gtsam  4.0.0
gtsam::BetweenConstraint< VALUE > Class Template Reference

Detailed Description

template<class VALUE>
class gtsam::BetweenConstraint< VALUE >

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)
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 boost::shared_ptr< BetweenConstraint< VALUE > > shared_ptr
- Public Types inherited from gtsam::BetweenFactor< VALUE >
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

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