isam::GLC_Factor Class Reference

#include <glc.h>

Inheritance diagram for isam::GLC_Factor:

Collaboration diagram for isam::GLC_Factor:

List of all members.

Public Member Functions
	GLC_Factor (std::vector< Node * > nodes, const Eigen::VectorXd &x, const Eigen::MatrixXd &G, GLC_Reparam *rp=NULL)
void	initialize ()
Jacobian	jacobian ()
Eigen::VectorXd	basic_error (Selector s=LINPOINT) const
void	write (std::ostream &out) const
Public Attributes
const Eigen::VectorXd	_x
const Eigen::MatrixXd	_G
GLC_Reparam *	_rp

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Detailed Description

Generic Linear Constraint

Definition at line 78 of file glc.h.

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Constructor & Destructor Documentation

isam::GLC_Factor::GLC_Factor	(	std::vector< Node * >	nodes,
		const Eigen::VectorXd &	x,
		const Eigen::MatrixXd &	G,
		GLC_Reparam *	rp = NULL
	)		[inline]

Constructor.

Parameters:

poses	Vector of Pose3d_Node pointers which support the factor
x	The state vector used as the linearization point for the GLC
G	The PCA transformation calculated from the target information
rp	Reparametrization object, uses to implement root-shift or user defined reparameterizations to be applied before commiting to a linearization point

Definition at line 93 of file glc.h.

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

• include/isam/glc.h