#include <PoseToPointFactor.h>

Inheritance diagram for gtsam::PoseToPointFactor:

[legend]

Public Types
typedef boost::shared_ptr< PoseToPointFactor >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor2< Pose3, Point3 >
typedef Pose3	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...

Public Member Functions
virtual bool	equals (const NonlinearFactor &expected, double tol=1e-9) const

Vector	evaluateError (const Pose3 &wTwi, const Point3 &wPwp, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Error = wTwi.inverse()*wPwp - measured_. More...

const Point3 &	measured () const

	PoseToPointFactor ()

	PoseToPointFactor (Key key1, Key key2, const Point3 &measured, const SharedNoiseModel &model)

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

virtual	~PoseToPointFactor ()

Public Member Functions inherited from gtsam::NoiseModelFactor2< Pose3, 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

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
typedef NoiseModelFactor2< Pose3, Point3 >	Base

typedef PoseToPointFactor	This

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

Private Attributes
Point3	measured_

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< Pose3, Point3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Pose3, 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

Definition at line 20 of file PoseToPointFactor.h.

Member Typedef Documentation

typedef NoiseModelFactor2<Pose3, Point3> gtsam::PoseToPointFactor::Base

private

Definition at line 23 of file PoseToPointFactor.h.

typedef boost::shared_ptr<PoseToPointFactor> gtsam::PoseToPointFactor::shared_ptr

the point measurement in local coordinates

Definition at line 29 of file PoseToPointFactor.h.

typedef PoseToPointFactor gtsam::PoseToPointFactor::This

private

Definition at line 22 of file PoseToPointFactor.h.

Constructor & Destructor Documentation

gtsam::PoseToPointFactor::PoseToPointFactor ( )

inline

default constructor - only use for serialization

Definition at line 32 of file PoseToPointFactor.h.

gtsam::PoseToPointFactor::PoseToPointFactor	(	Key	key1,
		Key	key2,
		const Point3 &	measured,
		const SharedNoiseModel &	model
	)

inline

Constructor

Definition at line 35 of file PoseToPointFactor.h.

virtual gtsam::PoseToPointFactor::~PoseToPointFactor ( )

inlinevirtual

Definition at line 39 of file PoseToPointFactor.h.

Member Function Documentation

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

inlinevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 53 of file PoseToPointFactor.h.

Vector gtsam::PoseToPointFactor::evaluateError	(	const Pose3 &	wTwi,
		const Point3 &	wPwp,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlinevirtual

Error = wTwi.inverse()*wPwp - measured_.

implement functions needed to derive from Factor vector of errors

Parameters

wTwi	The pose of the sensor in world coordinates
wPwp	The estimated point location in world coordinates

Note: measured_ and the error are in local coordiantes.

Implements gtsam::NoiseModelFactor2< Pose3, Point3 >.

Definition at line 69 of file PoseToPointFactor.h.

const Point3& gtsam::PoseToPointFactor::measured ( ) const

inline

return the measured

Definition at line 76 of file PoseToPointFactor.h.

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

inlinevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 44 of file PoseToPointFactor.h.

template<class ARCHIVE >

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

inlineprivate

Definition at line 82 of file PoseToPointFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 80 of file PoseToPointFactor.h.

Member Data Documentation

Point3 gtsam::PoseToPointFactor::measured_

private

Definition at line 25 of file PoseToPointFactor.h.

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

PoseToPointFactor.h

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation