NonlinearFactor.h File Reference

Non-linear factor base classes. More...

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Classes
class	gtsam::NonlinearFactor
	Nonlinear factor base class. More...
struct	gtsam::traits< NonlinearFactor >
	traits More...
class	gtsam::NoiseModelFactor
	A nonlinear sum-of-squares factor with a zero-mean noise model implementing the density \( P(z|x) \propto exp -0.5*|z-h(x)|^2_C \) Templated on the parameter type X and the values structure Values There is no return type specified for h(x). More...
class	gtsam::NoiseModelFactor1< VALUE >
	A convenient base class for creating your own NoiseModelFactor with 1 variable. More...
class	gtsam::NoiseModelFactor2< VALUE1, VALUE2 >
	A convenient base class for creating your own NoiseModelFactor with 2 variables. More...
class	gtsam::NoiseModelFactor3< VALUE1, VALUE2, VALUE3 >
	A convenient base class for creating your own NoiseModelFactor with 3 variables. More...
class	gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >
	A convenient base class for creating your own NoiseModelFactor with 4 variables. More...
class	gtsam::NoiseModelFactor5< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5 >
	A convenient base class for creating your own NoiseModelFactor with 5 variables. More...
class	gtsam::NoiseModelFactor6< VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 >
	A convenient base class for creating your own NoiseModelFactor with 6 variables. More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Macros
#define	ADD_CLONE_NONLINEAR_FACTOR(Derived)
	Macro to add a standard clone function to a derived factor. More...

Detailed Description

Non-linear factor base classes.

Author

Frank Dellaert

Richard Roberts

Macro Definition Documentation

#define ADD_CLONE_NONLINEAR_FACTOR

(

Derived

)

Value:

virtual gtsam::NonlinearFactor::shared_ptr clone() const { \
  return boost::static_pointer_cast<gtsam::NonlinearFactor>( \
      gtsam::NonlinearFactor::shared_ptr(new Derived(*this))); }

Macro to add a standard clone function to a derived factor.

Deprecated:

: will go away shortly - just add the clone function directly