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gtsam
4.0.0
gtsam
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gtsam
4.0.0
gtsam
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| ►Ngtsam | Global functions in a separate testing namespace |
| ►NimuBias | All bias models live in the imuBias namespace |
| CConstantBias | |
| ►Ninternal | |
| ►NlinearAlgorithms | |
| COptimizeClique | Pre-order visitor for back-substitution in a Bayes tree |
| COptimizeData | |
| Capply_compose | |
| CAutoTicToc | Small class that calls internal::tic at construction, and internol::toc when destroyed |
| CDynamicTraits | |
| CExecutionTrace | |
| CExpressionNode | |
| CFastDefaultAllocator | Default allocator for list, map, and set types |
| CFastDefaultVectorAllocator | Default allocator for vector types (we never use boost pool for vectors) |
| CFixedSizeMatrix | |
| Chandle | |
| Chandle< Eigen::Matrix< double, M, N > > | |
| Chandle_matrix | |
| Chandle_matrix< Eigen::Matrix< double, M, N >, false > | |
| Chandle_matrix< Eigen::Matrix< double, M, N >, true > | |
| CHasManifoldPrereqs | Requirements on type to pass it to Manifold template below |
| CHasVectorSpacePrereqs | Requirements on type to pass it to Manifold template below |
| CLieGroup | Both LieGroupTraits and Testable |
| CLieGroupTraits | A helper class that implements the traits interface for GTSAM lie groups |
| CManifold | Both ManifoldTraits and Testable |
| CManifoldImpl | Extra manifold traits for fixed-dimension types |
| CManifoldImpl< Class, Eigen::Dynamic > | Extra manifold traits for variable-dimension types |
| CManifoldTraits | A helper that implements the traits interface for GTSAM manifolds |
| CScalarTraits | A helper that implements the traits interface for scalar vector spaces |
| CTimingOutline | Timing Entry, arranged in a tree |
| CVectorSpace | VectorSpace provides both Testable and VectorSpaceTraits |
| CVectorSpaceImpl | VectorSpaceTraits Implementation for Fixed sizes |
| CVectorSpaceImpl< Class, Eigen::Dynamic > | VectorSpaceTraits implementation for dynamic types |
| CVectorSpaceTraits | A helper that implements the traits interface for classes that define vector spaces To use this for your class, define: template<> struct traits<Class> : public VectorSpaceTraits<Class> {}; The class needs to support the requirements defined by HasVectorSpacePrereqs above |
| ►NnoiseModel | All noise models live in the noiseModel namespace |
| ►NmEstimator | The mEstimator name space contains all robust error functions |
| CBase | |
| CCauchy | Cauchy implements the "Cauchy" robust error model (Lee2013IROS) |
| CDCS | DCS implements the Dynamic Covariance Scaling robust error model from the paper Robust Map Optimization (Agarwal13icra) |
| CFair | Fair implements the "Fair" robust error model (Zhang97ivc) |
| CGemanMcClure | GemanMcClure implements the "Geman-McClure" robust error model (Zhang97ivc) |
| CHuber | Huber implements the "Huber" robust error model (Zhang97ivc) |
| CL2WithDeadZone | L2WithDeadZone implements a standard L2 penalty, but with a dead zone of width 2*k, centered at the origin |
| CNull | Null class is not robust so is a Gaussian ? |
| CTukey | Tukey implements the "Tukey" robust error model (Zhang97ivc) |
| CWelsh | Welsh implements the "Welsh" robust error model (Zhang97ivc) |
| CBase | NoiseModel::Base is the abstract base class for all noise models |
| CConstrained | A Constrained constrained model is a specialization of Diagonal which allows some or all of the sigmas to be zero, forcing the error to be zero there |
| CDiagonal | A diagonal noise model implements a diagonal covariance matrix, with the elements of the diagonal specified in a Vector |
| CGaussian | Gaussian implements the mathematical model |R*x|^2 = |y|^2 with R'*R=inv(Sigma) where y = whiten(x) = R*x x = unwhiten(x) = inv(R)*y as indeed |y|^2 = y'*y = x'*R'*R*x Various derived classes are available that are more efficient |
| CIsotropic | An isotropic noise model corresponds to a scaled diagonal covariance To construct, use one of the static methods |
| CRobust | Base class for robust error models The robust M-estimators above simply tell us how to re-weight the residual, and are isotropic kernels, in that they do not allow for correlated noise |
| CUnit | Unit: i.i.d |
| ►Nso3 | |
| CDexpFunctor | Functor that implements Exponential map and its derivatives |
| CExpmapFunctor | Functor implementing Exponential map |
| C_ValuesConstKeyValuePair | |
| C_ValuesKeyValuePair | |
| CAcceleratingScenario | Accelerating from an arbitrary initial state, with optional rotation |
| CAdaptAutoDiff | The AdaptAutoDiff class uses ceres-style autodiff to adapt a ceres-style Function evaluation, i.e., a function FUNCTOR that defines an operator template<typename T> bool operator()(const T* const, const T* const, T* predicted) const; For now only binary operators are supported |
| Cadditive_group_tag | |
| CAHRSFactor | |
| ►CAlgebraicDecisionTree | Algebraic Decision Trees fix the range to double Just has some nice constructors and some syntactic sugar TODO: consider eliminating this class altogether? |
| CRing | The Real ring with addition and multiplication |
| CAntiFactor | |
| CAssignment | An assignment from labels to value index (size_t) |
| CAttitudeFactor | |
| CBayesNet | A BayesNet is a tree of conditionals, stored in elimination order |
| CBayesTree | |
| CBayesTreeCliqueBase | This is the base class for BayesTree cliques |
| CBayesTreeCliqueData | Store all the sizes |
| CBayesTreeCliqueStats | Clique statistics |
| CBayesTreeOrphanWrapper | |
| CBearing | |
| CBearing< Pose2, T > | |
| CBearing< Pose3, Point3 > | |
| CBearingFactor | |
| CBearingRange | Bearing-Range product for a particular A1,A2 combination will use the functors above to create a similar functor of type A1*A2 -> pair<Bearing::return_type,Range::return_type> For example BearingRange<Pose2,Point2>(pose,point) will return pair<Rot2,double> and BearingRange<Pose3,Point3>(pose,point) will return pair<Unit3,double> |
| CBearingRangeFactor | |
| CBetweenConstraint | Binary between constraint - forces between to a given value This constraint requires the underlying type to a Lie type |
| CBetweenFactor | |
| CBinaryJacobianFactor | A binary JacobianFactor specialization that uses fixed matrix math for speed |
| CBinarySumExpression | A BinarySumExpression is a specialization of Expression that adds two expressions together It optimizes the Jacobian calculation for this specific case |
| CBlockJacobiPreconditioner | |
| CBlockJacobiPreconditionerParameters | |
| CBoundingConstraint1 | |
| CBoundingConstraint2 | Binary scalar inequality constraint, with a similar value() function to implement for specific systems |
| CCal3_S2 | |
| CCal3_S2Stereo | |
| CCal3Bundler | |
| CCal3DS2 | |
| CCal3DS2_Base | |
| CCal3Unified | |
| CCalibratedCamera | |
| CCameraProjectionMatrix | Create a 3*4 camera projection matrix from calibration and pose |
| CCameraSet | A set of cameras, all with their own calibration |
| CCGState | |
| CCheiralityException | |
| CCholeskyFailed | Indicate Cholesky factorization failure |
| ►CClusterTree | A cluster-tree is associated with a factor graph and is defined as in Koller-Friedman: each node k represents a subset \( C_k \sub X \), and the tree is family preserving, in that each factor \( f_i \) is associated with a single cluster and \( scope(f_i) \sub C_k \) |
| CCluster | A Cluster is just a collection of factors |
| CCombinedImuFactor | |
| Ccompose_key_visitor | |
| CConcurrentMap | |
| CConditional | TODO: Update comments |
| CConjugateGradientParameters | Parameters for the conjugate gradient method |
| Cconst_selector | Helper class that uses templates to select between two types based on whether TEST_TYPE is const or not |
| Cconst_selector< BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST > | Specialization for the non-const version |
| Cconst_selector< const BASIC_TYPE, BASIC_TYPE, AS_NON_CONST, AS_CONST > | Specialization for the const version |
| CConstantTwistScenario | Scenario with constant twist 3D trajectory |
| ►CConstructorTraversalData | |
| CSymbolicFactors | |
| CCRefCallAddCopy | Helper |
| CCRefCallPushBack | Helper |
| CCyclic | Cyclic group of order N |
| ►CDecisionTree | Decision Tree L = label for variables Y = function range (any algebra), e.g., bool, int, double |
| CChoice | |
| CLeaf | |
| CNode | ---------------------— Node base class ------------------------— |
| CDecisionTreeFactor | A discrete probabilistic factor |
| CDerivedValue | |
| CDirectProduct | |
| CDirectSum | Template to construct the direct sum of two additive groups Assumes existence of three additive operators for both groups |
| CDiscreteBayesNet | A Bayes net made from linear-Discrete densities |
