Inheritance diagram for gtsam::PoseRotationPrior< POSE >:

Public Member Functions
	PoseRotationPrior (Key key, const Rotation &rot_z, const SharedNoiseModel &model)
	standard constructor

	PoseRotationPrior (Key key, const POSE &pose_z, const SharedNoiseModel &model)
	Constructor that pulls the translation from an incoming POSE.

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

const Rotation &	measured () const

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override
	equals specialized to this factor More...

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print contents More...

Vector	evaluateError (const Pose &pose, boost::optional< Matrix & > H=boost::none) const override
	h(x)-z More...

Public Member Functions inherited from gtsam::NoiseModelFactor1< POSE >
	NoiseModelFactor1 ()
	Default constructor for I/O only.

	NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)
	Constructor. More...

	~NoiseModelFactor1 () override

Key	key () const

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
	Calls the 1-key specific version of evaluateError below, 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.

	~NoiseModelFactor () override
	Destructor.

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	Print. More...

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

size_t	dim () const override
	get the dimension of the factor (number of rows on linearization) More...

const SharedNoiseModel &	noiseModel () const
	access to the noise model

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const =0
	Error function without the NoiseModel, \( z-h(x) \). More...

Vector	whitenedError (const Values &c) const
	Vector of errors, whitened This is the raw error, i.e., i.e. More...

Vector	unweightedWhitenedError (const Values &c) const
	Vector of errors, whitened, but unweighted by any loss function.

double	weight (const Values &c) const
	Compute the effective weight of the factor from the noise model.

double	error (const Values &c) const override
	Calculate the error of the factor. More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const override
	Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \). More...

shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
	Creates a shared_ptr clone of the factor with a new noise model.

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
	Default constructor for I/O only.

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
	Constructor from a collection of the keys involved in this factor.

virtual	~NonlinearFactor ()
	Destructor.

virtual bool	active (const Values &) const
	Checks whether a factor should be used based on a set of values. More...

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
	Creates a shared_ptr clone of the factor with different keys using a map from old->new keys. More...

virtual shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys. More...

virtual bool	sendable () const
	Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock) More...

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.

KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

Key	front () const
	First key.

Key	back () const
	Last key.

const_iterator	find (Key key) const
	find

const KeyVector &	keys () const
	Access the factor's involved variable keys.

const_iterator	begin () const
	Iterator at beginning of involved variable keys.

const_iterator	end () const
	Iterator at end of involved variable keys.

size_t	size () const

Static Public Attributes
static const int	xDim = FixedDimension<POSE>::value

static const int	rDim = FixedDimension<typename POSE::Rotation>::value

Public Types
typedef PoseRotationPrior< POSE >	This

typedef NoiseModelFactor1< POSE >	Base

typedef POSE	Pose

typedef POSE::Translation	Translation

typedef POSE::Rotation	Rotation

Public Types inherited from gtsam::NoiseModelFactor1< POSE >
typedef POSE	X

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

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Attributes
Rotation	measured_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

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

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor1< POSE >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< POSE >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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

Protected Member Functions inherited from gtsam::Factor
	Factor ()
	Default constructor for I/O.

template<typename CONTAINER >
	Factor (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

bool	equals (const This &other, double tol=1e-9) const
	check equality

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

Member Function Documentation

◆ clone()

template<class POSE >

gtsam::NonlinearFactor::shared_ptr gtsam::PoseRotationPrior< POSE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ equals()

template<class POSE >

bool gtsam::PoseRotationPrior< POSE >::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

equals specialized to this factor

Reimplemented from gtsam::NoiseModelFactor.

◆ evaluateError()

template<class POSE >

Vector gtsam::PoseRotationPrior< POSE >::evaluateError	(	const Pose &	pose,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlineoverridevirtual

h(x)-z

Implements gtsam::NoiseModelFactor1< POSE >.

◆ print()

template<class POSE >

void gtsam::PoseRotationPrior< POSE >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

print contents

Reimplemented from gtsam::NoiseModelFactor.

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

/Users/dellaert/git/github/gtsam/slam/PoseRotationPrior.h

Public Member Functions

Static Public Attributes

Public Types

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ print()