gtsam::WnoaInterpFactor< PoseType >::PassedInterpData Struct Reference

Detailed Description

template<class PoseType>
struct gtsam::WnoaInterpFactor< PoseType >::PassedInterpData

Container for externally-computed interpolation data.

When available, callers can precompute interpolated Values, flattened inner->outer jacobian blocks and conditional covariances and pass them into linearize/error to avoid recomputation inside the factor.

Used for efficient value reuse when many factors share the same interpolation (e.g., multiple measurement factors referencing the same interpolated state).

Public Attributes
Values	values
	Interpolated Values (pose and velocity entries at interpolated times).
std::unordered_map< Key, std::array< Matrix, 4 > >	jacobians
	Flattened jacobian blocks for each inner key mapping to its contributing outer keys.
std::unordered_map< StateData, Matrix2N >	condCovs
	Conditional covariance (2N x 2N) for each interpolated StateData.

Member Data Documentation

jacobians

template<class PoseType>

std::unordered_map<Key, std::array<Matrix, 4> > gtsam::WnoaInterpFactor< PoseType >::PassedInterpData::jacobians

Flattened jacobian blocks for each inner key mapping to its contributing outer keys.

The array order is [LPose, LVel, RPose, RVel].

---

The documentation for this struct was generated from the following file:

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/nonlinear/WnoaInterpFactor.h