| CDiscreteBayesTree | A Bayes tree representing a Discrete density |
| CDiscreteBayesTreeClique | A clique in a DiscreteBayesTree |
| CDiscreteConditional | Discrete Conditional Density Derives from DecisionTreeFactor |
| CDiscreteEliminationTree | |
| CDiscreteFactor | Base class for discrete probabilistic factors The most general one is the derived DecisionTreeFactor |
| CDiscreteFactorGraph | A Discrete Factor Graph is a factor graph where all factors are Discrete, i.e |
| CDiscreteJunctionTree | |
| CDiscreteKeys | DiscreteKeys is a set of keys that can be assembled using the & operator |
| CDiscreteMarginals | A class for computing marginals of variables in a DiscreteFactorGraph |
| CDoglegOptimizer | This class performs Dogleg nonlinear optimization |
| ►CDoglegOptimizerImpl | This class contains the implementation of the Dogleg algorithm |
| CIterationResult | |
| CDoglegParams | Parameters for Levenberg-Marquardt optimization |
| CDSFBase | |
| CDSFVector | |
| CDummyPreconditioner | |
| CDummyPreconditionerParameters | |
| CDynamicValuesMismatched | |
| CEliminatableClusterTree | A cluster-tree that eliminates to a Bayes tree |
| CEliminateableFactorGraph | EliminateableFactorGraph is a base class for factor graphs that contains elimination algorithms |
| ►CEliminationData | |
| CEliminationPostOrderVisitor | |
| CEliminationTraits | Traits class for eliminateable factor graphs, specifies the types that result from elimination, etc |
| CEliminationTraits< DiscreteFactorGraph > | |
| CEliminationTraits< GaussianFactorGraph > | |
| CEliminationTraits< SymbolicFactorGraph > | |
| ►CEliminationTree | An elimination tree is a data structure used intermediately during elimination |
| CNode | |
| Cequals | Template to create a binary predicate |
| Cequals_star | Binary predicate on shared pointers |
| CErrors | Vector of errors |
| CEssentialMatrix | An essential matrix is like a Pose3, except with translation up to scale It is named after the 3*3 matrix aEb = [aTb]x aRb from computer vision, but here we choose instead to parameterize it as a (Rot3,Unit3) pair |
| CEssentialMatrixConstraint | |
| CEssentialMatrixFactor | Factor that evaluates epipolar error p'Ep for given essential matrix |
| CEssentialMatrixFactor2 | Binary factor that optimizes for E and inverse depth d: assumes measurement in image 2 is perfect, and returns re-projection error in image 1 |
| CEssentialMatrixFactor3 | Binary factor that optimizes for E and inverse depth d: assumes measurement in image 2 is perfect, and returns re-projection error in image 1 This version takes an extrinsic rotation to allow for omni-directional rigs |
| ►CExpression | Expression class that supports automatic differentiation |
| CBinaryFunction | |
| CTernaryFunction | |
| CUnaryFunction | |
| CExpressionFactor | Factor that supports arbitrary expressions via AD |
| CExpressionFactor2 | Binary specialization of ExpressionFactor meant as a base class for binary factors Enforces expression method with two keys, and provides evaluateError Derived needs to call initialize |
| CExpressionFactorGraph | Factor graph that supports adding ExpressionFactors directly |
| CExtendedKalmanFilter | This is a generic Extended Kalman Filter class implemented using nonlinear factors |
| CFactor | This is the base class for all factor types |
| CFactorGraph | A factor graph is a bipartite graph with factor nodes connected to variable nodes |
| CFastList | |
| CFastMap | |
| CFastSet | |
| CFastVector | |
| CFixedDimension | Give fixed size dimension of a type, fails at compile time if dynamic |
| CG_x1 | Helper class that computes the derivative of f w.r.t |
| CGaussianBayesNet | A Bayes net made from linear-Gaussian densities |
| CGaussianBayesTree | A Bayes tree representing a Gaussian density |
| CGaussianBayesTreeClique | A clique in a GaussianBayesTree |
| CGaussianConditional | A conditional Gaussian functions as the node in a Bayes network It has a set of parents y,z, etc |
| CGaussianDensity | A Gaussian density |
| CGaussianEliminationTree | |
| CGaussianFactor | An abstract virtual base class for JacobianFactor and HessianFactor |
| CGaussianFactorGraph | A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e |
| CGaussianFactorGraphSystem | System class needed for calling preconditionedConjugateGradient |
| CGaussianISAM | |
| CGaussianJunctionTree | |
| CGaussNewtonOptimizer | This class performs Gauss-Newton nonlinear optimization |
| CGaussNewtonParams | Parameters for Gauss-Newton optimization, inherits from NonlinearOptimizationParams |
| CGeneralSFMFactor | |
| CGeneralSFMFactor2 | Non-linear factor for a constraint derived from a 2D measurement |
| CGenericProjectionFactor | |
| CGenericStereoFactor | |
| CGenericValue | Wraps any type T so it can play as a Value |
| CGPSFactor | |
| CGPSFactor2 | |
| CGraphvizFormatting | Formatting options when saving in GraphViz format using NonlinearFactorGraph::saveGraph |
| Cgroup_tag | Tag to assert a type is a group |
| CHasBearing | |
| CHasRange | |
| CHasTestablePrereqs | Requirements on type to pass it to Testable template below |
| CHessianFactor | A Gaussian factor using the canonical parameters (information form) |
| CImuFactor | |
| CImuFactor2 | |
| CInconsistentEliminationRequested | An inference algorithm was called with inconsistent arguments |
| CIndeterminantLinearSystemException | Thrown when a linear system is ill-posed |
| CInvalidArgumentThreadsafe | Thread-safe invalid argument exception |
| CInvalidDenseElimination | |
| CInvalidMatrixBlock | An exception indicating that a matrix block passed into a JacobianFactor has a different dimensionality than the factor |
| CInvalidNoiseModel | An exception indicating that the noise model dimension passed into a JacobianFactor has a different dimensionality than the factor |
| CISAM | A Bayes tree with an update methods that implements the iSAM algorithm |
| ►CISAM2 | |
| CPartialSolveResult | |
| CReorderingMode | |
| CISAM2Clique | Specialized Clique structure for ISAM2, incorporating caching and gradient contribution TODO: more documentation |
| CISAM2DoglegParams | |
| CISAM2GaussNewtonParams | |
| CISAM2Params | |
| ►CISAM2Result | |
| ►CDetailedResults | A struct holding detailed results, which must be enabled with ISAM2Params::enableDetailedResults |
| CVariableStatus | The status of a single variable, this struct is stored in DetailedResults::variableStatus |
| CIsGroup | Group Concept |
| CIsLieGroup | Lie Group Concept |
| CIsTestable | |
| CIsVectorSpace | Vector Space concept |
| CIterativeOptimizationParameters | Parameters for iterative linear solvers |
| CIterativeSolver | Base class for Iterative Solvers like SubgraphSolver |
| CJacobianFactor | A Gaussian factor in the squared-error form |
| CJacobianFactorQ | JacobianFactor for Schur complement that uses Q noise model |
| CJacobianFactorQR | JacobianFactor for Schur complement that uses Q noise model |
| CJacobianFactorSVD | JacobianFactor for Schur complement that uses the "Nullspace Trick" by Mourikis |
| CJointMarginal | A class to store and access a joint marginal, returned from Marginals::jointMarginalCovariance and Marginals::jointMarginalInformation |
| CJunctionTree | |
| CKalmanFilter | Kalman Filter class |
| CKeyInfo | Handy data structure for iterative solvers |
| CKeyInfoEntry | Handy data structure for iterative solvers key to (index, dimension, colstart) |
| CLabeledSymbol | Customized version of gtsam::Symbol for multi-robot use |
| CLevenbergMarquardtOptimizer | This class performs Levenberg-Marquardt nonlinear optimization |
| CLevenbergMarquardtParams | Parameters for Levenberg-Marquardt optimization |
| Clie_group_tag | Tag to assert a type is a Lie group |
| CLieGroup | A CRTP helper class that implements Lie group methods Prerequisites: methods operator*, inverse, and AdjointMap, as well as a ChartAtOrigin struct that will be used to define the manifold Chart To use, simply derive, but also say "using LieGroup<Class,N>::inverse" For derivative math, see doc/math.pdf |
| CLinearContainerFactor | Dummy version of a generic linear factor to be injected into a nonlinear factor graph |
| CListOfOneContainer | A helper class that behaves as a container with one element, and works with boost::range |
| CMagFactor | Factor to estimate rotation given magnetometer reading This version uses model measured bM = scale * bRn * direction + bias and assumes scale, direction, and the bias are given |
| CMagFactor1 | Factor to estimate rotation given magnetometer reading This version uses model measured bM = scale * bRn * direction + bias and assumes scale, direction, and the bias are given |
| CMagFactor2 | Factor to calibrate local Earth magnetic field as well as magnetometer bias This version uses model measured bM = bRn * nM + bias and optimizes for both nM and the bias, where nM is in units defined by magnetometer |
| CMagFactor3 | Factor to calibrate local Earth magnetic field as well as magnetometer bias This version uses model measured bM = scale * bRn * direction + bias and optimizes for both scale, direction, and the bias |
| CMakeJacobian | : meta-function to generate Jacobian |
| CMakeOptionalJacobian | : meta-function to generate JacobianTA optional reference Used mainly by Expressions |
| Cmanifold_tag | Tag to assert a type is a manifold |
| CManifoldPreintegration | IMU pre-integration on NavSatet manifold |
| CMarginalizeNonleafException | Thrown when requesting to marginalize out variables from ISAM2 that are not leaves |
| CMarginals | A class for computing Gaussian marginals of variables in a NonlinearFactorGraph |
| CMetisIndex | Converts a factor graph into the Compressed Sparse Row format for use in METIS algorithms |
| Cmultiplicative_group_tag | Group operator syntax flavors |
| CMultiplyWithInverse | Functor that implements multiplication of a vector b with the inverse of a matrix A |
| CMultiplyWithInverseFunction | Functor that implements multiplication with the inverse of a matrix, itself the result of a function f |
| CNavState | Navigation state: Pose (rotation, translation) + velocity NOTE(frank): it does not make sense to make this a Lie group, but it is a 9D manifold |
| CNoiseModelFactor | 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) |
| CNoiseModelFactor1 | A convenient base class for creating your own NoiseModelFactor with 1 variable |
| CNoiseModelFactor2 | A convenient base class for creating your own NoiseModelFactor with 2 variables |
| CNoiseModelFactor3 | A convenient base class for creating your own NoiseModelFactor with 3 variables |
| CNoiseModelFactor4 | A convenient base class for creating your own NoiseModelFactor with 4 variables |
| CNoiseModelFactor5 | A convenient base class for creating your own NoiseModelFactor with 5 variables |
| CNoiseModelFactor6 | A convenient base class for creating your own NoiseModelFactor with 6 variables |
| CNoMatchFoundForFixed | |
| CNonlinearConjugateGradientOptimizer | An implementation of the nonlinear CG method using the template below |
| CNonlinearEquality | An equality factor that forces either one variable to a constant, or a set of variables to be equal to each other |
| CNonlinearEquality1 | Simple unary equality constraint - fixes a value for a variable |
| CNonlinearEquality2 | Simple binary equality constraint - this constraint forces two factors to be the same |
| CNonlinearFactor | Nonlinear factor base class |
| CNonlinearFactorGraph | A non-linear factor graph is a graph of non-Gaussian, i.e |
| CNonlinearISAM | Wrapper class to manage ISAM in a nonlinear context |
| CNonlinearOptimizer | This is the abstract interface for classes that can optimize for the maximum-likelihood estimate of a NonlinearFactorGraph |
| CNonlinearOptimizerParams | The common parameters for Nonlinear optimizers |
| COptionalJacobian | OptionalJacobian is an Eigen::Ref like class that can take be constructed using either a fixed size or dynamic Eigen matrix |
| COptionalJacobian< Eigen::Dynamic, Eigen::Dynamic > | |
| COrdering | |
| Cordering_key_visitor | |
| COrientedPlane3 | Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distance to the origin |
| COrientedPlane3DirectionPrior | |
| COrientedPlane3Factor | Factor to measure a planar landmark from a given pose |
| COutOfRangeThreadsafe | Thread-safe out of range exception |
| CPCGSolver | A virtual base class for the preconditioned conjugate gradient solver |
| CPCGSolverParameters | Parameters for PCG |
| CPinholeBase | |
| CPinholeBaseK | |
| CPinholeCamera | |
| CPinholePose | |
| CPinholeSet | PinholeSet: triangulates point and keeps an estimate of it around |
| CPoint2 | |
| CPoint3 | |
| ►CPose2 | |
| CChartAtOrigin | |
| ►CPose3 | |
| CChartAtOrigin | |
| CPose3AttitudeFactor | |
| CPoseConcept | Pose Concept A must contain a translation and a rotation, with each structure accessable directly and a type provided for each |
| CPoseRotationPrior | |
| CPoseTranslationPrior | A prior on the translation part of a pose |
| CPotentials | A base class for both DiscreteFactor and DiscreteConditional |
| CPreconditioner | |
| CPreconditionerParameters | |
| CPredecessorMap | Map from variable key to parent key |
