NonlinearFactor.h File Reference

Non-linear factor base classes. More...

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Classes
class	gtsam::NonlinearFactor
	Nonlinear factor base class. More...
struct	gtsam::traits< NonlinearFactor >
	traits More...
class	gtsam::NoiseModelFactor
	A nonlinear sum-of-squares factor with a zero-mean noise model implementing the density \( P(z|x) \propto exp -0.5*|z-h(x)|^2_C \) Templated on the parameter type X and the values structure Values There is no return type specified for h(x). More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Macros
#define	OptionalNone   static_cast<gtsam::Matrix*>(nullptr)
	These typedefs and aliases will help with making the evaluateError interface independent of boost TODO(kartikarcot): Change this to OptionalMatrixNone This typedef is used to indicate that the Jacobian is not required and the default value used for optional matrix pointer arguments in evaluateError.

Typedefs
using	gtsam::OptionalMatrixType = Matrix*
	This typedef will be used everywhere boost::optional<Matrix&> reference was used previously.
using	gtsam::OptionalMatrixVecType = std::vector<Matrix>*
	The OptionalMatrixVecType is a pointer to a vector of matrices.

Detailed Description

Non-linear factor base classes.

Author

Frank Dellaert

Richard Roberts

Gerry Chen

Macro Definition Documentation

OptionalNone

#define OptionalNone   static_cast<gtsam::Matrix*>(nullptr)

These typedefs and aliases will help with making the evaluateError interface independent of boost TODO(kartikarcot): Change this to OptionalMatrixNone This typedef is used to indicate that the Jacobian is not required and the default value used for optional matrix pointer arguments in evaluateError.

Had to use the static_cast of a nullptr, because the compiler is not able to deduce the type of the nullptr when expanding the evaluateError templates.