#include <TranslationFactor.h>

Inheritance diagram for gtsam::TranslationFactor:

[legend]

Public Member Functions
Vector	evaluateError (const Point3 &Ta, const Point3 &Tb, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override
	Caclulate error: (norm(Tb - Ta) - measurement) where Tb and Ta are Point3 translations and measurement is the Unit3 translation direction from a to b. More...

	TranslationFactor ()
	default constructor More...

	TranslationFactor (Key a, Key b, const Unit3 &w_aZb, const SharedNoiseModel &noiseModel)

Public Member Functions inherited from gtsam::NoiseModelFactor2< Point3, 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

bool	equals (const NonlinearFactor &f, double tol=1e-9) 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)

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...

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< Point3, Point3 >	Base

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

Private Attributes
Point3	measured_w_aZb_

Friends
class	boost::serialization::access

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor2< Point3, Point3 >
typedef Point3	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...

Protected Types inherited from gtsam::NoiseModelFactor2< Point3, Point3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Point3, 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 42 of file TranslationFactor.h.

Member Typedef Documentation

typedef NoiseModelFactor2<Point3, Point3> gtsam::TranslationFactor::Base

private

Definition at line 44 of file TranslationFactor.h.

Constructor & Destructor Documentation

gtsam::TranslationFactor::TranslationFactor ( )

inline

default constructor

Definition at line 49 of file TranslationFactor.h.

gtsam::TranslationFactor::TranslationFactor	(	Key	a,
		Key	b,
		const Unit3 &	w_aZb,
		const SharedNoiseModel &	noiseModel
	)

inline

Definition at line 51 of file TranslationFactor.h.

Member Function Documentation

Vector gtsam::TranslationFactor::evaluateError	(	const Point3 &	Ta,
		const Point3 &	Tb,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlineoverridevirtual

Caclulate error: (norm(Tb - Ta) - measurement) where Tb and Ta are Point3 translations and measurement is the Unit3 translation direction from a to b.

Parameters

Ta	translation for key a
Tb	translation for key b
H1	optional jacobian in Ta
H2	optional jacobian in Tb

Returns: * Vector

Implements gtsam::NoiseModelFactor2< Point3, Point3 >.

Definition at line 66 of file TranslationFactor.h.

template<class ARCHIVE >

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

inlineprivate

Definition at line 81 of file TranslationFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Definition at line 79 of file TranslationFactor.h.

Member Data Documentation

Point3 gtsam::TranslationFactor::measured_w_aZb_

private

Definition at line 45 of file TranslationFactor.h.

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

TranslationFactor.h

Public Member Functions

Private Types

Private Member Functions

Private Attributes