gtsam::RelativeElevationFactor Class Reference
Detailed Description
Binary factor for a relative elevation.
Note that this factor takes into account only elevation, and corrects for orientation. Unlike a range factor, the relative elevation is signed, and only affects the Z coordinate. Measurement function h(pose, pt) = h.z() - pt.z()
Dimension: 1
TODO: enable use of a Pose3 for the target as well
Inheritance diagram for gtsam::RelativeElevationFactor:
Public Member Functions | |
| RelativeElevationFactor (Key poseKey, Key pointKey, double measured, const SharedNoiseModel &model) | |
| virtual gtsam::NonlinearFactor::shared_ptr | clone () const |
| Vector | evaluateError (const Pose3 &pose, const Point3 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const |
| h(x)-z | |
| double | measured () const |
| return the measured | |
| virtual bool | equals (const NonlinearFactor &expected, double tol=1e-9) const |
| equals specialized to this factor | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| print contents | |
| Public Member Functions inherited from gtsam::NoiseModelFactor2< Pose3, Point3 > | |
| 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... | |
Friends | |
| class | boost::serialization::access |
| Serialization function. | |
Additional Inherited Members | |
| Public Types inherited from gtsam::NoiseModelFactor2< Pose3, Point3 > | |
| typedef Pose3 | X1 |
| typedef Point3 | X2 |
| Protected Types inherited from gtsam::NoiseModelFactor2< Pose3, Point3 > | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor2< Pose3, Point3 > | This |
Member Function Documentation
◆ clone()
|
inlinevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
The documentation for this class was generated from the following files:
- /Users/dellaert/git/gtsam/gtsam_unstable/slam/RelativeElevationFactor.h
- /Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h
- /Users/dellaert/git/gtsam/gtsam_unstable/slam/RelativeElevationFactor.cpp
