356 lines
22 KiB
XML
356 lines
22 KiB
XML
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<?xml version='1.0' encoding='UTF-8' standalone='no'?>
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<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.8.11">
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<compounddef id="classgtsam_1_1NoiseModelFactor2" kind="class" language="C++" prot="public" abstract="yes">
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<compoundname>gtsam::NoiseModelFactor2</compoundname>
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<basecompoundref refid="classgtsam_1_1NoiseModelFactor" prot="public" virt="non-virtual">gtsam::NoiseModelFactor</basecompoundref>
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<includes refid="NonlinearFactor_8h" local="no">NonlinearFactor.h</includes>
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<templateparamlist>
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<param>
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<type>class VALUE1</type>
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</param>
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<param>
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<type>class VALUE2</type>
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</param>
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</templateparamlist>
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<sectiondef kind="public-type">
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<memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor2_1a5fb0fe8b056bad2171f84922c5184ef1" prot="public" static="no">
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<type>VALUE1</type>
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<definition>typedef VALUE1 gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::X1</definition>
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<argsstring></argsstring>
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<name>X1</name>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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</detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="350" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="350" bodyend="-1"/>
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</memberdef>
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<memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor2_1a3b3777f359b34892f33784d73cb62234" prot="public" static="no">
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<type>VALUE2</type>
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<definition>typedef VALUE2 gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::X2</definition>
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<argsstring></argsstring>
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<name>X2</name>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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</detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="351" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="351" bodyend="-1"/>
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</memberdef>
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</sectiondef>
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<sectiondef kind="protected-type">
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<memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor2_1a8c2961991a7f2b253874612fc8124c09" prot="protected" static="no">
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<type><ref refid="classgtsam_1_1NoiseModelFactor" kindref="compound">NoiseModelFactor</ref></type>
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<definition>typedef NoiseModelFactor gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::Base</definition>
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<argsstring></argsstring>
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<name>Base</name>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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</detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="355" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="355" bodyend="-1"/>
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</memberdef>
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<memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor2_1a2743c4c486e80127e8eca591ee3ffbed" prot="protected" static="no">
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<type><ref refid="classgtsam_1_1NoiseModelFactor2" kindref="compound">NoiseModelFactor2</ref>< VALUE1, VALUE2 ></type>
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<definition>typedef NoiseModelFactor2<VALUE1, VALUE2> gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::This</definition>
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<argsstring></argsstring>
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<name>This</name>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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</detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="356" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="356" bodyend="-1"/>
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</memberdef>
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</sectiondef>
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<sectiondef kind="friend">
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<memberdef kind="friend" id="classgtsam_1_1NoiseModelFactor2_1ac98d07dd8f7b70e16ccb9a01abf56b9c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
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<type>friend class</type>
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<definition>friend class boost::serialization::access</definition>
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<argsstring></argsstring>
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<name>boost::serialization::access</name>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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<para>Serialization function </para> </detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="408" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="408" bodyend="-1"/>
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</memberdef>
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</sectiondef>
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<sectiondef kind="public-func">
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor2_1a04f5873776c784cafd55b4ac05b4b757" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
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<type></type>
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<definition>gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::NoiseModelFactor2</definition>
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<argsstring>()</argsstring>
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<name>NoiseModelFactor2</name>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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<para>Default Constructor for I/O </para> </detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="363" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="363" bodyend="363"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor2_1a35453b054509f5679a29a06b59340cf1" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
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<type></type>
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<definition>gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::NoiseModelFactor2</definition>
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<argsstring>(const SharedNoiseModel &noiseModel, Key j1, Key j2)</argsstring>
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<name>NoiseModelFactor2</name>
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<param>
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<type>const SharedNoiseModel &</type>
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<declname>noiseModel</declname>
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</param>
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<param>
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<type>Key</type>
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<declname>j1</declname>
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</param>
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<param>
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<type>Key</type>
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<declname>j2</declname>
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</param>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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<para>Constructor <parameterlist kind="param"><parameteritem>
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<parameternamelist>
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<parametername>noiseModel</parametername>
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</parameternamelist>
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<parameterdescription>
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<para>shared pointer to noise model </para></parameterdescription>
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</parameteritem>
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<parameteritem>
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<parameternamelist>
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<parametername>j1</parametername>
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</parameternamelist>
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<parameterdescription>
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<para>key of the first variable </para></parameterdescription>
