gtsam  4.1.0
NoiseModel.h File Reference

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class  gtsam::noiseModel::Base
 noiseModel::Base is the abstract base class for all noise models. More...
class  gtsam::noiseModel::Gaussian
 Gaussian implements the mathematical model |R*x|^2 = |y|^2 with R'*R=inv(Sigma) where y = whiten(x) = R*x x = unwhiten(x) = inv(R)*y as indeed |y|^2 = y'*y = x'*R'*R*x Various derived classes are available that are more efficient. More...
class  gtsam::noiseModel::Diagonal
 A diagonal noise model implements a diagonal covariance matrix, with the elements of the diagonal specified in a Vector. More...
class  gtsam::noiseModel::Constrained
 A Constrained constrained model is a specialization of Diagonal which allows some or all of the sigmas to be zero, forcing the error to be zero there. More...
class  gtsam::noiseModel::Isotropic
 An isotropic noise model corresponds to a scaled diagonal covariance To construct, use one of the static methods. More...
class  gtsam::noiseModel::Unit
 Unit: i.i.d. More...
class  gtsam::noiseModel::Robust
 Base class for robust error models The robust M-estimators above simply tell us how to re-weight the residual, and are isotropic kernels, in that they do not allow for correlated noise. More...
struct  gtsam::traits< noiseModel::Gaussian >
 traits More...
struct  gtsam::traits< noiseModel::Diagonal >
struct  gtsam::traits< noiseModel::Constrained >
struct  gtsam::traits< noiseModel::Isotropic >
struct  gtsam::traits< noiseModel::Unit >


 Global functions in a separate testing namespace.
 All noise models live in the noiseModel namespace.


typedef noiseModel::Base::shared_ptr gtsam::SharedNoiseModel
 Note, deliberately not in noiseModel namespace. More...
typedef noiseModel::Gaussian::shared_ptr gtsam::SharedGaussian
typedef noiseModel::Diagonal::shared_ptr gtsam::SharedDiagonal
typedef noiseModel::Constrained::shared_ptr gtsam::SharedConstrained
typedef noiseModel::Isotropic::shared_ptr gtsam::SharedIsotropic


boost::optional< Vector > gtsam::noiseModel::checkIfDiagonal (const Matrix M)

Detailed Description

Jan 13, 2010
Richard Roberts
Frank Dellaert