NASA Astrobee Robot Software  0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
Public Member Functions | Friends | List of all members
gtsam::PointToLineFactorBase Class Reference

#include <point_to_line_factor_base.h>

Inheritance diagram for gtsam::PointToLineFactorBase:
Inheritance graph

Public Member Functions

 PointToLineFactorBase ()
 
 PointToLineFactorBase (const Point3 &sensor_t_point, const Pose3 &world_T_line, const Pose3 &body_T_sensor, const SharedNoiseModel &model, Key pose_key)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 
Vector error (const Pose3 &world_T_body, boost::optional< Matrix & > H=boost::none) const
 
const Point3 & sensor_t_point () const
 
const Pose3 & world_T_line () const
 
const Pose3 & body_T_sensor () const
 

Friends

class boost::serialization::access
 

Constructor & Destructor Documentation

◆ PointToLineFactorBase() [1/2]

gtsam::PointToLineFactorBase::PointToLineFactorBase ( )
inline

◆ PointToLineFactorBase() [2/2]

gtsam::PointToLineFactorBase::PointToLineFactorBase ( const Point3 &  sensor_t_point,
const Pose3 &  world_T_line,
const Pose3 &  body_T_sensor,
const SharedNoiseModel &  model,
Key  pose_key 
)
inline

Member Function Documentation

◆ body_T_sensor()

const Pose3& gtsam::PointToLineFactorBase::body_T_sensor ( ) const
inline

◆ equals()

bool gtsam::PointToLineFactorBase::equals ( const NonlinearFactor &  p,
double  tol = 1e-9 
) const
inlineoverride

◆ error()

Vector gtsam::PointToLineFactorBase::error ( const Pose3 &  world_T_body,
boost::optional< Matrix & >  H = boost::none 
) const
inline

◆ print()

void gtsam::PointToLineFactorBase::print ( const std::string &  s = "",
const KeyFormatter &  keyFormatter = DefaultKeyFormatter 
) const
inlineoverride

◆ sensor_t_point()

const Point3& gtsam::PointToLineFactorBase::sensor_t_point ( ) const
inline

◆ world_T_line()

const Pose3& gtsam::PointToLineFactorBase::world_T_line ( ) const
inline

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access
friend
The documentation for this class was generated from the following file: