Inheritance diagram for gtsam::EssentialMatrixConstraint:

Public Member Functions
	EssentialMatrixConstraint ()
	default constructor - only use for serialization

	EssentialMatrixConstraint (Key key1, Key key2, const EssentialMatrix &measuredE, const SharedNoiseModel &model)
	Constructor. More...

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

virtual Vector	evaluateError (const Pose3 &p1, const Pose3 &p2, boost::optional< Matrix & > Hp1=boost::none, boost::optional< Matrix & > Hp2=boost::none) const
	implement functions needed to derive from Factor More...

const EssentialMatrix &	measured () const
	return the measured

std::size_t	size () const
	number of variables attached to this factor

Public Member Functions inherited from gtsam::NoiseModelFactor2< Pose3, Pose3 >
	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 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
KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

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

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

Public Types
typedef boost::shared_ptr< EssentialMatrixConstraint >	shared_ptr
	The measurement is an essential matrix.

Public Types inherited from gtsam::NoiseModelFactor2< Pose3, Pose3 >
typedef Pose3	X1

typedef Pose3	X2

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.

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

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< Pose3, Pose3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Pose3, Pose3 >	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::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::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Constructor & Destructor Documentation

◆ EssentialMatrixConstraint()

gtsam::EssentialMatrixConstraint::EssentialMatrixConstraint	(	Key	key1,
		Key	key2,
		const EssentialMatrix &	measuredE,
		const SharedNoiseModel &	model
	)

inline

Constructor.

Parameters

key1	key for first pose
key2	key for second pose
measuredE	measured EssentialMatrix
model	noise model, 5D !

Member Function Documentation

◆ clone()

virtual gtsam::NonlinearFactor::shared_ptr gtsam::EssentialMatrixConstraint::clone ( ) const

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

Vector gtsam::EssentialMatrixConstraint::evaluateError	(	const Pose3 &	p1,
		const Pose3 &	p2,
		boost::optional< Matrix & >	Hp1 = `boost::none`,
		boost::optional< Matrix & >	Hp2 = `boost::none`
	)		const

virtual

implement functions needed to derive from Factor

vector of errors

Implements gtsam::NoiseModelFactor2< Pose3, Pose3 >.

◆ print()

void gtsam::EssentialMatrixConstraint::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

virtual

implement functions needed for Testable

print

Reimplemented from gtsam::NoiseModelFactor.

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

/Users/dellaert/git/gtsam/gtsam/slam/EssentialMatrixConstraint.h
/Users/dellaert/git/gtsam/gtsam/slam/EssentialMatrixConstraint.cpp

Public Member Functions

Public Types