| tmp | |
| gtsam-4.3.0-doxygen.rsXPUS | |
| source | |
| gtsam | |
| base | |
| chartTesting.h | |
| cholesky.cpp | Efficient incomplete Cholesky on rank-deficient matrices, todo: constrained Cholesky |
| cholesky.h | Efficient incomplete Cholesky on rank-deficient matrices, todo: constrained Cholesky |
| concepts.h | |
| ConcurrentMap.h | |
| debug.cpp | Global debugging flags |
| debug.h | Global debugging flags |
| DSFMap.h | Allow for arbitrary type in DSF |
| DSFVector.cpp | Faster implementation for DSF, which uses vector rather than btree |
| DSFVector.h | A faster implementation for DSF, which uses vector rather than btree |
| FastDefaultAllocator.h | An easy way to control which allocator is used for Fast* collections |
| FastList.h | A thin wrapper around std::list that uses boost's fast_pool_allocator |
| FastMap.h | A thin wrapper around std::map that uses boost's fast_pool_allocator |
| FastSet.h | A thin wrapper around std::set that uses boost's fast_pool_allocator |
| FastVector.h | A thin wrapper around std::vector that uses a custom allocator |
| ForestTraversal.h | Forest traversal helpers with optional TBB acceleration |
| GenericValue.h | |
| Group.h | Concept check class for variable types with Group properties |
| GroupAction.h | Group action concept and CRTP base class |
| kruskal-inl.h | |
| kruskal.h | |
| Lie.h | Base class and basic functions for Lie types |
| lieProxies.h | Provides convenient mappings of common member functions for testing |
| Manifold.h | Base class and basic functions for Manifold types |
| Matrix.cpp | Matrix class |
| Matrix.h | Typedef and functions to augment Eigen's MatrixXd |
| MatrixConstants.h | Macros for Matrix constants to avoid excessive template instantiation |
| MatrixLieGroup.h | Base class and basic functions for Matrix Lie groups |
| MatrixSerialization.h | Serialization for matrices |
| numericalDerivative.h | Numerical derivative helpers for manifold-valued functions |
| OptionalJacobian.h | Special class for optional Jacobian arguments |
| PriorityScheduler.h | Priority-based task scheduler |
| ProductLieGroup-inl.h | Internals for ProductLieGroup.h, not for general consumption |
| ProductLieGroup.h | Group product of two Lie Groups |
| Scheduler.h | Policy-based work-stealing scheduler |
| SemidirectLieGroup-inl.h | Internal implementation of SemidirectLieGroup |
| SemidirectLieGroup.h | A Lie group formed from a left action of G on a vector space H |
| serialization.h | Convenience functions for serializing data structures via boost.serialization |
| serializationTestHelpers.h | |
| std_optional_serialization.h | |
| SymmetricBlockMatrix.cpp | Access to matrices via blocks of pre-defined sizes |
| SymmetricBlockMatrix.h | Access to matrices via blocks of pre-defined sizes |
| TangentLieGroup-inl.h | Internal implementation of TangentLieGroup |
| TangentLieGroup.h | Tangent group TG = G ⋉ 𝔤 under the adjoint action |
| TaskScheduler.h | Cooperative task scheduler |
| Testable.h | Concept check for values that can be used in unit tests |
| TestableAssertions.h | Provides additional testing facilities for common data structures |
| testLie.h | |
| ThreadsafeException.h | Base exception type that uses tbb_allocator if GTSAM is compiled with TBB |
| timing.cpp | Timing utilities |
| timing.h | Timing utilities |
| treeTraversal-inst.h | |
| types.cpp | Functions for handling type information |
| types.h | Typedefs for easier changing of types |
| utilities.h | |
| Value.h | The base class for any variable that can be optimized or used in a factor |
| Vector.cpp | Typedef and functions to augment Eigen's Vectors |
| Vector.h | Typedef and functions to augment Eigen's VectorXd |
| VectorConstants.h | Macros for Vector constants to avoid excessive template instantiation |
| VectorSerialization.h | Serialization for Vectors |
| VectorSpace.h | |
| VerticalBlockMatrix.cpp | A matrix with column blocks of pre-defined sizes |
| VerticalBlockMatrix.h | A matrix with column blocks of pre-defined sizes |
| WeightedSampler.h | Fast sampling without replacement |
| basis | |
| Basis.cpp | Compute an interpolating basis |
| Basis.h | Compute an interpolating basis |
| BasisFactors.h | Factor definitions for various Basis functors |
| CardinalSplineBasis.h | Cubic cardinal splines integrated with the GTSAM Basis framework |
| Chebyshev.cpp | Chebyshev basis decompositions |
| Chebyshev.h | Chebyshev basis decompositions |
| Chebyshev2.cpp | Chebyshev parameterizations on Chebyshev points of second kind |
| Chebyshev2.h | Pseudo-spectral parameterization for Chebyshev polynomials of the second kind |
| CumulativeSplineTrajectory.h | Expression-based cumulative splines on Lie groups |
| FitBasis.h | Fit a Basis using least-squares |
| Fourier.h | Fourier decomposition, see e.g |
| IrwinHall.cpp | Irwin-Hall probability density kernels |
| IrwinHall.h | Piecewise polynomial Irwin-Hall PDF and CDF kernels |
| IrwinHallCDF.cpp | Irwin-Hall cumulative distribution kernels |
| KernelBase.h | Continuous kernels for convolution-based trajectory models |
| PiecewisePolynomial.h | Fixed-order piecewise polynomial kernels with analytic derivatives |
| discrete | |
| AlgebraicDecisionTree.cpp | |
| AlgebraicDecisionTree.h | Algebraic Decision Trees |
| AllDiff.h | |
| Assignment.h | An assignment from labels to a discrete value index (size_t) |
| BinaryAllDiff.h | |
| Constraint.h | |
| DecisionTree-inl.h | |
| DecisionTree.h | Decision Tree for use in DiscreteFactors |
| DecisionTreeFactor.cpp | Discrete factor |
