gtsam  4.0.0
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gtsam::BetweenFactor< VALUE > Class Template Reference
+ Inheritance diagram for gtsam::BetweenFactor< VALUE >:

Public Member Functions

 BetweenFactor ()
 default constructor - only use for serialization
 
 BetweenFactor (Key key1, Key key2, const VALUE &measured, const SharedNoiseModel &model=nullptr)
 Constructor.
 
virtual gtsam::NonlinearFactor::shared_ptr clone () const
 
virtual void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 implement functions needed for Testable More...
 
virtual bool equals (const NonlinearFactor &expected, double tol=1e-9) const
 equals
 
Vector evaluateError (const T &p1, const T &p2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
 implement functions needed to derive from Factor More...
 
const VALUE & measured () const
 return the measured
 
std::size_t size () const
 number of variables attached to this factor
 
- Public Member Functions inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
 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 Types

typedef VALUE T
 
typedef boost::shared_ptr< BetweenFactor > shared_ptr
 The measurement.
 
- Public Types inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
typedef VALUE X1
 
typedef VALUE X2
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor2< VALUE, VALUE > This
 

Member Function Documentation

◆ clone()

template<class VALUE >
virtual gtsam::NonlinearFactor::shared_ptr gtsam::BetweenFactor< VALUE >::clone ( ) const
inlinevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

template<class VALUE >
Vector gtsam::BetweenFactor< VALUE >::evaluateError ( const T &  p1,
const T &  p2,
boost::optional< Matrix & >  H1 = boost::none,
boost::optional< Matrix & >  H2 = boost::none 
) const
inlinevirtual

implement functions needed to derive from Factor

vector of errors

Implements gtsam::NoiseModelFactor2< VALUE, VALUE >.

◆ print()

template<class VALUE >
virtual void gtsam::BetweenFactor< VALUE >::print ( const std::string &  s,
const KeyFormatter &  keyFormatter = DefaultKeyFormatter 
) const
inlinevirtual

implement functions needed for Testable

print

Reimplemented from gtsam::NoiseModelFactor.

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