Nonlinear

Custom factor that takes a std::function as the error . More...

Classes
class	gtsam::AntiFactor
	A class for downdating an existing factor from a graph. More...
class	gtsam::ConcentratedGaussian< T >
	A nonlinear density, inherits from ExtendedPriorFactor. More...
class	gtsam::ExtendedPriorFactor< VALUE >
	A class for a soft prior on any Value type, but with a non-zero mean in the tangent space. More...
class	gtsam::PriorFactor< VALUE >
	A class for a soft prior on any Value type. More...
class	gtsam::VectorNormFactor< N >
	Unary factor constraining the norm of an N-dimensional vector-space variable to a given value, with error = ||v|| - norm. More...

Detailed Description

Custom factor that takes a std::function as the error .

A NonlinearFactorGraph is a graph of non-Gaussian, i.e.

This factor is mainly for creating a custom factor in Python.

non-linear factors, which derive from NonlinearFactor. The values structures are typically (in SAM) more general than just vectors, e.g., Rot3 or Pose3, which are objects in non-linear manifolds. Linearizing the non-linear factor graph creates a linear factor graph on the tangent vector space at the linearization point. Because the tangent space is a true vector space, the config type will be an VectorValues in that linearized factor graph.