| DecisionTreeFactor.h | |
| DiscreteBayesNet.cpp | |
| DiscreteBayesNet.h | |
| DiscreteBayesTree.cpp | Discrete Bayes Tree, the result of eliminating a DiscreteJunctionTree |
| DiscreteBayesTree.h | Discrete Bayes Tree, the result of eliminating a DiscreteJunctionTree |
| DiscreteConditional.cpp | |
| DiscreteConditional.h | |
| DiscreteDistribution.cpp | |
| DiscreteDistribution.h | |
| DiscreteEliminationTree.cpp | |
| DiscreteEliminationTree.h | |
| DiscreteFactor.cpp | Discrete factor |
| DiscreteFactor.h | |
| DiscreteFactorGraph.cpp | |
| DiscreteFactorGraph.h | |
| DiscreteJunctionTree.cpp | |
| DiscreteJunctionTree.h | |
| DiscreteKey.h | Specialized key for discrete variables |
| DiscreteLookupDAG.cpp | |
| DiscreteLookupDAG.h | |
| DiscreteMarginals.cpp | A class for computing marginals in a DiscreteFactorGraph |
| DiscreteMarginals.h | A class for computing marginals in a DiscreteFactorGraph |
| DiscreteSearch.h | Defines the DiscreteSearch class for discrete search algorithms |
| DiscreteValues.cpp | |
| DiscreteValues.h | |
| Domain.h | |
| Ring.h | Real Ring definition |
| Signature.cpp | Signatures for conditional densities |
| Signature.h | Signatures for conditional densities |
| SignatureParser.h | Parser for conditional distribution signatures |
| SingleValue.h | |
| TableDistribution.cpp | |
| TableDistribution.h | |
| TableFactor.cpp | Discrete factor |
| TableFactor.h | |
| geometry | |
| AsVectorSpace.h | Explicit vector-space adapter for manifold-valued classes |
| BearingRange.h | Bearing-Range product |
| Cal3.cpp | Common code for all calibration models |
| Cal3.h | Common code for all Calibration models |
| Cal3_S2.cpp | The most common 5DOF 3D->2D calibration |
| Cal3_S2.h | The most common 5DOF 3D->2D calibration |
| Cal3_S2Stereo.cpp | The most common 5DOF 3D->2D calibration + Stereo baseline |
| Cal3_S2Stereo.h | The most common 5DOF 3D->2D calibration + Stereo baseline |
| Cal3Bundler.cpp | |
| Cal3Bundler.h | Calibration used by Bundler |
| Cal3DS2.cpp | |
| Cal3DS2.h | Calibration of a camera with radial distortion, calculations in base class Cal3DS2_Base |
| Cal3DS2_Base.cpp | |
| Cal3DS2_Base.h | |
| Cal3f.cpp | Implementation file for Cal3f class |
| Cal3f.h | Calibration model with a single focal length and zero skew |
| Cal3Fisheye.cpp | |
| Cal3Fisheye.h | Calibration of a fisheye camera |
| Cal3Unified.cpp | |
| Cal3Unified.h | Unified Calibration Model, see Mei07icra for details |
| CalibratedCamera.cpp | Calibrated camera for which only pose is unknown |
| CalibratedCamera.h | Calibrated camera for which only pose is unknown |
| CameraSet.h | Base class to create smart factors on poses or cameras |
| concepts.h | Concept-checking macros for geometric objects Each macro instantiates a concept check structure, which includes a static function that will fail to compile if the concept does not pass |
| Cyclic.cpp | Cyclic group implementation |
| Cyclic.h | Cyclic group, i.e., the integers modulo N |
| EssentialMatrix.h | |
| Event.cpp | Space-time event |
| Event.h | Space-time event |
| ExtendedPose3-inl.h | Template implementations for ExtendedPose3<K, Derived> |
| ExtendedPose3.cpp | Explicit instantiations for ExtendedPose3<K> |
| ExtendedPose3.h | Extended pose Lie group SE_k(3), with static or dynamic k |
| FundamentalMatrix.h | |
| Gal3.cpp | Implementation of 3D Galilean Group SGal(3) state |
| Gal3.h | 3D Galilean Group SGal(3) state (attitude, position, velocity, time) |
| Kernel.cpp | Specialized kernels for SO(3) |
| Kernel.h | Specialized kernels for SO(3) |
| Line3.h | 4 dimensional manifold of 3D lines |
| OrientedPlane3.h | |
| PinholeCamera.h | Base class for all pinhole cameras |
| PinholePose.h | Pinhole camera with known calibration |
| PinholeSet.h | A CameraSet of either CalibratedCamera, PinholePose, or PinholeCamera |
| Point1.cpp | 1D Point |
| Point1.h | 1D Point |
| Point2.cpp | 2D Point |
| Point2.h | 2D Point |
| Point3.cpp | 3D Point |
| Point3.h | 3D Point |
| Pose2.cpp | 2D Pose |
| Pose2.h | 2D Pose |
| Pose3.cpp | 3D Pose manifold SO(3) x R^3 and group SE(3) |
| Pose3.h | 3D Pose manifold SO(3) x R^3 and group SE(3) |
| Quaternion.h | Lie Group wrapper for Eigen Quaternions |
| Rot2.cpp | 2D Rotations |
| Rot2.h | 2D rotation |
| Rot3.cpp | Rotation, common code between Rotation matrix and Quaternion |
| Rot3.h | 3D rotation represented as a rotation matrix or quaternion |
| Rot3M.cpp | Rotation (internal: 3*3 matrix representation*) |
| Rot3Q.cpp | Rotation (internal: quaternion representation*) |
| Similarity2.cpp | Implementation of Similarity2 transform |
| Similarity2.h | Implementation of Similarity2 transform |
| Similarity3.cpp | Implementation of Similarity3 transform |
| Similarity3.h | Implementation of Similarity3 transform |
| SimpleCamera.h | A simple camera class with a Cal3_S2 calibration |
| SL4.cpp | Projective Special Linear Group (PSL(4, R)) Pose |
| SL4.h | Projective Special Linear Group (SL(4, R)) factor |
| SO3.cpp | 3*3 matrix representation of SO(3) |
| SO3.h | 3*3 matrix representation of SO(3) |
| SO4.cpp | 4*4 matrix representation of SO(4) |
| SO4.h | 4*4 matrix representation of SO(4) |
| SOn-inl.h | Template implementations for SO(n) |
| SOn.cpp | Definitions of dynamic specializations of SO(n) |
| SOn.h | N*N matrix representation of SO(N) |
| SphericalCamera.h | Calibrated camera with spherical projection |
| StereoCamera.h | A Stereo Camera based on two Simple Cameras |
| StereoPoint2.cpp | |
| StereoPoint2.h | A 2D stereo point (uL,uR,v) |
