#include <PoseRotationPrior.h>

Inheritance diagram for gtsam::PoseRotationPrior< POSE >:

[legend]

Public Types
typedef NoiseModelFactorN< POSE >	Base

typedef POSE	Pose

typedef POSE::Rotation	Rotation

typedef PoseRotationPrior< POSE >	This

typedef POSE::Translation	Translation

Public Types inherited from gtsam::NoiseModelFactorN< POSE >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::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
gtsam::NonlinearFactor::shared_ptr	clone () const override

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

Vector	evaluateError (const Pose &pose, OptionalMatrixType H) const override

const Rotation &	measured () const

	PoseRotationPrior ()

	PoseRotationPrior (Key key, const POSE &pose_z, const SharedNoiseModel &model)

	PoseRotationPrior (Key key, const Rotation &rot_z, const SharedNoiseModel &model)

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

	~PoseRotationPrior () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE >
Key	key () const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

	~NoiseModelFactorN () override

	NoiseModelFactorN ()
	Default Constructor for I/O. More...

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

AreAllMatrixPtrs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Key	key6 () const

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

std::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

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) 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)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &) const

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

bool	empty () const
	Whether the factor is empty (involves zero variables). 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...

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Static Public Attributes
static const int	rDim = FixedDimension<typename POSE::Rotation>::value

static const int	xDim = FixedDimension<POSE>::value

Static Public Attributes inherited from gtsam::NoiseModelFactorN< POSE >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Attributes
Rotation	measured_

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
Protected Types inherited from gtsam::NoiseModelFactorN< POSE >
using	Base = NoiseModelFactor

using	KeyType = Key

using	MatrixTypeT = Matrix

using	OptionalMatrixTypeT = Matrix *

using	This = NoiseModelFactorN< ValueTypes... >

using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

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)

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

template<class POSE>
class gtsam::PoseRotationPrior< POSE >

Definition at line 19 of file PoseRotationPrior.h.

Member Typedef Documentation

◆ Base

template<class POSE >

typedef NoiseModelFactorN<POSE> gtsam::PoseRotationPrior< POSE >::Base

Definition at line 23 of file PoseRotationPrior.h.

◆ Pose

template<class POSE >

typedef POSE gtsam::PoseRotationPrior< POSE >::Pose

Definition at line 24 of file PoseRotationPrior.h.

◆ Rotation

template<class POSE >

typedef POSE::Rotation gtsam::PoseRotationPrior< POSE >::Rotation

Definition at line 26 of file PoseRotationPrior.h.

◆ This

template<class POSE >

typedef PoseRotationPrior<POSE> gtsam::PoseRotationPrior< POSE >::This

Definition at line 22 of file PoseRotationPrior.h.

◆ Translation

template<class POSE >

typedef POSE::Translation gtsam::PoseRotationPrior< POSE >::Translation

Definition at line 25 of file PoseRotationPrior.h.

Constructor & Destructor Documentation

◆ PoseRotationPrior() [1/3]

template<class POSE >

gtsam::PoseRotationPrior< POSE >::PoseRotationPrior ( )

inline

default constructor - only use for serialization

Definition at line 46 of file PoseRotationPrior.h.

◆ PoseRotationPrior() [2/3]

template<class POSE >

gtsam::PoseRotationPrior< POSE >::PoseRotationPrior	(	Key	key,
		const Rotation &	rot_z,
		const SharedNoiseModel &	model
	)

inline

standard constructor

Definition at line 49 of file PoseRotationPrior.h.

◆ PoseRotationPrior() [3/3]

template<class POSE >

gtsam::PoseRotationPrior< POSE >::PoseRotationPrior	(	Key	key,
		const POSE &	pose_z,
		const SharedNoiseModel &	model
	)

inline

Constructor that pulls the translation from an incoming POSE

Definition at line 53 of file PoseRotationPrior.h.

◆ ~PoseRotationPrior()

template<class POSE >

gtsam::PoseRotationPrior< POSE >::~PoseRotationPrior ( )

inlineoverride

Definition at line 56 of file PoseRotationPrior.h.

Member Function Documentation

◆ clone()

template<class POSE >

gtsam::NonlinearFactor::shared_ptr gtsam::PoseRotationPrior< POSE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 59 of file PoseRotationPrior.h.

◆ equals()

template<class POSE >

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

inlineoverridevirtual

equals specialized to this factor

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 69 of file PoseRotationPrior.h.

◆ evaluateError()

template<class POSE >

Vector gtsam::PoseRotationPrior< POSE >::evaluateError	(	const Pose &	pose,
		OptionalMatrixType	H
	)		const

inlineoverride

h(x)-z

Definition at line 81 of file PoseRotationPrior.h.

◆ measured()

template<class POSE >

const Rotation& gtsam::PoseRotationPrior< POSE >::measured ( ) const

inline

Definition at line 64 of file PoseRotationPrior.h.

◆ print()

template<class POSE >

void gtsam::PoseRotationPrior< POSE >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print contents

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 75 of file PoseRotationPrior.h.

Member Data Documentation

◆ measured_

template<class POSE >

Rotation gtsam::PoseRotationPrior< POSE >::measured_

protected

Definition at line 41 of file PoseRotationPrior.h.

◆ rDim

template<class POSE >

const int gtsam::PoseRotationPrior< POSE >::rDim = FixedDimension<typename POSE::Rotation>::value

static

Definition at line 37 of file PoseRotationPrior.h.

◆ xDim

template<class POSE >

const int gtsam::PoseRotationPrior< POSE >::xDim = FixedDimension<POSE>::value

static

Definition at line 36 of file PoseRotationPrior.h.

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

PoseRotationPrior.h

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

template<class POSE> class gtsam::PoseRotationPrior< POSE >

Member Typedef Documentation

◆ Base

◆ Pose

◆ Rotation

◆ This

◆ Translation

Constructor & Destructor Documentation

◆ PoseRotationPrior() [1/3]

◆ PoseRotationPrior() [2/3]

◆ PoseRotationPrior() [3/3]

◆ ~PoseRotationPrior()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ measured()

◆ print()

Member Data Documentation

◆ measured_

◆ rDim

◆ xDim

template<class POSE>
class gtsam::PoseRotationPrior< POSE >