#include <FrobeniusFactor.h>

Inheritance diagram for gtsam::FrobeniusBetweenFactor< Rot >:

[legend]

Public Member Functions
Constructor
	FrobeniusBetweenFactor (Key j1, Key j2, const Rot &R12, const SharedNoiseModel &model=nullptr)
	Construct from two keys and measured rotation. More...

Testable
void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print with optional string More...

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override
	assert equality up to a tolerance More...

NoiseModelFactor2 methods
Vector	evaluateError (const Rot &R1, const Rot &R2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
	Error is Frobenius norm between R1*R12 and R2. More...

Public Member Functions inherited from gtsam::NoiseModelFactor2< Rot, Rot >
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

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)

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 ()

Private Types
enum	{ Dim = Rot::VectorN2::RowsAtCompileTime }

Private Attributes
Rot	R12_
	measured rotation between R1 and R2 More...

Eigen::Matrix< double, Rot::dimension, Rot::dimension >	R2hat_H_R1_
	fixed derivative of R2hat wrpt R1 More...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor2< Rot, Rot >
typedef Rot	X1

typedef Rot	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< Rot, Rot >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Rot, Rot >	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

template<class Rot>
class gtsam::FrobeniusBetweenFactor< Rot >

FrobeniusBetweenFactor is a BetweenFactor that evaluates the Frobenius norm of the rotation error between measured and predicted (rather than the Logmap of the error). This factor is only defined for fixed-dimension types, and in fact only SO3 and SO4 really work, as we need SO<N>::AdjointMap.

Definition at line 102 of file FrobeniusFactor.h.

Member Enumeration Documentation

template<class Rot>

anonymous enum

private

Enumerator
Dim

Definition at line 106 of file FrobeniusFactor.h.

Constructor & Destructor Documentation

template<class Rot>

gtsam::FrobeniusBetweenFactor< Rot >::FrobeniusBetweenFactor	(	Key	j1,
		Key	j2,
		const Rot &	R12,
		const SharedNoiseModel &	model = `nullptr`
	)

inline

Construct from two keys and measured rotation.

Definition at line 113 of file FrobeniusFactor.h.

Member Function Documentation

template<class Rot>

bool gtsam::FrobeniusBetweenFactor< Rot >::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

assert equality up to a tolerance

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 136 of file FrobeniusFactor.h.

template<class Rot>

Vector gtsam::FrobeniusBetweenFactor< Rot >::evaluateError	(	const Rot &	R1,
		const Rot &	R2,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlineoverridevirtual

Error is Frobenius norm between R1*R12 and R2.

Implements gtsam::NoiseModelFactor2< Rot, Rot >.

Definition at line 148 of file FrobeniusFactor.h.

template<class Rot>

void gtsam::FrobeniusBetweenFactor< Rot >::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print with optional string

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 126 of file FrobeniusFactor.h.

Member Data Documentation

template<class Rot>

Rot gtsam::FrobeniusBetweenFactor< Rot >::R12_

private

measured rotation between R1 and R2

Definition at line 103 of file FrobeniusFactor.h.

template<class Rot>

Eigen::Matrix<double, Rot::dimension, Rot::dimension> gtsam::FrobeniusBetweenFactor< Rot >::R2hat_H_R1_

private

fixed derivative of R2hat wrpt R1

Definition at line 105 of file FrobeniusFactor.h.

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

FrobeniusFactor.h

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

template<class Rot> class gtsam::FrobeniusBetweenFactor< Rot >

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class Rot>
class gtsam::FrobeniusBetweenFactor< Rot >