456 lines
27 KiB
XML
456 lines
27 KiB
XML
<?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_1NoiseModelFactor4" kind="class" language="C++" prot="public" abstract="yes">
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<compoundname>gtsam::NoiseModelFactor4</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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<param>
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<type>class VALUE3</type>
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</param>
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<param>
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<type>class VALUE4</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_1NoiseModelFactor4_1ae43138cc390ef4b2956e334f160df42e" prot="public" static="no">
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<type>VALUE1</type>
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<definition>typedef VALUE1 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::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="502" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="502" bodyend="-1"/>
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</memberdef>
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<memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor4_1aafd5bc6e588c7e1084897814831713c5" prot="public" static="no">
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<type>VALUE2</type>
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<definition>typedef VALUE2 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::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="503" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="503" bodyend="-1"/>
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</memberdef>
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<memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor4_1aa07132c1d7f42154fafd026c702ca240" prot="public" static="no">
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<type>VALUE3</type>
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<definition>typedef VALUE3 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::X3</definition>
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<argsstring></argsstring>
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<name>X3</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="504" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="504" bodyend="-1"/>
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</memberdef>
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<memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor4_1a6ca1a804d790e17f108c8e14df2c5077" prot="public" static="no">
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<type>VALUE4</type>
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<definition>typedef VALUE4 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::X4</definition>
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<argsstring></argsstring>
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<name>X4</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="505" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="505" 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_1NoiseModelFactor4_1a846f05b113e5553fe7b42a9a49906f98" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::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="509" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="509" bodyend="-1"/>
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</memberdef>
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<memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor4_1a372757bbf75dee8eaf33b479b31f06a1" prot="protected" static="no">
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<type><ref refid="classgtsam_1_1NoiseModelFactor4" kindref="compound">NoiseModelFactor4</ref>< VALUE1, VALUE2, VALUE3, VALUE4 ></type>
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<definition>typedef NoiseModelFactor4<VALUE1, VALUE2, VALUE3, VALUE4> gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::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="510" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="510" 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_1NoiseModelFactor4_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="566" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="566" 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_1NoiseModelFactor4_1a65adc8d1272df63390168b26f4f7bc70" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::NoiseModelFactor4</definition>
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<argsstring>()</argsstring>
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<name>NoiseModelFactor4</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="517" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="517" bodyend="517"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor4_1a8ce3daa05897e12db9e38a9c96043ce3" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::NoiseModelFactor4</definition>
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<argsstring>(const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4)</argsstring>
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<name>NoiseModelFactor4</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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<param>
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<type>Key</type>
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<declname>j3</declname>
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</param>
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<param>
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<type>Key</type>
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<declname>j4</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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<parameteritem>
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<parameternamelist>
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<parametername>j3</parametername>
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</parameternamelist>
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<parameterdescription>
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<para>key of the third variable </para></parameterdescription>
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</parameteritem>
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<parameteritem>
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<parameternamelist>
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<parametername>j4</parametername>
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</parameternamelist>
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<parameterdescription>
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<para>key of the fourth 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="527" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="527" bodyend="528"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor4_1a3e53af328261232767713e26fa0d35d5" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::~NoiseModelFactor4</definition>
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<argsstring>()</argsstring>
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<name>~NoiseModelFactor4</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="530" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="530" bodyend="530"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor4_1a4339880be87fa2a533aa07324481f7b6" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::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 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="533" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="533" bodyend="533"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor4_1acb1d3940d9b5ee1aa7c9c3c3c1a21ed9" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::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="534" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="534" bodyend="534"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor4_1ac1111c7becb0904f141dc07eff1a4e7c" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::key3</definition>
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<argsstring>() const </argsstring>
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<name>key3</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="535" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="535" bodyend="535"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor4_1a6d9ee65e09dfe61a663c60d97f01b341" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::key4</definition>
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<argsstring>() const </argsstring>
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<name>key4</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="536" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="536" bodyend="536"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor4_1a6a79ae22fc40447c8dc183a951243440" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::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 4-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="540" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="540" bodyend="549"/>
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</memberdef>
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<memberdef kind="function" id="classgtsam_1_1NoiseModelFactor4_1a5e4197ee6a113e77d2abc1dbbebb0857" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::evaluateError</definition>
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<argsstring>(const X1 &, const X2 &, const X3 &, const X4 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=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>const X3 &</type>
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</param>
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<param>
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<type>const X4 &</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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<param>
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<type>boost::optional< Matrix & ></type>
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<declname>H3</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>H4</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 4-way 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, X3). </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="557" 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_1NoiseModelFactor4_1a51fda42bdf2b1b442b5a8ed204386816" 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::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::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="568" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="568" bodyend="571"/>
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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 4 variables. To derive from this class, implement <ref refid="classgtsam_1_1NoiseModelFactor4_1a5e4197ee6a113e77d2abc1dbbebb0857" kindref="member">evaluateError()</ref>. </para> </detaileddescription>
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<inheritancegraph>
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<node id="126">
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<label>Factor</label>
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</node>
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<node id="123">
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<label>gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 ></label>
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<link refid="classgtsam_1_1NoiseModelFactor4"/>
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<location file="tests/doc-test-files/NonlinearFactor.h" line="497" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="497" bodyend="572"/>
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</compounddef>
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