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</parameteritem>
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<parameteritem>
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<parameternamelist>
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<parametername>j2</parametername>
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</parameternamelist>
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<parameterdescription>
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<para>key of the second variable </para></parameterdescription>
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</parameteritem>
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</parameterlist>
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</para> </detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="371" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="371" bodyend="372"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor2_1ab629a5dc71461efe61d68faaf5a659f3" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
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<type></type>
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<definition>virtual gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::~NoiseModelFactor2</definition>
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<argsstring>()</argsstring>
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<name>~NoiseModelFactor2</name>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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</detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="374" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="374" bodyend="374"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor2_1ae3b88b40b4ee6e9af9eefcde77bf9768" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
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<type>Key</type>
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<definition>Key gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::key1</definition>
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<argsstring>() const </argsstring>
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<name>key1</name>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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<para>methods to retrieve both keys </para> </detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="377" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="377" bodyend="377"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor2_1a4d27f5d0beaa35e1e4a5f0ef8974c5a6" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
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<type>Key</type>
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<definition>Key gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::key2</definition>
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<argsstring>() const </argsstring>
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<name>key2</name>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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</detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="378" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="378" bodyend="378"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor2_1a9640bbbb433383f0b40b5c2d9439415e" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="virtual">
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<type>Vector</type>
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<definition>virtual Vector gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::unwhitenedError</definition>
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<argsstring>(const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const </argsstring>
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<name>unwhitenedError</name>
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<reimplements refid="classgtsam_1_1NoiseModelFactor_1afd61874915a8076bf83f9d8311fc0e26">unwhitenedError</reimplements>
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<param>
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<type>const Values &</type>
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<declname>x</declname>
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</param>
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<param>
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<type>boost::optional< std::vector< Matrix > & ></type>
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<declname>H</declname>
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<defval>boost::none</defval>
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</param>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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<para>Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. </para> </detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="382" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="382" bodyend="394"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor2_1a9aa6dcd7db6734479e2212213b021ec1" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
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<type>Vector</type>
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<definition>virtual Vector gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::evaluateError</definition>
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<argsstring>(const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const =0</argsstring>
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<name>evaluateError</name>
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<param>
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<type>const X1 &</type>
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</param>
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<param>
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<type>const X2 &</type>
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</param>
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<param>
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<type>boost::optional< Matrix & ></type>
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<declname>H1</declname>
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<defval>boost::none</defval>
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</param>
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<param>
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<type>boost::optional< Matrix & ></type>
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<declname>H2</declname>
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<defval>boost::none</defval>
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</param>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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<para>Override this method to finish implementing a binary factor. If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2). </para> </detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="402" column="1"/>
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</memberdef>
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</sectiondef>
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<sectiondef kind="private-func">
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor2_1ae600c15f59be175aca5b059e488d7166" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
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<templateparamlist>
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<param>
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<type>class ARCHIVE</type>
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</param>
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</templateparamlist>
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<type>void</type>
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<definition>void gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::serialize</definition>
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<argsstring>(ARCHIVE &ar, const unsigned int)</argsstring>
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<name>serialize</name>
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<param>
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<type>ARCHIVE &</type>
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<declname>ar</declname>
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</param>
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<param>
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<type>const unsigned</type>
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<declname>int</declname>
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</param>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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</detaileddescription>
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<inbodydescription>
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</inbodydescription>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="410" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="410" bodyend="413"/>
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</memberdef>
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</sectiondef>
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<briefdescription>
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</briefdescription>
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<detaileddescription>
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<para>A convenient base class for creating your own <ref refid="classgtsam_1_1NoiseModelFactor" kindref="compound">NoiseModelFactor</ref> with 2 variables. To derive from this class, implement <ref refid="classgtsam_1_1NoiseModelFactor2_1a9aa6dcd7db6734479e2212213b021ec1" kindref="member">evaluateError()</ref>. </para> </detaileddescription>
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<inheritancegraph>
