#include <slam2d.h>

Inheritance diagram for isam::Pose2d_Point2d_Factor:

Collaboration diagram for isam::Pose2d_Point2d_Factor:

Public Member Functions
	Pose2d_Point2d_Factor (Pose2d_Node pose, Point2d_Node point, const Point2d &measure, const Noise &noise)
void	initialize ()
Eigen::VectorXd	basic_error (Selector s=LINPOINT) const
Jacobian	jacobian ()

Detailed Description

Landmark observation.

Definition at line 286 of file slam2d.h.

Constructor & Destructor Documentation

isam::Pose2d_Point2d_Factor::Pose2d_Point2d_Factor	(	Pose2d_Node *	pose,
		Point2d_Node *	point,
		const Point2d &	measure,
		const Noise &	noise
	)		`[inline]`

Constructor.

Parameters:

pose	The pose from which the landmark is observed.
point	The point or landmark that is observed
measure	The relative observation of the landmark in the pose's frame.
noise	The 2x2 square root information matrix (upper triangular).

Definition at line 299 of file slam2d.h.

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