CustomFactor.h File Reference

Class to enable arbitrary factors with runtime swappable error function. More...

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Classes
class	gtsam::CustomFactor

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
using	gtsam::JacobianVector = std::vector<Matrix>
using	gtsam::OptionalJacobianVector = std::optional<std::reference_wrapper<JacobianVector>>
	Jacobians handed to the Python callback, absent when only the error is wanted.
using	gtsam::CustomErrorFunction = std::function<Vector(const CustomFactor &, const Values &, OptionalJacobianVector)>

Detailed Description

Class to enable arbitrary factors with runtime swappable error function.

Author

Fan Jiang