Functions
np.ndarray	error_gps (np.ndarray measurement, gtsam.CustomFactor this, gtsam.Values values, Optional[List[np.ndarray]] jacobians)

np.ndarray	error_lm (np.ndarray measurement, gtsam.CustomFactor this, gtsam.Values values, Optional[List[np.ndarray]] jacobians)

np.ndarray	error_odom (np.ndarray measurement, gtsam.CustomFactor this, gtsam.Values values, Optional[List[np.ndarray]] jacobians)

def	main ()

List[float]	simulate_car ()

Variables
	I = np.eye(1)

Detailed Description

GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved

See LICENSE for the license information

CustomFactor demo that simulates a 1-D sensor fusion task.
Author: Fan Jiang, Frank Dellaert

Function Documentation

◆ error_gps()

np.ndarray gtsam.examples.CustomFactorExample.error_gps	(	np.ndarray	measurement,
		gtsam.CustomFactor	this,
		gtsam.Values	values,
		Optional[List[np.ndarray]]	jacobians
	)

GPS Factor error function
:param measurement: GPS measurement, to be filled with `partial`
:param this: gtsam.CustomFactor handle
:param values: gtsam.Values
:param jacobians: Optional list of Jacobians
:return: the unwhitened error

Definition at line 31 of file CustomFactorExample.py.

◆ error_lm()

np.ndarray gtsam.examples.CustomFactorExample.error_lm	(	np.ndarray	measurement,
		gtsam.CustomFactor	this,
		gtsam.Values	values,
		Optional[List[np.ndarray]]	jacobians
	)

Landmark Factor error function
:param measurement: Landmark measurement, to be filled with `partial`
:param this: gtsam.CustomFactor handle
:param values: gtsam.Values
:param jacobians: Optional list of Jacobians
:return: the unwhitened error

Definition at line 71 of file CustomFactorExample.py.

◆ error_odom()

np.ndarray gtsam.examples.CustomFactorExample.error_odom	(	np.ndarray	measurement,
		gtsam.CustomFactor	this,
		gtsam.Values	values,
		Optional[List[np.ndarray]]	jacobians
	)

Odometry Factor error function
:param measurement: Odometry measurement, to be filled with `partial`
:param this: gtsam.CustomFactor handle
:param values: gtsam.Values
:param jacobians: Optional list of Jacobians
:return: the unwhitened error

Definition at line 50 of file CustomFactorExample.py.

◆ main()

def gtsam.examples.CustomFactorExample.main ( )

Main runner.

Definition at line 90 of file CustomFactorExample.py.

◆ simulate_car()

List[float] gtsam.examples.CustomFactorExample.simulate_car ( )

Simulate a car for one second

Definition at line 21 of file CustomFactorExample.py.

Variable Documentation

◆ I

gtsam.examples.CustomFactorExample.I = np.eye(1)

Definition at line 18 of file CustomFactorExample.py.

Functions

Variables