gtsam  4.0.0
gtsam
gtsam::OdometryFactorBase Class Reference

Detailed Description

OdometryFactorBase: Pose2 odometry, with Basenodes.

+ Inheritance diagram for gtsam::OdometryFactorBase:

Public Member Functions

 OdometryFactorBase (Key b1, Key i, Key b2, Key j, const Pose2 &measured, const SharedNoiseModel &model)
 Constructor.
 
Vector evaluateError (const Pose2 &base1, const Pose2 &pose1, const Pose2 &base2, const Pose2 &pose2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const
 Evaluate measurement error h(x)-z.
 
- Public Member Functions inherited from gtsam::NoiseModelFactor4< Pose2, Pose2, Pose2, Pose2 >
 NoiseModelFactor4 ()
 Default Constructor for I/O.
 
 NoiseModelFactor4 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4)
 Constructor. More...
 
Key key1 () const
 methods to retrieve keys
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
virtual Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
 Calls the 4-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...
 

Public Types

typedef OdometryFactorBase This
 
typedef NoiseModelFactor4< Pose2, Pose2, Pose2, Pose2Base
 
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NoiseModelFactor4< Pose2, Pose2, Pose2, Pose2 >
typedef Pose2 X1
 
typedef Pose2 X2
 
typedef Pose2 X3
 
typedef Pose2 X4
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor4< Pose2, Pose2, Pose2, Pose2 >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor4< Pose2, Pose2, Pose2, Pose2This
 

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