gtsam::simulated3D Namespace Reference

Classes
struct	PointPrior3D
struct	Simulated3DMeasurement

Functions
Point3	mea (const Point3 &x, const Point3 &l, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none)
Point3	odo (const Point3 &x1, const Point3 &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none)
Point3	prior (const Point3 &x, boost::optional< Matrix & > H=boost::none)

Function Documentation

Point3 gtsam::simulated3D::mea	(	const Point3 &	x,
		const Point3 &	l,
		boost::optional< Matrix & >	H1 = boost::none,
		boost::optional< Matrix & >	H2 = boost::none
	)

measurement between landmark and pose

Definition at line 60 of file simulated3D.h.

Point3 gtsam::simulated3D::odo	(	const Point3 &	x1,
		const Point3 &	x2,
		boost::optional< Matrix & >	H1 = boost::none,
		boost::optional< Matrix & >	H2 = boost::none
	)

odometry between two poses

Definition at line 49 of file simulated3D.h.

Point3 gtsam::simulated3D::prior	(	const Point3 &	x,
		boost::optional< Matrix & >	H = boost::none
	)

This is a linear SLAM domain where both poses and landmarks are 3D points, without rotation. The structure and use is based on the simulated2D domain. Prior on a single pose

Definition at line 41 of file simulated3D.h.