| CPreintegratedAhrsMeasurements | PreintegratedAHRSMeasurements accumulates (integrates) the Gyroscope measurements (rotation rates) and the corresponding covariance matrix |
| ►CPreintegratedCombinedMeasurements | |
| CParams | Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor |
| CPreintegratedImuMeasurements | |
| CPreintegratedRotation | PreintegratedRotation is the base class for all PreintegratedMeasurements classes (in AHRSFactor, ImuFactor, and CombinedImuFactor) |
| CPreintegratedRotationParams | Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor |
| CPreintegrationBase | PreintegrationBase is the base class for PreintegratedMeasurements (in ImuFactor) and CombinedPreintegratedMeasurements (in CombinedImuFactor) |
| CPreintegrationParams | Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor |
| CPriorFactor | |
| CProductLieGroup | Template to construct the product Lie group of two other Lie groups Assumes Lie group structure for G and H |
| CProductManifold | Helper class to construct the product manifold of two other manifolds, M1 and M2 Assumes nothing except manifold structure for M1 and M2, and the existence of default constructor for those types |
| CRange | |
| CRange< CalibratedCamera, T > | |
| CRange< PinholeCamera< Calibration >, T > | |
| CRange< Point3, Point3 > | |
| CRange< Pose2, T > | |
| CRange< Pose3, T > | |
| CRange< SimpleCamera, T > | |
| CRangeFactor | |
| CRangeFactorWithTransform | |
| CRefCallPushBack | Helper |
| CReferenceFrameFactor | A constraint between two landmarks in separate maps Templated on: Point : Type of landmark Transform : Transform variable class |
| CRegularHessianFactor | |
| CRegularImplicitSchurFactor | RegularImplicitSchurFactor |
| CRegularJacobianFactor | JacobianFactor with constant sized blocks Provides raw memory access versions of linear operator |
| CReshape | Reshape functor |
| CReshape< M, M, InOptions, M, M, InOptions > | Reshape specialization that does nothing as shape stays the same (needed to not be ambiguous for square input equals square output) |
| CReshape< M, N, InOptions, M, N, InOptions > | Reshape specialization that does nothing as shape stays the same |
| CReshape< N, M, InOptions, M, N, InOptions > | Reshape specialization that does transpose |
| ►CRot2 | |
| CChartAtOrigin | |
| ►CRot3 | |
| CCayleyChart | |
| CChartAtOrigin | |
| CRot3AttitudeFactor | |
| CRotateDirectionsFactor | Factor on unknown rotation iRc that relates two directions c Directions provide less constraints than a full rotation |
| CRotateFactor | Factor on unknown rotation iRC that relates two incremental rotations c1Rc2 = iRc' * i1Ri2 * iRc Which we can write (see doc/math.lyx) e^[z] = iRc' * e^[p] * iRc = e^([iRc'*p]) with z and p measured and predicted angular velocities, and hence p = iRc * z |
| CRuntimeErrorThreadsafe | Thread-safe runtime error exception |
| CSampler | Sampling structure that keeps internal random number generators for diagonal distributions specified by NoiseModel |
| CScalarMultiplyExpression | A ScalarMultiplyExpression is a specialization of Expression that multiplies with a scalar It optimizes the Jacobian calculation for this specific case |
| CScatter | Scatter is an intermediate data structure used when building a HessianFactor incrementally, to get the keys in the right order |
| CScenario | Simple trajectory simulator |
| CScenarioRunner | |
| CSDGraph | SDGraph is undirected graph with variable keys and double edge weights |
| CSfM_data | Define the structure for SfM data |
| CSfM_Track | Define the structure for the 3D points |
| CSGraph | |
| CSignature | Signature for a discrete conditional density, used to construct conditionals |
| CSimpleCamera | |
| CSlotEntry | One SlotEntry stores the slot index for a variable, as well its dim |
| CSmartFactorBase | Base class for smart factors This base class has no internal point, but it has a measurement, noise model and an optional sensor pose |
| CSmartProjectionFactor | SmartProjectionFactor: triangulates point and keeps an estimate of it around |
| CSmartProjectionParams | |
| CSmartProjectionPoseFactor | |
| ►CSO3 | True SO(3), i.e., 3*3 matrix subgroup We guarantee (all but first) constructors only generate from sub-manifold |
| CChartAtOrigin | |
| CStereoCamera | |
| CStereoCheiralityException | |
| CStereoPoint2 | |
| CSubgraph | |
| CSubgraphBuilder | |
| CSubgraphBuilderParameters | |
| CSubgraphEdge | |
| CSubgraphPreconditioner | Subgraph conditioner class, as explained in the RSS 2010 submission |
| CSubgraphPreconditionerParameters | |
| CSubgraphSolver | This class implements the SPCG solver presented in Dellaert et al in IROS'10 |
| CSubgraphSolverParameters | |
| CSymbol | Character and index key used in VectorValues, GaussianFactorGraph, GaussianFactor, etc |
| CSymbolicBayesNet | Symbolic Bayes Net |
| CSymbolicBayesTree | A Bayes tree that represents the connectivity between variables but is not associated with any probability functions |
| CSymbolicBayesTreeClique | A clique in a SymbolicBayesTree |
| CSymbolicConditional | SymbolicConditional is a conditional with keys but no probability data, produced by symbolic elimination of SymbolicFactor |
| CSymbolicEliminationTree | |
| CSymbolicFactor | SymbolicFactor represents a symbolic factor that specifies graph topology but is not associated with any numerical function |
| CSymbolicFactorGraph | Symbolic Factor Graph |
| CSymbolicISAM | |
| CSymbolicJunctionTree | |
| CSymmetricBlockMatrix | |
| CSystem | Helper class encapsulating the combined system |Ax-b_|^2 Needed to run Conjugate Gradients on matrices |
| CTangentPreintegration | Integrate on the 9D tangent space of the NavState manifold |
| CTbbOpenMPMixedScope | An object whose scope defines a block where TBB and OpenMP parallelism are mixed |
| CTestable | A helper that implements the traits interface for GTSAM types |
| CThreadsafeException | Base exception type that uses tbb_exception if GTSAM is compiled with TBB |
| Ctraits | A manifold defines a space in which there is a notion of a linear tangent space that can be centered around a given point on the manifold |
| Ctraits< BearingFactor< A1, A2, T > > | Traits |
| Ctraits< BearingRange< A1, A2 > > | |
| Ctraits< BearingRangeFactor< A1, A2, B, R > > | Traits |
| Ctraits< BetweenConstraint< VALUE > > | Traits |
| Ctraits< BetweenFactor< VALUE > > | Traits |
| Ctraits< BinaryJacobianFactor< M, N1, N2 > > | |
| Ctraits< Cal3_S2 > | |
| Ctraits< Cal3_S2Stereo > | |
| Ctraits< Cal3Bundler > | |
| Ctraits< Cal3DS2 > | |
| Ctraits< Cal3Unified > | |
| Ctraits< CalibratedCamera > | |
| Ctraits< CameraSet< CAMERA > > | |
| Ctraits< const Cal3_S2 > | |
| Ctraits< const Cal3_S2Stereo > | |
| Ctraits< const Cal3Bundler > | |
| Ctraits< const Cal3DS2 > | |
| Ctraits< const Cal3Unified > | |
| Ctraits< const CalibratedCamera > | |
| Ctraits< const CameraSet< CAMERA > > | |
| Ctraits< const EssentialMatrix > | |
| Ctraits< const OrientedPlane3 > | |
| Ctraits< const PinholeCamera< Calibration > > | |
| Ctraits< const PinholePose< CALIBRATION > > | |
| Ctraits< const PinholeSet< CAMERA > > | |
| Ctraits< const Point3 > | |
| Ctraits< const Pose2 > | |
| Ctraits< const Pose3 > | |
| Ctraits< const Rot2 > | |
| Ctraits< const Rot3 > | |
| Ctraits< const SimpleCamera > | |
| Ctraits< const SO3 > | |
| Ctraits< const StereoCamera > | |
| Ctraits< const StereoPoint2 > | |
| Ctraits< const Unit3 > | |
| Ctraits< Cyclic< N > > | Define cyclic group to be a model of the Additive Group concept |
| Ctraits< DecisionTreeFactor > | |
| Ctraits< DirectProduct< G, H > > | |
| Ctraits< DirectSum< G, H > > | |
| Ctraits< DiscreteBayesNet > | |
| Ctraits< DiscreteConditional > | |
| Ctraits< DiscreteFactor > | |
| Ctraits< DiscreteFactor::Values > | |
| Ctraits< DiscreteFactorGraph > | Traits |
| Ctraits< double > | Double |
| Ctraits< Eigen::Matrix< double, 1,-1, Options, MaxRows, MaxCols > > | |
| Ctraits< Eigen::Matrix< double, M, N, Options, MaxRows, MaxCols > > | |
| Ctraits< Eigen::Matrix< double,-1, 1, Options, MaxRows, MaxCols > > | |
| Ctraits< Eigen::Matrix< double,-1,-1, Options, MaxRows, MaxCols > > | |
| Ctraits< Errors > | Traits |
| Ctraits< EssentialMatrix > | |
| Ctraits< ExpressionFactor< T > > | Traits |
| Ctraits< float > | Float |
| Ctraits< GaussianBayesNet > | Traits |
| Ctraits< GaussianBayesTree > | Traits |
| Ctraits< GaussianConditional > | Traits |
| Ctraits< GaussianFactor > | Traits |
| Ctraits< GaussianFactorGraph > | Traits |
| Ctraits< GeneralSFMFactor2< CALIBRATION > > | |
| Ctraits< GeneralSFMFactor< CAMERA, LANDMARK > > | |
| Ctraits< GenericProjectionFactor< POSE, LANDMARK, CALIBRATION > > | Traits |
| Ctraits< GenericStereoFactor< T1, T2 > > | Traits |
| Ctraits< GenericValue< ValueType > > | |
| Ctraits< HessianFactor > | Traits |
| Ctraits< imuBias::ConstantBias > | |
