gtsam::BearingFactor< POSE, POINT, ROTATION > Class Template Reference

Inheritance diagram for gtsam::BearingFactor< POSE, POINT, ROTATION >:

Public Member Functions
	BearingFactor ()
	measurement More...
	BearingFactor (Key poseKey, Key pointKey, const Rot &measured, const SharedNoiseModel &model)
	primary constructor
virtual gtsam::NonlinearFactor::shared_ptr	clone () const
Vector	evaluateError (const Pose &pose, const Point &point, boost::optional< Matrix & > H1, boost::optional< Matrix & > H2) const
	h(x)-z -> between(z,h(x)) for Rot2 manifold
const Rot &	measured () const
	return the measured
virtual bool	equals (const NonlinearFactor &expected, double tol=1e-9) const
	equals
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print contents
Public Member Functions inherited from gtsam::NoiseModelFactor2< POSE, POINT >
	NoiseModelFactor2 ()
	Default Constructor for I/O.
	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)
	Constructor. More...
Key	key1 () const
	methods to retrieve both keys
Key	key2 () const
virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...
Public Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor ()
	Default constructor for I/O only.
virtual	~NoiseModelFactor ()
	Destructor.
template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.
virtual size_t	dim () const
	get the dimension of the factor (number of rows on linearization)
SharedNoiseModel	get_noiseModel () const
	access to the noise model
Vector	whitenedError (const Values &c) const
	Vector of errors, whitened This is the raw error, i.e., i.e. More...
virtual double	error (const Values &c) const
	Calculate the error of the factor. More...
boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const
	Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
	Default constructor for I/O only.
template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
	Constructor from a collection of the keys involved in this factor.
virtual	~NonlinearFactor ()
	Destructor.
virtual bool	active (const Values &c) const
	Checks whether a factor should be used based on a set of values. More...
shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
	Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.
shared_ptr	rekey (const std::vector< Key > &new_keys) const
	Clones a factor and fully replaces its keys. More...
Public Member Functions inherited from gtsam::Factor
Key	front () const
	First key.
Key	back () const
	Last key.
const_iterator	find (Key key) const
	find
const FastVector< Key > &	keys () const
	Access the factor's involved variable keys.
const_iterator	begin () const
	Iterator at beginning of involved variable keys.
const_iterator	end () const
	Iterator at end of involved variable keys.
size_t	size () const
void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print
void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
FastVector< Key > &	keys ()
iterator	begin ()
	Iterator at beginning of involved variable keys.
iterator	end ()
	Iterator at end of involved variable keys.

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor2< POSE, POINT >
typedef POSE	X1
typedef POINT	X2
Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.
Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr
Public Types inherited from gtsam::Factor
typedef FastVector< Key >::iterator	iterator
	Iterator over keys.
typedef FastVector< Key > ::const_iterator	const_iterator
	Const iterator over keys.
Protected Types inherited from gtsam::NoiseModelFactor2< POSE, POINT >
typedef NoiseModelFactor	Base
typedef NoiseModelFactor2 < POSE, POINT >	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)
	Constructor - only for subclasses, as this does not set keys.
Protected Member Functions inherited from gtsam::Factor
	Factor ()
	Default constructor for I/O.
template<typename CONTAINER >
	Factor (const CONTAINER &keys)
	Construct factor from container of keys. More...
template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...
bool	equals (const This &other, double tol=1e-9) const
	check equality
Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys. More...
template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...
Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_
Protected Attributes inherited from gtsam::Factor
FastVector< Key >	keys_
	The keys involved in this factor.

Constructor & Destructor Documentation

template<class POSE , class POINT , class ROTATION = typename POSE::Rotation>

gtsam::BearingFactor< POSE, POINT, ROTATION >::BearingFactor ( )

inline

measurement

concept check by type default constructor for serialization/testing only

Member Function Documentation

template<class POSE , class POINT , class ROTATION = typename POSE::Rotation>

virtual gtsam::NonlinearFactor::shared_ptr gtsam::BearingFactor< POSE, POINT, ROTATION >::clone ( ) const

inlinevirtual

Returns

a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

---

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

• /home/cbeall3/git/gtsamB/gtsam/slam/BearingFactor.h