gtsam::RangeFactorWithTransform< A1, A2, T > Class Template Reference

Inheritance diagram for gtsam::RangeFactorWithTransform< A1, A2, T >:

Public Member Functions
	RangeFactorWithTransform (Key key1, Key key2, T measured, const SharedNoiseModel &model, const A1 &body_T_sensor)
virtual gtsam::NonlinearFactor::shared_ptr	clone () const
virtual Expression< T >	expression (Key key1, Key key2) const
	Recreate expression from given keys_ and measured_, used in load Needed to deserialize a derived factor.
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	print contents
Public Member Functions inherited from gtsam::ExpressionFactor2< T, A1, A2 >
virtual	~ExpressionFactor2 ()
	Destructor.
Vector	evaluateError (const A1 &a1, const A2 &a2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Backwards compatible evaluateError, to make existing tests compile.
Public Member Functions inherited from gtsam::ExpressionFactor< T >
	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement, const Expression< T > &expression)
	Constructor: creates a factor from a measurement and measurement function. More...
virtual	~ExpressionFactor ()
	Destructor.
const T &	measured () const
	return the measurement
bool	equals (const NonlinearFactor &f, double tol) const
	equals relies on Testable traits being defined for T
virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \). More...
virtual boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const
	linearize to a GaussianFactor
Public Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor ()
	Default constructor for I/O only.
virtual	~NoiseModelFactor ()
	Destructor.
template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.
virtual size_t	dim () const
	get the dimension of the factor (number of rows on linearization)
const SharedNoiseModel &	noiseModel () const
	access to the noise model
Vector	whitenedError (const Values &c) const
	Vector of errors, whitened This is the raw error, i.e., i.e. More...
virtual double	error (const Values &c) const
	Calculate the error of the factor. More...
boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const
	Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
	Default constructor for I/O only.
template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
	Constructor from a collection of the keys involved in this factor.
virtual	~NonlinearFactor ()
	Destructor.
virtual bool	active (const Values &) const
	Checks whether a factor should be used based on a set of values. More...
shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
	Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.
shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys. More...
Public Member Functions inherited from gtsam::Factor
Key	front () const
	First key.
Key	back () const
	Last key.
const_iterator	find (Key key) const
	find
const KeyVector &	keys () const
	Access the factor's involved variable keys.
const_iterator	begin () const
	Iterator at beginning of involved variable keys.
const_iterator	end () const
	Iterator at end of involved variable keys.
size_t	size () const
void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print
void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
KeyVector &	keys ()
iterator	begin ()
	Iterator at beginning of involved variable keys.
iterator	end ()
	Iterator at end of involved variable keys.

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Public Types inherited from gtsam::ExpressionFactor< T >
typedef boost::shared_ptr< ExpressionFactor< T > >	shared_ptr
Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.
Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr
Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.
Protected Types inherited from gtsam::ExpressionFactor< T >
typedef ExpressionFactor< T >	This
Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base
typedef NoiseModelFactor	This
Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base
typedef NonlinearFactor	This
Protected Member Functions inherited from gtsam::ExpressionFactor2< T, A1, A2 >
	ExpressionFactor2 ()
	Default constructor, for serialization.
	ExpressionFactor2 (Key key1, Key key2, const SharedNoiseModel &noiseModel, const T &measurement)
	Constructor takes care of keys, but still need to call initialize.
Protected Member Functions inherited from gtsam::ExpressionFactor< T >
	ExpressionFactor (const SharedNoiseModel &noiseModel, const T &measurement)
	Default constructor, for serialization. More...
void	initialize (const Expression< T > &expression)
	Initialize with constructor arguments.
Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
	Constructor - only for subclasses, as this does not set keys.
Protected Member Functions inherited from gtsam::Factor
	Factor ()
	Default constructor for I/O.
template<typename CONTAINER >
	Factor (const CONTAINER &keys)
	Construct factor from container of keys. More...
template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...
bool	equals (const This &other, double tol=1e-9) const
	check equality
Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys. More...
template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...
Protected Attributes inherited from gtsam::ExpressionFactor< T >
T	measured_
	the measurement to be compared with the expression
Expression< T >	expression_
	the expression that is AD enabled
FastVector< int >	dims_
	dimensions of the Jacobian matrices
Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_
Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.
Static Protected Attributes inherited from gtsam::ExpressionFactor< T >
static const int	Dim = traits<T>::dimension

Member Function Documentation

clone()

template<typename A1 , typename A2 = A1, typename T = typename Range<A1, A2>::result_type>

virtual gtsam::NonlinearFactor::shared_ptr gtsam::RangeFactorWithTransform< A1, A2, T >::clone ( ) const

inlinevirtual

Returns

a deep copy of this factor

Reimplemented from gtsam::ExpressionFactor< T >.

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

• /Users/dellaert/git/gtsam/gtsam/sam/RangeFactor.h