| triangulation.h | Functions for triangulation |
| Unit3.h | |
| hybrid | |
| DCSAM.cpp | Discrete-Continuous Smoothing and Mapping for Factored Models |
| DCSAM.h | Discrete-Continuous Smoothing and Mapping for Factored Models |
| DiscreteBoundaryFactor.cpp | |
| DiscreteBoundaryFactor.h | |
| HybridBayesNet.cpp | A Bayes net of Gaussian Conditionals indexed by discrete keys |
| HybridBayesNet.h | A Bayes net of Gaussian Conditionals indexed by discrete keys |
| HybridBayesTree.cpp | Hybrid Bayes Tree, the result of eliminating a HybridJunctionTree |
| HybridBayesTree.h | Hybrid Bayes Tree, the result of eliminating a HybridJunctionTree |
| HybridConditional.cpp | |
| HybridConditional.h | |
| HybridEliminationTree.cpp | |
| HybridEliminationTree.h | |
| HybridFactor.cpp | |
| HybridFactor.h | |
| HybridFactorGraph.cpp | Factor graph with utilities for hybrid factors |
| HybridFactorGraph.h | Factor graph with utilities for hybrid factors |
| HybridGaussianConditional.cpp | A hybrid conditional in the Conditional Linear Gaussian scheme |
| HybridGaussianConditional.h | A hybrid conditional in the Conditional Linear Gaussian scheme |
| HybridGaussianFactor.cpp | A set of Gaussian factors indexed by a set of discrete keys |
| HybridGaussianFactor.h | A set of GaussianFactors, indexed by a set of discrete keys |
| HybridGaussianFactorGraph.cpp | Hybrid factor graph that uses type erasure |
| HybridGaussianFactorGraph.h | Linearized Hybrid factor graph that uses type erasure |
| HybridGaussianISAM.cpp | |
| HybridGaussianISAM.h | |
| HybridGaussianProductFactor.h | |
| HybridJunctionTree.cpp | |
| HybridJunctionTree.h | |
| HybridNonlinearFactor.h | A set of nonlinear factors indexed by a set of discrete keys |
| HybridNonlinearFactorGraph.cpp | Nonlinear hybrid factor graph that uses type erasure |
| HybridNonlinearFactorGraph.h | Nonlinear hybrid factor graph that uses type erasure |
| HybridNonlinearISAM.cpp | |
| HybridNonlinearISAM.h | |
| HybridSmoother.cpp | An incremental smoother for hybrid factor graphs |
| HybridSmoother.h | An incremental smoother for hybrid factor graphs |
| HybridValues.cpp | |
| HybridValues.h | |
| inference | |
| BayesNet-inst.h | |
| BayesNet.h | Bayes network |
| BayesTree-inst.h | Bayes Tree is a tree of cliques of a Bayes Chain |
| BayesTree.cpp | Bayes Tree is a tree of cliques of a Bayes Chain |
| BayesTree.h | Bayes Tree is a tree of cliques of a Bayes Chain |
| BayesTreeCliqueBase-inst.h | Base class for cliques of a BayesTree |
| BayesTreeCliqueBase.h | Base class for cliques of a BayesTree |
| ClusterTree-inst.h | Collects factorgraph fragments defined on variable clusters, arranged in a tree |
| ClusterTree.h | Collects factorgraph fragments defined on variable clusters, arranged in a tree |
| Conditional-inst.h | |
| Conditional.h | Base class for conditional densities |
| DotWriter.cpp | Graphviz formatting for factor graphs |
| DotWriter.h | Graphviz formatter |
| EdgeKey.cpp | |
| EdgeKey.h | |
| EliminateableFactorGraph-inst.h | |
| EliminateableFactorGraph.h | Variable elimination algorithms for factor graphs |
| EliminationTree-inst.h | |
| EliminationTree.h | |
| Factor.cpp | The base class for all factors |
| Factor.h | The base class for all factors |
| FactorErrorPredicate.h | Predicate used to filter factor-graph error output |
| FactorGraph-inst.h | Factor Graph Base Class |
| FactorGraph.h | Factor Graph Base Class |
| graph-inl.h | |
| graph.h | Graph algorithm using boost library |
| inference-inst.h | Contains generic inference algorithms that convert between templated graphical models, i.e., factor graphs, Bayes nets, and Bayes trees |
| inferenceExceptions.cpp | Exceptions that may be thrown by inference algorithms |
| inferenceExceptions.h | Exceptions that may be thrown by inference algorithms |
| ISAM-inst.h | Incremental update functionality (iSAM) for BayesTree |
| ISAM.h | Incremental update functionality (iSAM) for BayesTree |
| JunctionTree-inst.h | The junction tree, template bodies |
| JunctionTree.h | The junction tree |
| Key.cpp | |
| Key.h | |
| kruskal-inl.h | |
| kruskal.h | |
| LabeledSymbol.h | |
| MetisIndex-inl.h | |
| MetisIndex.h | |
| Ordering.cpp | |
| Ordering.h | Variable ordering for the elimination algorithm |
| Symbol.cpp | |
| Symbol.h | |
| VariableIndex-inl.h | |
| VariableIndex.cpp | |
| VariableIndex.h | |
| VariableSlots.cpp | |
| VariableSlots.h | VariableSlots describes the structure of a combined factor in terms of where each block comes from in the source factors |
| linear | |
| AcceleratedPowerMethod.h | Accelerated power method for fast eigenvalue and eigenvector computation |
| BatchJacobianFactor.h | Row-sparse fixed-dimension batch Jacobian factor |
| ConjugateGradientSolver.h | Implementation of Conjugate Gradient solver for a linear system |
| Errors.cpp | Factor Graph Values |
| Errors.h | Vector of errors |
| FixedJacobianFactor.h | Arbitrary-arity Jacobian factor with compile-time block dimensions |
| FlatGaussianFactor.cpp | Optional preindexed kernels for Gaussian factors |
| FlatGaussianFactor.h | Optional preindexed kernels for Gaussian factors |
| GaussianBayesNet.cpp | Chordal Bayes Net, the result of eliminating a factor graph |
| GaussianBayesNet.h | Chordal Bayes Net, the result of eliminating a factor graph |
| GaussianBayesTree-inl.h | Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree |
| GaussianBayesTree.cpp | Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree |
| GaussianBayesTree.h | Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree |
| GaussianBayesTreeQueries.h | Internal helpers for Gaussian Bayes-tree covariance queries |
| GaussianConditional-inl.h | Conditional Gaussian Base class |
| GaussianConditional.cpp | Conditional Gaussian Base class |
| GaussianConditional.h | Conditional Gaussian Base class |
| GaussianDensity.cpp | A Gaussian Density |
| GaussianDensity.h | A Gaussian Density |
| GaussianEliminationTree.cpp | |
| GaussianEliminationTree.h | |
| GaussianFactor.cpp | A factor with a quadratic error function - a Gaussian |
| GaussianFactor.h | A factor with a quadratic error function - a Gaussian |
| GaussianFactorGraph.cpp | Linear Factor Graph where all factors are Gaussians |
| GaussianFactorGraph.h | Linear Factor Graph where all factors are Gaussians |
| GaussianISAM.h | |
| GaussianJunctionTree.cpp | |
| GaussianJunctionTree.h | |
| HessianFactor-inl.h | Contains the HessianFactor class, a general quadratic factor |
| HessianFactor.cpp | |
| HessianFactor.h | Contains the HessianFactor class, a general quadratic factor |
| iterative-inl.h | Iterative methods, template implementation |
| iterative.cpp | Iterative methods, implementation |
| iterative.h | Iterative methods, implementation |
| IterativeSolver.cpp | Some support classes for iterative solvers |
| IterativeSolver.h | Some support classes for iterative solvers |
| JacobianFactor-inl.h | |
| JacobianFactor.cpp | |
| JacobianFactor.h | |
| JointMarginal.cpp | Block access to joint Gaussian covariance or information matrices |
| JointMarginal.h | Block access to joint Gaussian covariance or information matrices |
| KalmanFilter.cpp | Simple linear Kalman filter |
| KalmanFilter.h | Simple linear Kalman filter implemented using factor graphs, i.e., performs Cholesky or QR-based SRIF (Square-Root Information Filter) |
| KeyInfo.cpp | Ordered key dimensions and scalar offsets |
| KeyInfo.h | Ordered key dimensions and scalar offsets |
| linearAlgorithms-inst.h | Templated algorithms that are used in multiple places in linear |
| linearExceptions.cpp | Exceptions that may be thrown by linear solver components |
| linearExceptions.h | Exceptions that may be thrown by linear solver components |
| LossFunctions.h | |
| MultifrontalClique.cpp | Implementation of imperative multifrontal clique data structure |
| MultifrontalClique.h | Imperative multifrontal clique data structure |
| MultifrontalParameters.h | Parameters for the imperative multifrontal solver |
| MultifrontalSolver.cpp | Implementation of imperative-style multifrontal solver |
| MultifrontalSolver.h | Imperative-style multifrontal solver for Gaussian factor graphs |
| NoiseModel.cpp | |
| NoiseModel.h | |
| PCGSolver.cpp | Preconditioned Conjugate Gradient Solver for linear systems |
| PCGSolver.h | Preconditioned Conjugate Gradient Solver for linear systems |
| PowerMethod.h | Power method for fast eigenvalue and eigenvector computation |
| Preconditioner.cpp | Created on: Jun 2, 2014 |
| Preconditioner.h | Created on: Jun 2, 2014 |
| RegularHessianFactor.h | Specialized HessianFactor class for regular problems (fixed-size blocks) |
| RegularJacobianFactor.h | JacobianFactor class with fixed sized blcoks |
| Sampler.cpp | Sampling from a diagonal NoiseModel |
| Sampler.h | Sampling from a NoiseModel |
| Scatter.cpp | |
| Scatter.h | Maps global variable indices to slot indices |
| SparseEigen.h | Utilities for creating Eigen sparse matrices (gtsam::SparseEigen) |
| SubgraphBuilder.cpp | |
| SubgraphBuilder.h | |
| SubgraphPreconditioner.cpp | |
| SubgraphPreconditioner.h | |
| SubgraphSolver.cpp | Subgraph Solver from IROS 2010 |
| SubgraphSolver.h | Subgraph Solver from IROS 2010 |
| VectorValues.cpp | Implementations for VectorValues |
| VectorValues.h | Factor Graph Values |
| navigation | |
| AHRSFactor.cpp | |
| AHRSFactor.h | |
| AttitudeFactor.cpp | Implementation file for Attitude factor |
| AttitudeFactor.h | Header file for Attitude factor |
| BarometricFactor.cpp | Implementation file for Barometric factor |
| BarometricFactor.h | Header file for Barometric factor |
| CarrierPhaseFactor.cpp | Implementation file for GNSS Carrier Phase factors |
| CarrierPhaseFactor.h | Header file for GNSS Carrier Phase factors |
| CombinedImuFactor.cpp | |
| CombinedImuFactor.h | |
| CombinedImuFactorWithGravity.cpp | |
| CombinedImuFactorWithGravity.h | |
| ConstantVelocityFactor.h | Maintain a constant velocity motion model between two NavStates |
| DopplerFactor.cpp | Implementation of the GNSS Doppler (range-rate) factor |
| DopplerFactor.h | Header file for the GNSS Doppler (range-rate) factor |
| EquivariantFilter.h | Equivariant Filter (EqF) implementation |
| expressions.h | Common expressions for solving navigation problems |
| Gal3ImuEKF.cpp | Extended Kalman Filter derived class for IMU-driven Gal3 |
| Gal3ImuEKF.h | (Invariant) Extended Kalman Filter for IMU-driven Gal3 We use an invariant Kalman Filter on the Gal3 Lie group to propagate from one state to another |
| GalileanImuFactor.h | Left-invariant Galilean IMU preintegration factor aliases |
| GalileanPreintegration.cpp | Left-invariant Galilean IMU preintegration |
| GalileanPreintegration.h | Left-invariant Galilean IMU preintegration with bias correction |
| GnssCommon.cpp | Implementation of shared GNSS utilities |
| GnssCommon.h | Shared constants and utilities for GNSS factors |
| GPSFactor.cpp | Implementation file for GPS factor |
| GPSFactor.h | Header file for GPS factor |
| ImuBias.cpp | |
| ImuBias.h | |
| ImuFactor.cpp | |
| ImuFactor.h | |
| ImuFactorWithGravity.cpp | |
| ImuFactorWithGravity.h | |
| InvariantEKF.h | Left-Invariant Extended Kalman Filter implementation |
| LeftLinearEKF.h | EKF on a Lie group with a general left–linear prediction model |
| LeggedEstimator.cpp | |
| LeggedEstimator.h | |
| LeggedEstimatorFactors.h | |
| LieGroupEKF.h | Extended Kalman Filter derived class for Lie groups G |
| LieGroupPreintegration.cpp | IMU preintegration using the SE_2(3) group structure of NavState |
| LieGroupPreintegration.h | IMU preintegration using the SE_2(3) group structure of NavState |
| MagFactor.h | Factors involving magnetometers |
| MagPoseFactor.h | |
| ManifoldEKF.h | Extended Kalman Filter base class on a generic manifold M |
| ManifoldPreintegration.cpp | |
| ManifoldPreintegration.h | |
| NavState.cpp | Navigation state composing of attitude, position, and velocity |
| NavState.h | Navigation state composing of attitude, position, and velocity |
| NavStateImuEKF.cpp | Extended Kalman Filter derived class for IMU-driven NavState |
| NavStateImuEKF.h | Extended Kalman Filter for IMU-driven NavState on SE(3) |
| PlanarGyroFactor.cpp | |
| PlanarGyroFactor.h | One-dimensional ("planar") gyro factors |
| PreintegratedRotation.cpp | |
| PreintegratedRotation.h | |
| PreintegrationBase.h | |
| PreintegrationCombinedParams.h | |
| PreintegrationParams.h | |
| PseudorangeFactor.cpp | Implementation file for GNSS Pseudorange factor |
| PseudorangeFactor.h | Header file for GNSS Pseudorange factor |
| Scenario.cpp | Classes for testing navigation scenarios |
| Scenario.h | Simple class to test navigation scenarios |
| ScenarioRunner.h | Simple class to test navigation scenarios |
| TangentPreintegration.cpp | |
| TangentPreintegration.h | |
| nonlinear | |
| AdaptAutoDiff.h | Adaptor for Ceres style auto-differentiated functions |
| AntiFactor.h | |
| BatchFactor.h | A batch of factors that linearizes to a single JacobianFactor |
| BatchFixedLagSmoother.cpp | An LM-based fixed-lag smoother |
| BatchFixedLagSmoother.h | An LM-based fixed-lag smoother |
| BayesTreeMarginalizationHelper.h | Helper functions for marginalizing variables from a Bayes Tree |
| ConcentratedGaussian.h | A nonlinear density, inherits from ExtendedPriorFactor |
| CustomFactor.cpp | Class to enable arbitrary factors with runtime swappable error function |
| CustomFactor.h | Class to enable arbitrary factors with runtime swappable error function |
| DoglegOptimizer.cpp | |
| DoglegOptimizer.h | |
| DoglegOptimizerImpl.h | Nonlinear factor graph optimizer using Powell's Dogleg algorithm (detail implementation) |
| Expression-inl.h | Internals for Expression.h, not for general consumption |
| Expression.h | Expressions for Block Automatic Differentiation |
| ExpressionFactor.h | |
| ExpressionFactorGraph.h | Factor graph that supports adding ExpressionFactors directly |
| expressions.h | Common expressions, both linear and non-linear |
| expressionTesting.h | Test harness methods for expressions |
| ExtendedKalmanFilter-inl.h | Class to perform generic Kalman Filtering using nonlinear factor graphs |
| ExtendedKalmanFilter.h | Class to perform generic Kalman Filtering using nonlinear factor graphs |
| ExtendedPriorFactor.h | |
| factorTesting.h | Evaluate derivatives of a nonlinear factor numerically |
| FixedLagSmoother.cpp | The base class for different fixed-lag smoother implementations |
| FixedLagSmoother.h | Base class for a fixed-lag smoother |
| FunctorizedFactor.h | |
| GaussNewtonOptimizer.cpp | |
| GaussNewtonOptimizer.h | |
| GncOptimizer.cpp | Definitions of functions declared in header file |
| GncOptimizer.h | The GncOptimizer class |
| GncParams.h | |
| GraphvizFormatting.cpp | Graphviz formatter for NonlinearFactorGraph |
| GraphvizFormatting.h | Graphviz formatter for NonlinearFactorGraph |
| IncrementalFixedLagSmoother.cpp | An iSAM2-based fixed-lag smoother |
| IncrementalFixedLagSmoother.h | An iSAM2-based fixed-lag smoother |
| ISAM2-impl.cpp | Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization |
| ISAM2-impl.h | Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization |
| ISAM2.cpp | Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization |
| ISAM2.h | Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization |
| ISAM2Clique.cpp | Specialized iSAM2 Clique |
| ISAM2Clique.h | Specialized iSAM2 Clique |
| ISAM2Params.cpp | Parameters for iSAM 2 |
| ISAM2Params.h | Parameters for iSAM 2 |
| ISAM2Result.h | Class that stores detailed iSAM2 result |
| ISAM2UpdateParams.h | Class that stores extra params for ISAM2::update() |
| LevenbergMarquardtOptimizer.cpp | A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme |
| LevenbergMarquardtOptimizer.h | A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme |
| LevenbergMarquardtParams.cpp | Parameters for Levenberg-Marquardt trust-region scheme |
| LevenbergMarquardtParams.h | Parameters for Levenberg-Marquardt trust-region scheme |
| LinearContainerFactor.cpp | |
| LinearContainerFactor.h | Wrap Jacobian and Hessian linear factors to allow simple injection into a nonlinear graph |
| LMDampingParams.h | Parameters controlling LM-style damping for NonlinearMultifrontalSolver |
| Marginals.cpp | |
| Marginals.h | A class for computing marginals in a NonlinearFactorGraph |
| NoiseModelFactorN.h | Base class for noise model factors with N variables |
| NonlinearConjugateGradientOptimizer.cpp | Simple non-linear optimizer that solves using non-preconditioned CG |
| NonlinearConjugateGradientOptimizer.h | Simple non-linear optimizer that solves using non-preconditioned CG |
| NonlinearEquality.h | |
| nonlinearExceptions.h | Exceptions that may be thrown by nonlinear optimization components |
| NonlinearFactor.cpp | Nonlinear Factor base classes |
| NonlinearFactor.h | Non-linear factor base classes |
| NonlinearFactorGraph.cpp | Factor Graph Consisting of non-linear factors |
| NonlinearFactorGraph.h | Factor Graph consisting of non-linear factors |
| NonlinearISAM.cpp | |
| NonlinearISAM.h | |
| NonlinearMultifrontalSolver.cpp | Implementation of nonlinear multifrontal solver |
| NonlinearMultifrontalSolver.h | Multifrontal solver for nonlinear factor graphs |
| NonlinearOptimizer.cpp | Convergence functions not dependent on graph types |
| NonlinearOptimizer.h | Base class and parameters for nonlinear optimization algorithms |
| NonlinearOptimizerParams.cpp | Parameters for nonlinear optimization |
| NonlinearOptimizerParams.h | Parameters for nonlinear optimization |
| PriorFactor.h | |
| utilities.h | Contains generic global functions designed particularly for the matlab interface |
| Values-inl.h | |
| Values.h | A non-templated config holding any types of Manifold-group elements |
| VectorNormFactor.h | Factor constraining the norm of a vector-space variable |
| WhiteNoiseFactor.h | Binary white noise factor |
| WnoaFactor.h | White-Noise-On-Acceleration (WNOA) motion prior factor between two states (pose and velocity at times t_k and t_{k+1}) |
| WnoaFactorGraph.cpp | Factor graph that handles computation of interpolated states for WNOA |
| WnoaFactorGraph.h | Factor graph that handles computation of interpolated states for WNOA |
| WnoaInterpFactor.h | White-Noise-On-Acceleration (WNOA) continuous time interpolation wrapper factor and functions to automatically update a given graph by interpolating some variables (removing them from the optimization) |
| WnoaInterpolator.h | Interpolator class implementation for interpolating poses and velocities between two bordering states, either during or after a factor graph solve |
| WnoaStateData.h | Introduces a lightweight struct for identifying states in continuous-time estimation and interpolation |
| sam | |
| BearingFactor.h | Serializable factor induced by a bearing measurement |
| BearingRangeFactor.h | Single factor contains both the bearing and the range to prevent handle to pair bearing and range factors |
| QuadraticRangeFactor.h | Quadratic range factor |
| RangeFactor.h | Serializable factor induced by a range measurement |
| RISAM.cpp | Implementation of the RISAM algorithm |
| RISAM.h | Robust Incremental Smoothing and Mapping (riSAM) |
| RISAMGraduatedFactor.h | |
| RISAMGraduationScheduler.h | |
| sfm | |
| BinaryMeasurement.h | Binary measurement represents a measurement between two keys in a graph. A binary measurement is similar to a BetweenFactor, except that it does not contain an error function. It is a measurement (along with a noise model) from one key to another. Note that the direction is important. A measurement from key1 to key2 is not the same as the same measurement from key2 to key1 |
| DsfTrackGenerator.cpp | Identifies connected components in the keypoint matches graph |
| DsfTrackGenerator.h | Identifies connected components in the keypoint matches graph |
| EssentialMatrixConstraint.cpp | |
| EssentialMatrixConstraint.h | |
| EssentialMatrixFactor.h | |
| GlobalPositioner.cpp | GLOMAP-style joint estimation of camera and landmark positions |
| GlobalPositioner.h | GLOMAP-style joint estimation of camera and landmark positions from camera-to-point direction measurements |
| LocationRecovery.cpp | Recover absolute Point3 locations from pairwise Unit3 direction measurements |
| LocationRecovery.h | Recover absolute Point3 locations from pairwise Unit3 direction measurements, using either chordal or bilinear (BATA) cost functions |
| MFAS.cpp | Source file for the MFAS class |
| MFAS.h | MFAS class to solve Minimum Feedback Arc Set graph problem |
| SelfCalibrationFactor.h | Focal-length self-calibration factor from a fundamental matrix |
| SfmData.cpp | Data structure for dealing with Structure from Motion data |
| SfmData.h | Data structure for dealing with Structure from Motion data |
| SfmEliminationMode.h | Shared CPU/CUDA elimination policy for SFM optimizers |
| SfmLevenbergMarquardt.cpp | CPU SFM Levenberg-Marquardt implementation |
| SfmLevenbergMarquardt.h | CPU Levenberg-Marquardt optimizer with optional landmark elimination |
| SfmTrack.cpp | A simple data structure for a track in Structure from Motion |
| SfmTrack.h | A simple data structure for a track in Structure from Motion |
| ShonanAveraging.cpp | Shonan Averaging algorithm |
| ShonanAveraging.h | Shonan Averaging algorithm |
| ShonanFactor.h | Main factor type in Shonan averaging, on SO(n) pairs |
| ShonanGaugeFactor.h | Factor used in Shonan Averaging to clamp down gauge freedom |
| TrajectoryAlignerSim3.h | Aligning a trajectory of poses to a reference trajectory using a similarity transform |
| TransferFactor.h | |
| TranslationFactor.h | Binary factor for a relative translation direction measurement |
| TranslationRecovery.cpp | Source code for recovering translations when rotations are given |
| TranslationRecovery.h | Recovering translations in an epipolar graph when rotations are given |
| UnaryMeasurement.h | Unary measurement represents a measurement on a single key in a graph. It mirrors BinaryMeasurement but holds just one key. The measurement value and noise model are stored without an accompanying error function |
| slam | |
| AntiFactor.h | |
| BetweenFactor.h | |
| BoundingConstraint.h | |
| dataset.cpp | Utility functions for loading datasets |
| dataset.h | Utility functions for loading datasets |
| EssentialMatrixConstraint.h | |
| EssentialMatrixFactor.h | |
| expressions.h | Common expressions for solving geometry/slam/sfm problems |
| FastSync-inl.h | Template implementation for fixed-size FAST-Sync |
| FastSync.h | Fast initialization for synchronization over matrix Lie groups |
| FrobeniusFactor.cpp | Various factors that minimize some Frobenius norm |
| FrobeniusFactor.h | Various factors that minimize some Frobenius norm |
| GeneralSFMFactor.h | General SFM factor with an unknown calibration |
| InitializePose.h | Common code between lago.* (2D) and InitializePose3.* (3D) |
| InitializePose3.cpp | |
| InitializePose3.h | Initialize Pose3 in a factor graph |
| JacobianFactorQ.h | |
| JacobianFactorQR.h | |
| JacobianFactorSVD.h | |
| KarcherMeanFactor-inl.h | |
| KarcherMeanFactor.h | |
| KnownLandmarkFactor.h | Factors for observing a known landmark under an unknown transform |
| lago.h | Initialize Pose2 in a factor graph using LAGO (Linear Approximation for Graph Optimization) |
| OrientedPlane3Factor.h | |
| PlanarProjectionFactor.h | ProjectionFactor, but with pose2 (robot on the floor) |
| PoseRotationPrior.h | Implements a prior on the rotation component of a pose |
| PoseTranslationPrior.h | Implements a prior on the translation component of a pose |
| ProjectionFactor.h | Reprojection of a LANDMARK to a 2D point |
| ReferenceFrameFactor.h | |
| RegularImplicitSchurFactor.h | A subclass of GaussianFactor specialized to structureless SFM |
| RelativeTranslationFactor.h | Quadratic translation factor: the translation part of a relative SE(d) pose measurement |
| RotateFactor.h | |
| SmartFactorBase.h | Base class to create smart factors on poses or cameras |
| SmartFactorParams.h | Collect common parameters for SmartProjection and SmartStereoProjection factors |
| SmartProjectionFactor.h | Smart factor on cameras (pose + calibration) |
| SmartProjectionFactorBase.h | Base class for smart projection factors |
| SmartProjectionPoseFactor.h | Smart factor on poses, assuming camera calibration is fixed |
| SmartProjectionRigFactor.h | Smart factor on poses, assuming camera calibration is fixed |
| StereoFactor.h | A non-linear factor for stereo measurements |
| TriangulationFactor.h | |
| WahbaFactor.h | Chordal Wahba factor with exact QCQP conversion |
| symbolic | |
| IndexedJunctionTree.h | Build a symbolic junction tree that stores original factor indices |
| SymbolicBayesNet.cpp | |
| SymbolicBayesNet.h | |
| SymbolicBayesTree.h | |
| SymbolicConditional.cpp | |
| SymbolicConditional.h | |
| SymbolicEliminationTree.cpp | |
| SymbolicEliminationTree.h | |
| SymbolicFactor-inst.h | |
| SymbolicFactor.cpp | |
| SymbolicFactor.h | |
| SymbolicFactorGraph.cpp | |
| SymbolicFactorGraph.h | |
| SymbolicISAM.cpp | |
| SymbolicISAM.h | |
| SymbolicJunctionTree.cpp | |
| SymbolicJunctionTree.h | |
| global_includes.h | Included from all GTSAM files |
| precompiled_header.h | > |
| gtsam_unstable | |
| base | |
| BTree.h | Purely functional binary tree |
| DSF.h | An implementation of Disjoint set forests (see CLR page 446 and up) |
| Dummy.h | Dummy class for testing MATLAB memory allocation |
| FixedVector.h | Extension of boost's bounded_vector to allow for fixed size operation |
| discrete | |
| AllDiff.h | |
| BinaryAllDiff.h | |
| Constraint.h | |
| CSP.h | |
| Domain.h | |
| Scheduler.h | |
| SingleValue.h | |
| dynamics | |
| DynamicsPriors.h | Priors to be used with dynamic systems (Specifically PoseRTV) |
| FullIMUFactor.h | Factor to express an IMU measurement between dynamic poses |
| IMUFactor.h | Factor to express an IMU measurement between dynamic poses |
| Pendulum.h | Three-way factors for the pendulum dynamics as in [Stern06siggraph] for (1) explicit Euler method, (2) implicit Euler method, and (3) sympletic Euler method |
| PoseRTV.cpp | |
| PoseRTV.h | Pose3 with translational velocity |
| SimpleHelicopter.h | |
| VelocityConstraint.h | Constraint enforcing the relationship between pose and velocity |
| VelocityConstraint3.h | A simple 3-way factor constraining double poses and velocity |
| geometry | |
| ABC.h | Core components for Attitude-Bias-Calibration systems |
| ABCEquivariantFilter.h | Attitude-Bias-Calibration Equivariant Filter for state estimation |
| BearingS2.cpp | |
| BearingS2.h | Manifold measurement between two points on a unit sphere |
| InvDepthCamera3.h | Inverse Depth Camera based on Civera09tro, Montiel06rss |
| Pose3Upright.cpp | |
| Pose3Upright.h | Variation of a Pose3 in which the rotation is constained to purely yaw This state is essentially a Pose2 with a z component, with conversions to higher and lower dimensional states |
| SimPolygon2D.cpp | |
| SimPolygon2D.h | Polygons for simulation use |
| SimWall2D.cpp | |
| SimWall2D.h | Implementation of walls for use with simulators |
| linear | |
| ConstrainedSolverAdapter.h | Internal adapters from legacy unstable LP/QP models to constrained |
| EqualityFactorGraph.h | Factor graph of all LinearEquality factors |
| InequalityFactorGraph.h | Factor graph of all LinearInequality factors |
| InfeasibleInitialValues.h | Exception thrown when given Infeasible Initial Values |
| InfeasibleOrUnboundedProblem.h | Throw when the problem is either infeasible or unbounded |
| LinearCost.h | LinearCost derived from JacobianFactor to support linear cost functions c'x |
