Detailed Description

Binary between constraint - forces between to a given value This constraint requires the underlying type to a Lie type.

Inheritance diagram for gtsam::BetweenConstraint< VALUE >:

Public Member Functions
	BetweenConstraint (const VALUE &measured, Key key1, Key key2, double mu=1000.0)
	Syntactic sugar for constrained version.

Public Member Functions inherited from gtsam::BetweenFactor< VALUE >
	BetweenFactor ()
	default constructor - only use for serialization

	BetweenFactor (Key key1, Key key2, const VALUE &measured, const SharedNoiseModel &model=nullptr)
	Constructor.

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
	equals

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 boost::shared_ptr< BetweenConstraint< VALUE > >	shared_ptr

Public Types inherited from gtsam::BetweenFactor< VALUE >
typedef VALUE	T

typedef boost::shared_ptr< BetweenFactor >	shared_ptr
	The measurement.

Public Types inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
typedef VALUE	X1

typedef VALUE	X2

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< VALUE, VALUE >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< VALUE, VALUE >	This

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

Public Member Functions