noiseModel::Base is the abstract base class for all noise models.
Noise models must implement a 'whiten' function to normalize an error vector, and an 'unwhiten' function to unnormalize an error vector.
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| | Base (size_t dim=1) |
| | primary constructor More...
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virtual bool | isConstrained () const |
| | true if a constrained noise model, saves slow/clumsy dynamic casting
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virtual bool | isUnit () const |
| | true if a unit noise model, saves slow/clumsy dynamic casting
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size_t | dim () const |
| | Dimensionality.
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virtual void | print (const std::string &name="") const =0 |
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virtual bool | equals (const Base &expected, double tol=1e-9) const =0 |
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virtual Vector | sigmas () const |
| | Calculate standard deviations.
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virtual Vector | whiten (const Vector &v) const =0 |
| | Whiten an error vector.
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virtual Matrix | Whiten (const Matrix &H) const =0 |
| | Whiten a matrix.
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virtual Vector | unwhiten (const Vector &v) const =0 |
| | Unwhiten an error vector.
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virtual double | distance (const Vector &v) const =0 |
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virtual void | WhitenSystem (std::vector< Matrix > &A, Vector &b) const =0 |
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virtual void | WhitenSystem (Matrix &A, Vector &b) const =0 |
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virtual void | WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const =0 |
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virtual void | WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const =0 |
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virtual void | whitenInPlace (Vector &v) const |
| | in-place whiten, override if can be done more efficiently
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virtual void | unwhitenInPlace (Vector &v) const |
| | in-place unwhiten, override if can be done more efficiently
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virtual void | whitenInPlace (Eigen::Block< Vector > &v) const |
| | in-place whiten, override if can be done more efficiently
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virtual void | unwhitenInPlace (Eigen::Block< Vector > &v) const |
| | in-place unwhiten, override if can be done more efficiently
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Inheritance diagram for gtsam::noiseModel::Base:
