gtsam  4.1.0
gtsam
gtsam::BearingFactor< A1, A2, T > Struct Template Reference
+ Inheritance diagram for gtsam::BearingFactor< A1, A2, T >:

Public Member Functions

 BearingFactor ()
 default constructor
 
 BearingFactor (Key key1, Key key2, const T &measured, const SharedNoiseModel &model)
 primary constructor
 
Expression< T > expression (const typename Base::ArrayNKeys &keys) const override
 
void print (const std::string &s="", const KeyFormatter &kf=DefaultKeyFormatter) const override
 print
 
Vector evaluateError (const A1 &a1, const A2 &a2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
 
- Public Member Functions inherited from gtsam::ExpressionFactorN< typename Bearing< A1, A2 >::result_type, A1, A2 >
virtual ~ExpressionFactorN ()=default
 Destructor.
 
virtual Expression< typename Bearing< A1, A2 >::result_type > expression (const ArrayNKeys &keys) const
 Recreate expression from given keys_ and measured_, used in load Needed to deserialize a derived factor.
 
- Public Member Functions inherited from gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >
 ExpressionFactor (const SharedNoiseModel &noiseModel, const typename Bearing< A1, A2 >::result_type &measurement, const Expression< typename Bearing< A1, A2 >::result_type > &expression)
 Constructor: creates a factor from a measurement and measurement function. More...
 
virtual ~ExpressionFactor ()
 Destructor.
 
const typename Bearing< A1, A2 >::result_type & measured () const
 return the measurement
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print relies on Testable traits being defined for T
 
bool equals (const NonlinearFactor &f, double tol) const override
 equals relies on Testable traits being defined for T
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \). More...
 
boost::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 

Public Types

typedef ExpressionFactorN< T, A1, A2 > Base
 
- Public Types inherited from gtsam::ExpressionFactorN< typename Bearing< A1, A2 >::result_type, A1, A2 >
using ArrayNKeys = std::array< Key, NARY_EXPRESSION_SIZE >
 
- Public Types inherited from gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >
typedef boost::shared_ptr< ExpressionFactor< typename Bearing< A1, A2 >::result_type > > shared_ptr
 

Friends

class boost::serialization::access
 

Additional Inherited Members

- Static Public Attributes inherited from gtsam::ExpressionFactorN< typename Bearing< A1, A2 >::result_type, A1, A2 >
static const std::size_t NARY_EXPRESSION_SIZE
 
- Protected Types inherited from gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >
typedef ExpressionFactor< typename Bearing< A1, A2 >::result_type > This
 
- Protected Member Functions inherited from gtsam::ExpressionFactorN< typename Bearing< A1, A2 >::result_type, A1, A2 >
 ExpressionFactorN ()=default
 Default constructor, for serialization.
 
 ExpressionFactorN (const ArrayNKeys &keys, const SharedNoiseModel &noiseModel, const typename Bearing< A1, A2 >::result_type &measurement)
 Constructor takes care of keys, but still need to call initialize.
 
- Protected Member Functions inherited from gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >
 ExpressionFactor (const SharedNoiseModel &noiseModel, const typename Bearing< A1, A2 >::result_type &measurement)
 Default constructor, for serialization. More...
 
void initialize (const Expression< typename Bearing< A1, A2 >::result_type > &expression)
 Initialize with constructor arguments.
 
- Protected Attributes inherited from gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >
typename Bearing< A1, A2 >::result_type measured_
 the measurement to be compared with the expression
 
Expression< typename Bearing< A1, A2 >::result_type > expression_
 the expression that is AD enabled
 
FastVector< int > dims_
 dimensions of the Jacobian matrices
 
- Static Protected Attributes inherited from gtsam::ExpressionFactor< typename Bearing< A1, A2 >::result_type >
static const int Dim
 

The documentation for this struct was generated from the following file: