gtsam  4.0.0
gtsam::BetweenFactor< VALUE > Class Template Reference
+ Inheritance diagram for gtsam::BetweenFactor< VALUE >:

Public Member Functions

 BetweenFactor ()
 default constructor - only use for serialization
 BetweenFactor (Key key1, Key key2, const VALUE &measured, const SharedNoiseModel &model=nullptr)
virtual gtsam::NonlinearFactor::shared_ptr clone () const
virtual void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 implement functions needed for Testable More...
virtual bool equals (const NonlinearFactor &expected, double tol=1e-9) const
Vector evaluateError (const T &p1, const T &p2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
 implement functions needed to derive from Factor More...
const VALUE & measured () const
 return the measured
std::size_t size () const
 number of variables attached to this factor
- Public Member Functions inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
 NoiseModelFactor2 ()
 Default Constructor for I/O.
 NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)
 Constructor. More...
Key key1 () const
 methods to retrieve both keys
Key key2 () const
virtual Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
 Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...

Public Types

typedef VALUE T
typedef boost::shared_ptr< BetweenFactorshared_ptr
 The measurement.
- Public Types inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
typedef VALUE X1
typedef VALUE X2


class boost::serialization::access
 Serialization function.

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
typedef NoiseModelFactor Base
typedef NoiseModelFactor2< VALUE, VALUE > This

Member Function Documentation

◆ clone()

template<class VALUE >
virtual gtsam::NonlinearFactor::shared_ptr gtsam::BetweenFactor< VALUE >::clone ( ) const
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

template<class VALUE >
Vector gtsam::BetweenFactor< VALUE >::evaluateError ( const T &  p1,
const T &  p2,
boost::optional< Matrix & >  H1 = boost::none,
boost::optional< Matrix & >  H2 = boost::none 
) const

implement functions needed to derive from Factor

vector of errors

Implements gtsam::NoiseModelFactor2< VALUE, VALUE >.

◆ print()

template<class VALUE >
virtual void gtsam::BetweenFactor< VALUE >::print ( const std::string &  s,
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const

implement functions needed for Testable


Reimplemented from gtsam::NoiseModelFactor.

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