| LinearEquality.h | LinearEquality derived from Base with constrained noise model |
| LinearInequality.h | LinearInequality derived from Base with constrained noise model |
| LP.h | Struct used to hold a Linear Programming Problem |
| LPInitSolver.h | This finds a feasible solution for an LP problem |
| LPSolver.cpp | Compatibility wrapper for constrained LP solving |
| LPSolver.h | Compatibility wrapper for the constrained active-set LP solver |
| QP.h | Factor graphs of a Quadratic Programming problem |
| QPInitSolver.h | This finds a feasible solution for a QP problem |
| QPSolver.cpp | Compatibility wrapper for constrained QP solving |
| QPSolver.h | Compatibility wrapper for the constrained active-set QP solver |
| nonlinear | |
| ConcurrentBatchFilter.cpp | A Levenberg-Marquardt Batch Filter that implements the Concurrent Filtering and Smoothing interface |
| ConcurrentBatchFilter.h | A Levenberg-Marquardt Batch Filter that implements the Concurrent Filtering and Smoothing interface |
| ConcurrentBatchSmoother.cpp | A Levenberg-Marquardt Batch Smoother that implements the Concurrent Filtering and Smoothing interface |
| ConcurrentBatchSmoother.h | A Levenberg-Marquardt Batch Smoother that implements the Concurrent Filtering and Smoothing interface |
| ConcurrentFilteringAndSmoothing.cpp | Base classes for the 'filter' and 'smoother' portion of the Concurrent Filtering and Smoothing architecture, as well as an external synchronization function |
| ConcurrentFilteringAndSmoothing.h | Base classes for the 'filter' and 'smoother' portion of the Concurrent Filtering and Smoothing architecture, as well as an external synchronization function |
| ConcurrentIncrementalFilter.cpp | An iSAM2-based Filter that implements the Concurrent Filtering and Smoothing interface |
| ConcurrentIncrementalFilter.h | |
| ConcurrentIncrementalSmoother.cpp | An iSAM2-based Smoother that implements the Concurrent Filtering and Smoothing interface |
| ConcurrentIncrementalSmoother.h | An iSAM2-based Smoother that implements the Concurrent Filtering and Smoothing interface |
| LinearizedFactor.cpp | A dummy factor that allows a linear factor to act as a nonlinear factor |
| LinearizedFactor.h | A dummy factor that allows a linear factor to act as a nonlinear factor |
| NonlinearClusterTree.h | |
| partition | |
| FindSeparator-inl.h | |
| FindSeparator.h | |
| GenericGraph.h | |
| NestedDissection-inl.h | |
| NestedDissection.h | |
| PartitionWorkSpace.h | |
| slam | |
| AHRS.h | |
| BetweenFactorEM.h | |
| BiasedGPSFactor.h | |
| DummyFactor.cpp | |
| DummyFactor.h | A simple factor that can be used to trick gtsam solvers into believing a graph is connected |
| EquivInertialNavFactor_GlobalVel.h | Equivalent inertial navigation factor (velocity in the global frame) |
| EquivInertialNavFactor_GlobalVel_NoBias.h | Equivalent inertial navigation factor (velocity in the global frame), without bias state |
| GaussMarkov1stOrderFactor.h | |
| InertialNavFactor_GlobalVelocity.h | Inertial navigation factor (velocity in the global frame) |
| InvDepthFactor3.h | Inverse Depth Factor based on Civera09tro, Montiel06rss |
| InvDepthFactorVariant1.h | Inverse Depth Factor based on Civera09tro, Montiel06rss |
| InvDepthFactorVariant2.h | Inverse Depth Factor based on Civera09tro, Montiel06rss |
| InvDepthFactorVariant3.h | Inverse Depth Factor based on Civera09tro, Montiel06rss |
| LocalOrientedPlane3Factor.h | |
| Mechanization_bRn2.cpp | |
| Mechanization_bRn2.h | |
| MultiProjectionFactor.h | |
| PartialPriorFactor.h | A deprecated prior factor on selected tangent-space coordinates |
| PoseBetweenFactor.h | |
| PosePriorFactor.h | |
| PoseToPointFactor.h | This factor can be used to model relative position measurements from a (2D or 3D) pose to a landmark |
| ProjectionFactorPPP.h | Derived from ProjectionFactor, but estimates body-camera transform in addition to body pose and 3D landmark |
| ProjectionFactorPPPC.h | Derived from ProjectionFactor, but estimates body-camera transform and calibration in addition to body pose and 3D landmark |
| ProjectionFactorRollingShutter.cpp | Basic projection factor for rolling shutter cameras |
| ProjectionFactorRollingShutter.h | Basic projection factor for rolling shutter cameras |
| RelativeElevationFactor.cpp | |
| RelativeElevationFactor.h | Factor representing a known relative altitude in global frame |
| serialization.cpp | |
| serialization.h | Global functions for performing serialization, designed for use with matlab |
| SmartProjectionPoseFactorRollingShutter.h | Smart projection factor on poses modeling rolling shutter effect with given readout time |
| SmartRangeFactor.h | A smart factor for range-only SLAM that does initialization and marginalization |
| SmartStereoProjectionFactor.h | Smart stereo factor on StereoCameras (pose) |
| SmartStereoProjectionFactorPP.h | Smart stereo factor on poses and extrinsic calibration |
| SmartStereoProjectionPoseFactor.cpp | Smart stereo factor on poses, assuming camera calibration is fixed |
| SmartStereoProjectionPoseFactor.h | Smart stereo factor on poses, assuming camera calibration is fixed |
| TOAFactor.h | "Time of Arrival" factor |
| TransformBtwRobotsUnaryFactor.h | Unary factor for determining transformation between given trajectories of two robots |
| TransformBtwRobotsUnaryFactorEM.h | Unary factor for determining transformation between given trajectories of two robots |
| TSAMFactors.h | TSAM 1 Factors, simpler than the hierarchical TSAM 2 |
1.16.1