Classes | Public Member Functions | Protected Types | Protected Attributes | List of all members
gtsam::SmartRangeFactor Class Reference

#include <SmartRangeFactor.h>

Inheritance diagram for gtsam::SmartRangeFactor:
Inheritance graph
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Classes

struct  Circle2
 

Public Member Functions

void addRange (Key key, double measuredRange)
 Add a range measurement to a pose with given key. More...
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
 SmartRangeFactor ()
 
 SmartRangeFactor (double s)
 
Point2 triangulate (const Values &x) const
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 
 ~SmartRangeFactor () 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< 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)
 
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...
 
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
 
virtual void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys More...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Protected Types

typedef SmartRangeFactor 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 Attributes

std::vector< double > measurements_
 Range measurements. More...
 
double variance_
 variance on noise More...
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Additional Inherited Members

- 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...
 
- 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)
 

Detailed Description

Definition at line 29 of file SmartRangeFactor.h.

Member Typedef Documentation

Definition at line 39 of file SmartRangeFactor.h.

Constructor & Destructor Documentation

gtsam::SmartRangeFactor::SmartRangeFactor ( )
inline

Default constructor: don't use directly

Definition at line 46 of file SmartRangeFactor.h.

gtsam::SmartRangeFactor::SmartRangeFactor ( double  s)
inlineexplicit

Constructor

Parameters
sstandard deviation of range measurement noise

Definition at line 53 of file SmartRangeFactor.h.

gtsam::SmartRangeFactor::~SmartRangeFactor ( )
inlineoverride

Definition at line 57 of file SmartRangeFactor.h.

Member Function Documentation

void gtsam::SmartRangeFactor::addRange ( Key  key,
double  measuredRange 
)
inline

Add a range measurement to a pose with given key.

Definition at line 61 of file SmartRangeFactor.h.

gtsam::NonlinearFactor::shared_ptr gtsam::SmartRangeFactor::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 178 of file SmartRangeFactor.h.

bool gtsam::SmartRangeFactor::equals ( const NonlinearFactor f,
double  tol = 1e-9 
) const
inlineoverridevirtual

Check if two factors are equal

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 83 of file SmartRangeFactor.h.

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

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 76 of file SmartRangeFactor.h.

Point2 gtsam::SmartRangeFactor::triangulate ( const Values x) const
inline

Triangulate a point from at least three pose-range pairs Checks for best pair that includes first point Raise runtime_error if not well defined.

Definition at line 94 of file SmartRangeFactor.h.

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

Error function without the NoiseModel, $ z-h(x) $.

Implements gtsam::NoiseModelFactor.

Definition at line 146 of file SmartRangeFactor.h.

Member Data Documentation

std::vector<double> gtsam::SmartRangeFactor::measurements_
protected

Range measurements.

Definition at line 41 of file SmartRangeFactor.h.

double gtsam::SmartRangeFactor::variance_
protected

variance on noise

Definition at line 42 of file SmartRangeFactor.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:29