Classes
class	gtsam::ExtendedPoseContactFactor
	Contact factor for the ExtendedPose3(2+k) graph-update variant. More...
class	gtsam::ExtendedPoseHeightFactor
	Height factor for the ExtendedPose3(2+k) graph-update variant. More...
class	gtsam::NavStatePointContactFactor
	Contact factor between a NavState and a foothold point variable. More...
class	gtsam::Pose3PointContactFactor
	Contact factor between a Pose3 and a foothold point variable. More...
class	gtsam::PointHeightFactor
	Height factor on a standalone foothold point variable. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Functions
int	gtsam::leggedFootBlockStart (size_t foot)
	Return the tangent-space start index of a foot block.
Vector3	gtsam::extendedPoseContactPrediction (const ExtendedPose3d &state, size_t footColumn, OptionalMatrixType H={})
	Predict the IMU-frame contact vector for an ExtendedPose3 state.

Detailed Description

Classes