RelativeTranslationFactor.h File Reference

Quadratic translation factor: the translation part of a relative SE(d) pose measurement. More...

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Classes
class	gtsam::RelativeTranslationFactor< d >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
using	gtsam::RelativeTranslationFactor2 = RelativeTranslationFactor<2>
using	gtsam::RelativeTranslationFactor3 = RelativeTranslationFactor<3>

Detailed Description

Quadratic translation factor: the translation part of a relative SE(d) pose measurement.

Ternary factor over t_i, t_j and R_i, given the measured displacement t_ij from pose (R_i, t_i) to pose (R_j, t_j), expressed in frame i. The term it contributes, under an isotropic noise model, is

min tau_ij ||t_j - t_i - R_i t_ij||^2 over t_i, t_j in R^d, R_i in SO(d)

Quadratic in all three variables, and the translations are unconstrained.

Author

Zhexin Xu