Factor on unknown rotation iRc that relates two directions c Directions provide less constraints than a full rotation.
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| RotateDirectionsFactor (Key key, const Unit3 &i_p, const Unit3 &c_z, const SharedNoiseModel &model) |
| | Constructor.
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| virtual gtsam::NonlinearFactor::shared_ptr | clone () const |
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virtual void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| | print
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Vector | evaluateError (const Rot3 &iRc, boost::optional< Matrix & > H=boost::none) const |
| | vector of errors returns 2D vector
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| NoiseModelFactor1 () |
| | Default constructor for I/O only.
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| | NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1) |
| | Constructor. More...
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Key | key () const |
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virtual Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const |
| | Calls the 1-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
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| NoiseModelFactor () |
| | Default constructor for I/O only.
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virtual | ~NoiseModelFactor () |
| | Destructor.
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template<typename CONTAINER > |
| | NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) |
| | Constructor.
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virtual bool | equals (const NonlinearFactor &f, double tol=1e-9) const |
| | Check if two factors are equal.
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virtual size_t | dim () const |
| | get the dimension of the factor (number of rows on linearization)
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const SharedNoiseModel & | noiseModel () const |
| | access to the noise model
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| Vector | whitenedError (const Values &c) const |
| | Vector of errors, whitened This is the raw error, i.e., i.e. More...
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| virtual double | error (const Values &c) const |
| | Calculate the error of the factor. More...
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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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \).
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| NonlinearFactor () |
| | Default constructor for I/O only.
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template<typename CONTAINER > |
| | NonlinearFactor (const CONTAINER &keys) |
| | Constructor from a collection of the keys involved in this factor.
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virtual | ~NonlinearFactor () |
| | Destructor.
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| virtual bool | active (const Values &) const |
| | Checks whether a factor should be used based on a set of values. More...
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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.
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| shared_ptr | rekey (const KeyVector &new_keys) const |
| | Clones a factor and fully replaces its keys. More...
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Key | front () const |
| | First key.
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Key | back () const |
| | Last key.
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const_iterator | find (Key key) const |
| | find
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const KeyVector & | keys () const |
| | Access the factor's involved variable keys.
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const_iterator | begin () const |
| | Iterator at beginning of involved variable keys.
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const_iterator | end () const |
| | Iterator at end of involved variable keys.
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| size_t | size () const |
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void | print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| | print
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void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| | print only keys
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| KeyVector & | keys () |
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iterator | begin () |
| | Iterator at beginning of involved variable keys.
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iterator | end () |
| | Iterator at end of involved variable keys.
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Inheritance diagram for gtsam::RotateDirectionsFactor:
