Inheritance diagram for gtsam::TransformBtwRobotsUnaryFactor< VALUE >:

Public Member Functions
	TransformBtwRobotsUnaryFactor ()
	default constructor - only use for serialization

	TransformBtwRobotsUnaryFactor (Key key, const VALUE &measured, Key keyA, Key keyB, const gtsam::Values &valA, const gtsam::Values &valB, const SharedGaussian &model)
	Constructor.

virtual gtsam::NonlinearFactor::shared_ptr	clone () const
	Clone.

virtual void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	implement functions needed for Testable More...

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

void	setValAValB (const gtsam::Values &valA, const gtsam::Values &valB)
	implement functions needed to derive from Factor

virtual double	error (const gtsam::Values &x) const
	Calculate the error of the factor This is typically equal to log-likelihood, e.g. More...

virtual boost::shared_ptr< gtsam::GaussianFactor >	linearize (const gtsam::Values &x) const
	Linearize a non-linearFactorN to get a gtsam::GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).

gtsam::Vector	whitenedError (const gtsam::Values &x, boost::optional< std::vector< gtsam::Matrix > & > H=boost::none) const

gtsam::Vector	unwhitenedError (const gtsam::Values &x) const

std::size_t	size () const
	number of variables attached to this factor

virtual size_t	dim () const
	get the dimension of the factor (number of rows on linearization)

Public Types
typedef VALUE	T

typedef boost::shared_ptr< TransformBtwRobotsUnaryFactor >	shared_ptr
	concept check by type

Member Function Documentation

◆ error()

template<class VALUE >

virtual double gtsam::TransformBtwRobotsUnaryFactor< VALUE >::error ( const gtsam::Values & c ) const

inlinevirtual

Calculate the error of the factor This is typically equal to log-likelihood, e.g.

\( 0.5(h(x)-z)^2/sigma^2 \) in case of Gaussian. You can override this for systems with unusual noise models.

template<class VALUE >

virtual void gtsam::TransformBtwRobotsUnaryFactor< VALUE >::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlinevirtual

implement functions needed for Testable

print

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