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<node id="110">
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<label>Factor</label>
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</node>
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<node id="109">
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<label>gtsam::NonlinearFactor</label>
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<link refid="classgtsam_1_1NonlinearFactor"/>
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<childnode refid="110" relation="public-inheritance">
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</childnode>
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</node>
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<node id="108">
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<label>gtsam::NoiseModelFactor</label>
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<link refid="classgtsam_1_1NoiseModelFactor"/>
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<childnode refid="109" relation="public-inheritance">
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</childnode>
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</node>
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<node id="107">
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<label>gtsam::NoiseModelFactor2< VALUE1, VALUE2 ></label>
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<link refid="classgtsam_1_1NoiseModelFactor2"/>
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<childnode refid="108" relation="public-inheritance">
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</childnode>
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</node>
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</inheritancegraph>
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<collaborationgraph>
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|
<node id="114">
|
||
|
|
<label>Factor</label>
|
||
|
|
</node>
|
||
|
|
<node id="113">
|
||
|
|
<label>gtsam::NonlinearFactor</label>
|
||
|
|
<link refid="classgtsam_1_1NonlinearFactor"/>
|
||
|
|
<childnode refid="114" relation="public-inheritance">
|
||
|
|
</childnode>
|
||
|
|
</node>
|
||
|
|
<node id="112">
|
||
|
|
<label>gtsam::NoiseModelFactor</label>
|
||
|
|
<link refid="classgtsam_1_1NoiseModelFactor"/>
|
||
|
|
<childnode refid="113" relation="public-inheritance">
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||
|
|
</childnode>
|
||
|
|
</node>
|
||
|
|
<node id="111">
|
||
|
|
<label>gtsam::NoiseModelFactor2< VALUE1, VALUE2 ></label>
|
||
|
|
<link refid="classgtsam_1_1NoiseModelFactor2"/>
|
||
|
|
<childnode refid="112" relation="public-inheritance">
|
||
|
|
</childnode>
|
||
|
|
</node>
|
||
|
|
</collaborationgraph>
|
||
|
|
<location file="tests/doc-test-files/NonlinearFactor.h" line="345" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="345" bodyend="414"/>
|
||
|
|
<listofallmembers>
|
||
|
|
<member refid="classgtsam_1_1NonlinearFactor_1a1968f471dc3ea33aaf0226ff7be5ae8c" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>active</name></member>
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||
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<member refid="classgtsam_1_1NoiseModelFactor2_1a8c2961991a7f2b253874612fc8124c09" prot="protected" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>Base</name></member>
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||
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|
<member refid="classgtsam_1_1NoiseModelFactor2_1ac98d07dd8f7b70e16ccb9a01abf56b9c" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>boost::serialization::access</name></member>
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||
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<member refid="classgtsam_1_1NonlinearFactor_1aa98a30a78ade8489214ce2e5b8302777" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>clone</name></member>
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||
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<member refid="classgtsam_1_1NoiseModelFactor_1af4f62b52fff1a0527ecdb279de023728" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>dim</name></member>
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||
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<member refid="classgtsam_1_1NoiseModelFactor_1a616d0335db512e9c333cab83b1923399" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>equals</name></member>
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||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1af6147aff3a33f734435601f6dcafeaf9" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>error</name></member>
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||
|
|
<member refid="classgtsam_1_1NoiseModelFactor2_1a9aa6dcd7db6734479e2212213b021ec1" prot="public" virt="pure-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>evaluateError</name></member>
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||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1a16a8a23069ce6ae664f516edc8f36254" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>get_noiseModel</name></member>
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||
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|
<member refid="classgtsam_1_1NoiseModelFactor2_1ae3b88b40b4ee6e9af9eefcde77bf9768" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>key1</name></member>
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||
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<member refid="classgtsam_1_1NoiseModelFactor2_1a4d27f5d0beaa35e1e4a5f0ef8974c5a6" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>key2</name></member>
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||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1a0c83582a0bd04e112e4c0a17cd4ed324" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>linearize</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1a123e5729d70b4acd6d7e1f70b1a7ced4" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>noiseModel</name></member>
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||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1a2263eabbefe0eede8c9d10486f61bb4d" prot="protected" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>noiseModel_</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1ad6e8ef3348e042d598617d1d55f20300" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>NoiseModelFactor</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1a02cea97db30d27b51feaf1f0444d743c" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>NoiseModelFactor</name></member>
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||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1a4605224417029e9dc58c5267efa9a46d" prot="protected" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>NoiseModelFactor</name></member>
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||
|
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<member refid="classgtsam_1_1NoiseModelFactor2_1a04f5873776c784cafd55b4ac05b4b757" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>NoiseModelFactor2</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor2_1a35453b054509f5679a29a06b59340cf1" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>NoiseModelFactor2</name></member>
|
||
|
|
<member refid="classgtsam_1_1NonlinearFactor_1a7c719ae67f222f66569ccb3b526cb9cb" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>NonlinearFactor</name></member>
|
||
|
|
<member refid="classgtsam_1_1NonlinearFactor_1a8a7610dba7e9a6f878268c2769ea0e04" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>NonlinearFactor</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1a682e0bbaf0c9638b7d0d96148082d1d7" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>print</name></member>
|
||
|
|
<member refid="classgtsam_1_1NonlinearFactor_1a95f4d57e8646b6df634496aaabb683b5" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>rekey</name></member>
|
||
|
|
<member refid="classgtsam_1_1NonlinearFactor_1a5f760600e8608ef15c825a0f8d1d1855" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>rekey</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor2_1ae600c15f59be175aca5b059e488d7166" prot="private" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>serialize</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1a57d98d52fb6f91ebc54d74746aeb90e4" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>shared_ptr</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor2_1a2743c4c486e80127e8eca591ee3ffbed" prot="protected" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>This</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor2_1a9640bbbb433383f0b40b5c2d9439415e" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>unwhitenedError</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1a1b3ea51380315bfd63f60d8d9195b0c1" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>whitenedError</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor2_1a5fb0fe8b056bad2171f84922c5184ef1" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>X1</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor2_1a3b3777f359b34892f33784d73cb62234" prot="public" virt="non-virtual"><scope>gtsam::NoiseModelFactor2</scope><name>X2</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor_1ae1ed5e0fa6c471b57172f7ebaf552187" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>~NoiseModelFactor</name></member>
|
||
|
|
<member refid="classgtsam_1_1NoiseModelFactor2_1ab629a5dc71461efe61d68faaf5a659f3" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>~NoiseModelFactor2</name></member>
|
||
|
|
<member refid="classgtsam_1_1NonlinearFactor_1ac457810c504de58732d51d61f715c2de" prot="public" virt="virtual"><scope>gtsam::NoiseModelFactor2</scope><name>~NonlinearFactor</name></member>
|
||
|
|
</listofallmembers>
|
||
|
|
</compounddef>
|
||
|
|
</doxygen>
|