gtsam 4.1.1 gtsam
gtsam::TransformBtwRobotsUnaryFactor< VALUE > Class Template Reference
Inheritance diagram for gtsam::TransformBtwRobotsUnaryFactor< VALUE >:

## Public Member Functions

TransformBtwRobotsUnaryFactor ()
default constructor - only use for serialization

TransformBtwRobotsUnaryFactor (Key key, const VALUE &measured, Key keyA, Key keyB, const gtsam::Values &valA, const gtsam::Values &valB, const SharedGaussian &model)
Constructor.

gtsam::NonlinearFactor::shared_ptr clone () const override
Clone. More...

void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
implement functions needed for Testable More...

bool equals (const NonlinearFactor &f, double tol=1e-9) const override
equals More...

void setValAValB (const gtsam::Values &valA, const gtsam::Values &valB)
implement functions needed to derive from Factor

double error (const gtsam::Values &x) const override
Calculate the error of the factor This is typically equal to log-likelihood, e.g. More...

boost::shared_ptr< gtsam::GaussianFactorlinearize (const gtsam::Values &x) const override
Linearize a non-linearFactorN to get a gtsam::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...

gtsam::Vector whitenedError (const gtsam::Values &x, boost::optional< std::vector< gtsam::Matrix > & > H=boost::none) const

gtsam::Vector unwhitenedError (const gtsam::Values &x) const

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

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.

KeyVectorkeys ()

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 KeyVectorkeys () 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

## Public Types

typedef VALUE T

typedef boost::shared_ptr< TransformBtwRobotsUnaryFactorshared_ptr
concept check by type

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_ptr

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

typedef KeyVector::const_iterator const_iterator
Const iterator over keys.

## Friends

class boost::serialization::access
Serialization function.

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base

typedef NonlinearFactor This

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...

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

## ◆ clone()

template<class VALUE >
 gtsam::NonlinearFactor::shared_ptr gtsam::TransformBtwRobotsUnaryFactor< VALUE >::clone ( ) const
inlineoverridevirtual

Clone.

Reimplemented from gtsam::NonlinearFactor.

## ◆ dim()

template<class VALUE >
 size_t gtsam::TransformBtwRobotsUnaryFactor< VALUE >::dim ( ) const
inlineoverridevirtual

get the dimension of the factor (number of rows on linearization)

Implements gtsam::NonlinearFactor.

## ◆ equals()

template<class VALUE >
 bool gtsam::TransformBtwRobotsUnaryFactor< VALUE >::equals ( const NonlinearFactor & f, double tol = 1e-9 ) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

## ◆ error()

template<class VALUE >
 double gtsam::TransformBtwRobotsUnaryFactor< VALUE >::error ( const gtsam::Values & c ) const
inlineoverridevirtual

Calculate the error of the factor This is typically equal to log-likelihood, e.g.

$$0.5(h(x)-z)^2/sigma^2$$ in case of Gaussian. You can override this for systems with unusual noise models.

Implements gtsam::NonlinearFactor.

## ◆ linearize()

template<class VALUE >
 boost::shared_ptr< gtsam::GaussianFactor > gtsam::TransformBtwRobotsUnaryFactor< VALUE >::linearize ( const gtsam::Values & x ) const
inlineoverridevirtual

Linearize a non-linearFactorN to get a gtsam::GaussianFactor, $$Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z$$ Hence $$b = z - h(x) = - \mathtt{error\_vector}(x)$$.

Implements gtsam::NonlinearFactor.

## ◆ print()

template<class VALUE >
 void gtsam::TransformBtwRobotsUnaryFactor< VALUE >::print ( const std::string & s, const KeyFormatter & keyFormatter = DefaultKeyFormatter ) const
inlineoverridevirtual

implement functions needed for Testable

print

Reimplemented from gtsam::NonlinearFactor.

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