Detailed Description

DeltaFactorBase: relative 2D measurement between Pose2 and Point2, with Basenodes.

Inheritance diagram for gtsam::DeltaFactorBase:

Public Member Functions
	DeltaFactorBase (Key b1, Key i, Key b2, Key j, const Point2 &measured, const SharedNoiseModel &model)
	Constructor.

Vector	evaluateError (const Pose2 &base1, const Pose2 &pose, const Pose2 &base2, const Point2 &point, 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 measurement error h(x)-z.

Public Member Functions inherited from gtsam::NoiseModelFactor4< Pose2, Pose2, Pose2, Point2 >
	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...

Public Types
typedef DeltaFactorBase	This

typedef NoiseModelFactor4< Pose2, Pose2, Pose2, Point2 >	Base

typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor4< Pose2, Pose2, Pose2, Point2 >
typedef Pose2	X1

typedef Pose2	X2

typedef Pose2	X3

typedef Point2	X4

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor4< Pose2, Pose2, Pose2, Point2 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor4< Pose2, Pose2, Pose2, Point2 >	This

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

Public Member Functions