Detailed Description

DeltaFactor: relative 2D measurement between Pose2 and Point2.

Inheritance diagram for gtsam::DeltaFactor:

Public Member Functions
	DeltaFactor (Key i, Key j, const Point2 &measured, const SharedNoiseModel &model)
	Constructor.

Vector	evaluateError (const Pose2 &pose, const Point2 &point, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Evaluate measurement error h(x)-z.

Public Member Functions inherited from gtsam::NoiseModelFactor2< Pose2, Point2 >
	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 DeltaFactor	This

typedef NoiseModelFactor2< Pose2, Point2 >	Base

typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor2< Pose2, Point2 >
typedef Pose2	X1

typedef Point2	X2

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< Pose2, Point2 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< Pose2, Point2 >	This

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

Public Member Functions