Inheritance diagram for TestNaryFactor:

[legend]

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

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

gtsam::Expression< gtsam::Point3 >	expression (const std::array< gtsam::Key, NARY_EXPRESSION_SIZE > &keys) const override

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

	TestNaryFactor ()=default
	default constructor More...

	TestNaryFactor (gtsam::Key kR1, gtsam::Key kV1, gtsam::Key kR2, gtsam::Key kV2, const gtsam::SharedNoiseModel &model, const gtsam::Point3 &measured)

Public Member Functions inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
virtual Expression< gtsam::Point3 >	expression (const ArrayNKeys &keys) const

Public Member Functions inherited from gtsam::ExpressionFactor< gtsam::Point3 >
gtsam::NonlinearFactor::shared_ptr	clone () const override

bool	equals (const NonlinearFactor &f, double tol) const override
	equals relies on Testable traits being defined for T More...

	ExpressionFactor (const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement, const Expression< gtsam::Point3 > &expression)

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const gtsam::Point3 &	measured () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print relies on Testable traits being defined for T More...

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

	~ExpressionFactor () override
	Destructor. More...

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

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 ()

Private Types
using	Base = gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >

using	This = TestNaryFactor

Additional Inherited Members
Public Types inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
using	ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >

Public Types inherited from gtsam::ExpressionFactor< gtsam::Point3 >
typedef std::shared_ptr< ExpressionFactor< gtsam::Point3 > >	shared_ptr

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...

Static Public Attributes inherited from gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
static const std::size_t	NARY_EXPRESSION_SIZE

Protected Types inherited from gtsam::ExpressionFactor< gtsam::Point3 >
typedef ExpressionFactor< gtsam::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::ExpressionFactorN< gtsam::Point3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3 >
	ExpressionFactorN ()=default
	Default constructor, for serialization. More...

	ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement)
	Constructor takes care of keys, but still need to call initialize. More...

Protected Member Functions inherited from gtsam::ExpressionFactor< gtsam::Point3 >
	ExpressionFactor ()

	ExpressionFactor (const SharedNoiseModel &noiseModel, const gtsam::Point3 &measurement)
	Default constructor, for serialization. More...

void	initialize (const Expression< gtsam::Point3 > &expression)
	Initialize with constructor arguments. 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)

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::ExpressionFactor< gtsam::Point3 >
FastVector< int >	dims_
	dimensions of the Jacobian matrices More...

Expression< gtsam::Point3 >	expression_
	the expression that is AD enabled More...

gtsam::Point3	measured_
	the measurement to be compared with the expression More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Static Protected Attributes inherited from gtsam::ExpressionFactor< gtsam::Point3 >
static const int	Dim

Detailed Description

Definition at line 633 of file testExpressionFactor.cpp.

Member Typedef Documentation

◆ Base

using TestNaryFactor::Base = gtsam::ExpressionFactorN<gtsam::Point3 , gtsam::Rot3, gtsam::Point3, gtsam::Rot3, gtsam::Point3>

private

Definition at line 641 of file testExpressionFactor.cpp.

◆ This

using TestNaryFactor::This = TestNaryFactor

private

Definition at line 638 of file testExpressionFactor.cpp.

Constructor & Destructor Documentation

◆ TestNaryFactor() [1/2]

TestNaryFactor::TestNaryFactor ( )

default

default constructor

◆ TestNaryFactor() [2/2]

TestNaryFactor::TestNaryFactor	(	gtsam::Key	kR1,
		gtsam::Key	kV1,
		gtsam::Key	kR2,
		gtsam::Key	kV2,
		const gtsam::SharedNoiseModel &	model,
		const gtsam::Point3 &	measured
	)

inline

Definition at line 647 of file testExpressionFactor.cpp.

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr TestNaryFactor::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 654 of file testExpressionFactor.cpp.

◆ equals()

bool TestNaryFactor::equals	(	const gtsam::NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 683 of file testExpressionFactor.cpp.

◆ expression()

gtsam::Expression<gtsam::Point3> TestNaryFactor::expression ( const std::array< gtsam::Key, NARY_EXPRESSION_SIZE > & keys ) const

inlineoverride

Definition at line 660 of file testExpressionFactor.cpp.

◆ print()

void TestNaryFactor::print	(	const std::string &	s,
		const gtsam::KeyFormatter &	keyFormatter = `gtsam::DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 670 of file testExpressionFactor.cpp.

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

testExpressionFactor.cpp

Public Member Functions

Private Types

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ This

Constructor & Destructor Documentation

◆ TestNaryFactor() [1/2]

◆ TestNaryFactor() [2/2]

Member Function Documentation

◆ clone()

◆ equals()

◆ expression()

◆ print()