GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <TransformBtwRobotsUnaryFactor.h>
Public Types | |
typedef VALUE | T |
typedef std::shared_ptr< TransformBtwRobotsUnaryFactor > | shared_ptr |
typedef KeyVector::iterator | iterator |
Iterator over keys. | |
typedef KeyVector::const_iterator | const_iterator |
Const iterator over keys. | |
Public Member Functions | |
TransformBtwRobotsUnaryFactor () | |
TransformBtwRobotsUnaryFactor (Key key, const VALUE &measured, Key keyA, Key keyB, const gtsam::Values &valA, const gtsam::Values &valB, const SharedGaussian &model) | |
gtsam::NonlinearFactor::shared_ptr | clone () const override |
void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
void | setValAValB (const gtsam::Values &valA, const gtsam::Values &valB) |
double | error (const gtsam::Values &x) const override |
std::shared_ptr< gtsam::GaussianFactor > | linearize (const gtsam::Values &x) const override |
gtsam::Vector | whitenedError (const gtsam::Values &x, OptionalMatrixVecType H=nullptr) const |
gtsam::Vector | whitenedError (const gtsam::Values &x, std::vector< Matrix > &H) const |
gtsam::Vector | unwhitenedError (const gtsam::Values &x) const |
size_t | dim () const override |
Testable | |
bool | equals (const This &other, double tol=1e-9) const |
check equality | |
virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
print only keys | |
Standard Interface | |
double | error (const HybridValues &c) const override |
virtual bool | active (const Values &) const |
virtual shared_ptr | rekey (const std::map< Key, Key > &rekey_mapping) const |
virtual shared_ptr | rekey (const KeyVector &new_keys) const |
virtual bool | sendable () 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 |
size_t | size () const |
Advanced Interface | |
KeyVector & | keys () |
iterator | begin () |
iterator | end () |
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. | |
A class for a measurement predicted by "between(config[key1],config[key2])"
VALUE | the Value type |
typedef std::shared_ptr<TransformBtwRobotsUnaryFactor> gtsam::TransformBtwRobotsUnaryFactor< VALUE >::shared_ptr |
concept check by type
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inline |
default constructor - only use for serialization
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inline |
Constructor
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inlinevirtualinherited |
Checks whether a factor should be used based on a set of values. This is primarily used to implement inequality constraints that require a variable active set. For all others, the default implementation returning true solves this problem.
In an inequality/bounding constraint, this active() returns true when the constraint is NOT fulfilled.
Reimplemented in gtsam::BoundingConstraint2< VALUE1, VALUE2 >, gtsam::AntiFactor, and gtsam::BoundingConstraint1< VALUE >.
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inlineinherited |
Iterator at beginning of involved variable keys
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inlineinherited |
Iterator at beginning of involved variable keys
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inlineoverridevirtual |
Clone
Reimplemented from gtsam::NonlinearFactor.
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inlineoverridevirtual |
get the dimension of the factor (number of rows on linearization)
Implements gtsam::NonlinearFactor.
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inlineinherited |
Iterator at end of involved variable keys
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inlineinherited |
Iterator at end of involved variable keys
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inlineoverridevirtual |
equals
Reimplemented from gtsam::NonlinearFactor.
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overridevirtualinherited |
All factor types need to implement an error function. In factor graphs, this is the negative log-likelihood.
Reimplemented from gtsam::Factor.
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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.
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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.
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inlineinherited |
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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.
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inlineoverridevirtual |
implement functions needed for Testable print
Reimplemented from gtsam::NonlinearFactor.
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virtualinherited |
Creates a shared_ptr clone of the factor with different keys using a map from old->new keys
Reimplemented in gtsam::LinearContainerFactor.
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virtualinherited |
Clones a factor and fully replaces its keys
new_keys | is the full replacement set of keys |
Reimplemented in gtsam::LinearContainerFactor.
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inlinevirtualinherited |
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)
Reimplemented in gtsam::CustomFactor.
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inline |
implement functions needed to derive from Factor
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inlineinherited |
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inline |
A function overload to accept a vector<matrix> instead of a pointer to the said type.