| Ctraits< ImuFactor > | |
| Ctraits< ImuFactor2 > | |
| Ctraits< ISAM2 > | Traits |
| Ctraits< JacobianFactor > | Traits |
| Ctraits< JacobianFactorQ< D, ZDim > > | |
| Ctraits< Key > | |
| Ctraits< LabeledSymbol > | Traits |
| Ctraits< LinearContainerFactor > | |
| Ctraits< NavState > | |
| Ctraits< noiseModel::Constrained > | |
| Ctraits< noiseModel::Diagonal > | |
| Ctraits< noiseModel::Gaussian > | Traits |
| Ctraits< noiseModel::Isotropic > | |
| Ctraits< noiseModel::Unit > | |
| Ctraits< NonlinearEquality1< VALUE > > | |
| Ctraits< NonlinearEquality2< VALUE > > | |
| Ctraits< NonlinearEquality< VALUE > > | |
| Ctraits< NonlinearFactor > | Traits |
| Ctraits< NonlinearFactorGraph > | Traits |
| Ctraits< Ordering > | Traits |
| Ctraits< OrientedPlane3 > | |
| Ctraits< PinholeCamera< Calibration > > | |
| Ctraits< PinholePose< CALIBRATION > > | |
| Ctraits< PinholeSet< CAMERA > > | |
| Ctraits< Point2 > | |
| Ctraits< Point3 > | |
| Ctraits< Pose2 > | |
| Ctraits< Pose3 > | |
| Ctraits< Pose3AttitudeFactor > | Traits |
| Ctraits< Potentials > | |
| Ctraits< Potentials::ADT > | |
| Ctraits< PreintegratedImuMeasurements > | |
| Ctraits< PreintegratedRotation > | |
| Ctraits< ProductLieGroup< G, H > > | |
| Ctraits< ProductManifold< M1, M2 > > | |
| Ctraits< QUATERNION_TYPE > | |
| Ctraits< RangeFactor< A1, A2, T > > | Traits |
| Ctraits< RangeFactorWithTransform< A1, A2, T > > | Traits |
| Ctraits< ReferenceFrameFactor< T1, T2 > > | Traits |
| Ctraits< RegularHessianFactor< D > > | |
| Ctraits< RegularImplicitSchurFactor< CAMERA > > | |
| Ctraits< Rot2 > | |
| Ctraits< Rot3 > | |
| Ctraits< Rot3AttitudeFactor > | Traits |
| Ctraits< SimpleCamera > | |
| Ctraits< SmartProjectionFactor< CAMERA > > | Traits |
| Ctraits< SmartProjectionPoseFactor< CALIBRATION > > | Traits |
| Ctraits< SO3 > | |
| Ctraits< StereoCamera > | |
| Ctraits< StereoPoint2 > | |
| Ctraits< Symbol > | Traits |
| Ctraits< SymbolicBayesNet > | Traits |
| Ctraits< SymbolicBayesTree > | |
| Ctraits< SymbolicBayesTreeClique > | Traits |
| Ctraits< SymbolicConditional > | Traits |
| Ctraits< SymbolicEliminationTree > | Traits |
| Ctraits< SymbolicFactor > | Traits |
| Ctraits< SymbolicFactorGraph > | Traits |
| Ctraits< Unit3 > | |
| Ctraits< Values > | Traits |
| Ctraits< VariableIndex > | Traits |
| Ctraits< VariableSlots > | Traits |
| Ctraits< VectorValues > | Traits |
| CTriangulationCheiralityException | Exception thrown by triangulateDLT when landmark is behind one or more of the cameras |
| CTriangulationFactor | |
| CTriangulationParameters | |
| CTriangulationResult | TriangulationResult is an optional point, along with the reasons why it is invalid |
| CTriangulationUnderconstrainedException | Exception thrown by triangulateDLT when SVD returns rank < 3 |
| CUnit3 | Represents a 3D point on a unit sphere |
| CValue | This is the interface class for any value that may be used as a variable assignment in a factor graph, and which you must derive to create new variable types to use with gtsam |
| CValueCloneAllocator | |
| ►CValues | A non-templated config holding any types of Manifold-group elements |
| CConstFiltered | A filtered view of a const Values, returned from Values::filter |
| CConstKeyValuePair | A key-value pair, which you get by dereferencing iterators |
| CFiltered | A filtered view of a Values, returned from Values::filter |
| CKeyValuePair | A key-value pair, which you get by dereferencing iterators |
| CValuesCastHelper | |
| CValuesCastHelper< const Value, CastedKeyValuePairType, KeyValuePairType > | |
| CValuesCastHelper< Value, CastedKeyValuePairType, KeyValuePairType > | |
| CValuesIncorrectType | |
| CValuesKeyAlreadyExists | |
| CValuesKeyDoesNotExist | |
| CValueWithDefault | Helper struct that encapsulates a value with a default, this is just used as a member object so you don't have to specify defaults in the class constructor |
| CVariableIndex | Computes and stores the block column structure of a factor graph |
| CVariableSlots | A combined factor is assembled as one block of rows for each component factor |
| Cvector_space_tag | Tag to assert a type is a vector space |
| CVectorValues | This class represents a collection of vector-valued variables associated each with a unique integer index |
| CVerticalBlockMatrix | |
| CWhiteNoiseFactor | Binary factor to estimate parameters of zero-mean Gaussian white noise |
1.8.11 
