Inheritance diagram for gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >:

Public Member Functions
	ProjectionFactorPPPC ()
	Default constructor.

	ProjectionFactorPPPC (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key transformKey, Key pointKey, Key calibKey)
	Constructor TODO: Mark argument order standard (keys, measurement, parameters) More...

	ProjectionFactorPPPC (const Point2 &measured, const SharedNoiseModel &model, Key poseKey, Key transformKey, Key pointKey, Key calibKey, bool throwCheirality, bool verboseCheirality)
	Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters) More...

virtual	~ProjectionFactorPPPC ()
	Virtual destructor.

virtual NonlinearFactor::shared_ptr	clone () const

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

virtual bool	equals (const NonlinearFactor &p, double tol=1e-9) const
	equals

Vector	evaluateError (const Pose3 &pose, const Pose3 &transform, const Point3 &point, const CALIBRATION &K, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const
	Evaluate error h(x)-z and optionally derivatives.

const Point2 &	measured () const
	return the measurement

bool	verboseCheirality () const
	return verbosity

bool	throwCheirality () const
	return flag for throwing cheirality exceptions

Public Member Functions inherited from gtsam::NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION >
	NoiseModelFactor4 ()
	Default Constructor for I/O.

	NoiseModelFactor4 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4)
	Constructor. More...

Key	key1 () const
	methods to retrieve keys

Key	key2 () const

Key	key3 () const

Key	key4 () const

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 4-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...

virtual Vector	evaluateError (const X1 &, const X2 &, const X3 &, const X4 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const=0
	Override this method to finish implementing a 4-way factor. More...

Public Types
typedef NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION >	Base
	shorthand for base class type

typedef ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >	This
	shorthand for this class

typedef boost::shared_ptr< This >	shared_ptr
	shorthand for a smart pointer to a factor

Public Types inherited from gtsam::NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION >
typedef POSE	X1

typedef POSE	X2

typedef LANDMARK	X3

typedef CALIBRATION	X4

Protected Attributes
Point2	measured_
	2D measurement

bool	throwCheirality_
	If true, rethrows Cheirality exceptions (default: false)

bool	verboseCheirality_
	If true, prints text for Cheirality exceptions (default: false)

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

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor4< POSE, POSE, LANDMARK, CALIBRATION >	This

Constructor & Destructor Documentation

◆ ProjectionFactorPPPC() [1/2]

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>

gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >::ProjectionFactorPPPC	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	transformKey,
		Key	pointKey,
		Key	calibKey
	)

inline

Constructor TODO: Mark argument order standard (keys, measurement, parameters)

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
poseKey	is the index of the camera
pointKey	is the index of the landmark
K	shared pointer to the constant calibration

◆ ProjectionFactorPPPC() [2/2]

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>

gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >::ProjectionFactorPPPC	(	const Point2 &	measured,
		const SharedNoiseModel &	model,
		Key	poseKey,
		Key	transformKey,
		Key	pointKey,
		Key	calibKey,
		bool	throwCheirality,
		bool	verboseCheirality
	)

inline

Constructor with exception-handling flags TODO: Mark argument order standard (keys, measurement, parameters)

Parameters

measured	is the 2 dimensional location of point in image (the measurement)
model	is the standard deviation
poseKey	is the index of the camera
pointKey	is the index of the landmark
K	shared pointer to the constant calibration
throwCheirality	determines whether Cheirality exceptions are rethrown
verboseCheirality	determines whether exceptions are printed for Cheirality

Member Function Documentation

◆ clone()

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>

virtual NonlinearFactor::shared_ptr gtsam::ProjectionFactorPPPC< POSE, LANDMARK, CALIBRATION >::clone ( ) const

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ print()

template<class POSE , class LANDMARK , class CALIBRATION = Cal3_S2>

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

inlinevirtual

print

Parameters

s	optional string naming the factor
keyFormatter	optional formatter useful for printing Symbols

Reimplemented from gtsam::NoiseModelFactor.

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

/Users/dellaert/git/gtsam/gtsam_unstable/slam/ProjectionFactorPPPC.h
/Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h

Public Member Functions

Public Types

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ ProjectionFactorPPPC() [1/2]

◆ ProjectionFactorPPPC() [2/2]

Member Function Documentation

◆ clone()

◆ print()