Inheritance diagram for gtsam::VelocityConstraint3:

Public Member Functions
	VelocityConstraint3 (Key key1, Key key2, Key velKey, double dt, double mu=1000.0)
	TODO: comment.

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

Vector	evaluateError (const double &x1, const double &x2, const double &v, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const
	x1 + v*dt - x2 = 0, with optional derivatives

Public Member Functions inherited from gtsam::NoiseModelFactor3< double, double, double >
	NoiseModelFactor3 ()
	Default Constructor for I/O.

	NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3)
	Constructor. More...

Key	key1 () const
	methods to retrieve keys

Key	key2 () const

Key	key3 () const

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 3-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 void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Print.

virtual bool	equals (const NonlinearFactor &f, double tol=1e-9) const
	Check if two factors are equal.

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 Types
typedef boost::shared_ptr< VelocityConstraint3 >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor3< double, double, double >
typedef double	X1

typedef double	X2

typedef double	X3

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.

Protected Types
typedef NoiseModelFactor3< double, double, double >	Base

Protected Types inherited from gtsam::NoiseModelFactor3< double, double, double >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< double, double, double >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Member Functions
	VelocityConstraint3 ()
	default constructor to allow for serialization

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
	Constructor - only for subclasses, as this does not set keys.

Protected Attributes
double	dt_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Member Function Documentation

◆ clone()

virtual gtsam::NonlinearFactor::shared_ptr gtsam::VelocityConstraint3::clone ( ) const

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

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

/Users/dellaert/git/gtsam/gtsam_unstable/dynamics/VelocityConstraint3.h
/Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h

Public Member Functions

Public Types

Protected Types

Protected Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ clone()