gtsam  4.0.0
gtsam::SmartRangeFactor Class Reference
+ Inheritance diagram for gtsam::SmartRangeFactor:

Public Member Functions

 SmartRangeFactor ()
 Default constructor: don't use directly.
 SmartRangeFactor (double s)
 Constructor. More...
void addRange (Key key, double measuredRange)
 Add a range measurement to a pose with given key.
virtual void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
virtual bool equals (const NonlinearFactor &f, double tol=1e-9) const
 Check if two factors are equal.
Point2 triangulate (const Values &x) const
 Triangulate a point from at least three pose-range pairs Checks for best pair that includes first point Raise runtime_error if not well defined.
virtual Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
 Error function without the NoiseModel, \( z-h(x) \).
virtual gtsam::NonlinearFactor::shared_ptr clone () const


struct  Circle2

Protected Types

typedef SmartRangeFactor This

Protected Attributes

std::vector< double > measurements_
 Range measurements.
double variance_
 variance on noise

Constructor & Destructor Documentation

◆ SmartRangeFactor()

gtsam::SmartRangeFactor::SmartRangeFactor ( double  s)


sstandard deviation of range measurement noise

Member Function Documentation

◆ clone()

virtual gtsam::NonlinearFactor::shared_ptr gtsam::SmartRangeFactor::clone ( ) const
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

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