isam::GLC_RootShift Class Reference

#include <GLCReparam.h>

Inheritance diagram for isam::GLC_RootShift:

Collaboration diagram for isam::GLC_RootShift:

List of all members.

Public Member Functions
void	set_nodes (std::vector< Node * > nodes)
GLC_RootShift *	clone ()
Eigen::VectorXb	is_angle ()
Eigen::MatrixXd	jacobian ()
Eigen::VectorXd	reparameterize (Selector s)
Eigen::VectorXd	root_shift (Node *node_i, Node *node_j, Selector s)

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Detailed Description

GLC_RootShift implementation of GLC_Reparam performs root shift operation

Definition at line 82 of file GLCReparam.h.

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Member Function Documentation

GLC_RootShift* isam::GLC_RootShift::clone

(

)

[inline, virtual]

clone()

Returns:

a new instance of the derived class

Implements isam::GLC_Reparam.

Definition at line 105 of file GLCReparam.h.

Eigen::VectorXb isam::GLC_RootShift::is_angle

(

)

[inline, virtual]

is_angle()

Returns:

boolean vector indacating if elemetes reparameterized vector are angles

Implements isam::GLC_Reparam.

Definition at line 106 of file GLCReparam.h.

MatrixXd isam::GLC_RootShift::jacobian

(

)

[virtual]

jacobian()

Returns:

jacobian of reparameterized output wrt node input

Implements isam::GLC_Reparam.

Definition at line 118 of file GLCReparam.cpp.

VectorXd isam::GLC_RootShift::reparameterize

(

Selector

s

)

[virtual]

reparameterize()

Returns:

reparameterized vector

Implements isam::GLC_Reparam.

Definition at line 45 of file GLCReparam.cpp.

void isam::GLC_RootShift::set_nodes

(

std::vector< Node * >

nodes

)

[inline, virtual]

set_nodes()

Parameters:

nodes

Vector of Node pointers which support the factor

Implements isam::GLC_Reparam.

Definition at line 91 of file GLCReparam.h.

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

• include/isam/GLCReparam.h
• isamlib/GLCReparam.cpp