentation

gtsam::DeltaFactorBase::DeltaFactorBase ( Key  b1,
Key  i,
Key  b2,
Key  j,
const Point2 measured,
const SharedNoiseModel model 
)
inline

Constructor.

Definition at line 71 of file TSAMFactors.h.

Member Function Documentation

Vector gtsam::DeltaFactorBase::evaluateError ( const Pose2 base1,
const Pose2 pose,
const Pose2 base2,
const Point2 point,
boost::optional< Matrix & >  H1 = boost::none,
boost::optional< Matrix & >  H2 = boost::none,
boost::optional< Matrix & >  H3 = boost::none,
boost::optional< Matrix & >  H4 = boost::none 
) const
inlineoverridevirtual

Evaluate measurement error h(x)-z.

Implements gtsam::NoiseModelFactor4< Pose2, Pose2, Pose2, Point2 >.

Definition at line 77 of file TSAMFactors.h.

Member Data Documentation

Point2 gtsam::DeltaFactorBase::measured_
private

the measurement

Definition at line 66 of file TSAMFactors.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:07