gtsam::BinaryMeasurement< T > Class Template Reference

Inheritance diagram for gtsam::BinaryMeasurement< T >:

Collaboration diagram for gtsam::BinaryMeasurement< T >:

Public Types
using	shared_ptr = typename std::shared_ptr< BinaryMeasurement >
typedef KeyVector::iterator	iterator
	Iterator over keys.
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Public Member Functions
	BinaryMeasurement (Key key1, Key key2, const T &measured, const SharedNoiseModel &model=nullptr)
Standard Interface
Key	key1 () const
Key	key2 () const
const T &	measured () const
const SharedNoiseModel &	noiseModel () const
Testable
void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print
bool	equals (const BinaryMeasurement &expected, double tol=1e-9) const
Standard Interface
bool	empty () const
	Whether the factor is empty (involves zero variables).
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
const_iterator	end () const
virtual double	error (const HybridValues &c) const
size_t	size () const
Advanced Interface
KeyVector &	keys ()
iterator	begin ()
iterator	end ()
Testable
virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys
bool	equals (const This &other, double tol=1e-9) const
	check equality

Static Protected Member Functions
Standard Constructors
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Protected Attributes
KeyVector	keys_
	The keys involved in this factor.

Member Function Documentation

begin() [1/2]

const_iterator gtsam::Factor::begin ( ) const

inlineinherited

Iterator at beginning of involved variable keys

begin() [2/2]

iterator gtsam::Factor::begin ( )

inlineinherited

Iterator at beginning of involved variable keys

end() [1/2]

const_iterator gtsam::Factor::end ( ) const

inlineinherited

Iterator at end of involved variable keys

end() [2/2]

iterator gtsam::Factor::end ( )

inlineinherited

Iterator at end of involved variable keys

error()

virtual double gtsam::Factor::error ( const HybridValues &  c ) const

virtualinherited

All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.

Reimplemented in gtsam::DecisionTreeFactor, gtsam::GaussianMixture, gtsam::HybridConditional, gtsam::MixtureFactor, gtsam::GaussianMixtureFactor, gtsam::SymbolicFactor, gtsam::NonlinearFactor, gtsam::DiscreteFactor, and gtsam::GaussianFactor.

FromIterators()

template<typename ITERATOR >

static Factor gtsam::Factor::FromIterators ( ITERATOR  first, ITERATOR  last  )

inlinestaticprotectedinherited

Construct factor from iterator keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

FromKeys()

template<typename CONTAINER >

static Factor gtsam::Factor::FromKeys ( const CONTAINER &  keys )

inlinestaticprotectedinherited

Construct factor from container of keys. This is called internally from derived factor static factor methods, as a workaround for not being able to call the protected constructors above.

keys()

KeyVector& gtsam::Factor::keys ( )

inlineinherited

Returns

keys involved in this factor

size()

size_t gtsam::Factor::size ( ) const

inlineinherited

Returns

the number of variables involved in this factor

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/sfm/BinaryMeasurement.h