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::PointToLineSegmentFactor Class Reference

#include <point_to_line_segment_factor.h>

Inheritance diagram for gtsam::PointToLineSegmentFactor:
Inheritance graph

Public Member Functions

 PointToLineSegmentFactor ()
 
 PointToLineSegmentFactor (const Point3 &sensor_t_point, const Pose3 &world_T_line, const Pose3 &body_T_sensor, const double line_length, const SharedNoiseModel &model, Key pose_key, const bool use_silu=false)
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 
Vector evaluateError (const Pose3 &world_T_body, boost::optional< Matrix & > H=boost::none) const override
 
double line_length () const
 
bool use_silu () const
 
- Public Member Functions inherited from gtsam::PointToLineFactorBase
 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

◆ PointToLineSegmentFactor() [1/2]

gtsam::PointToLineSegmentFactor::PointToLineSegmentFactor ( )
inline

◆ PointToLineSegmentFactor() [2/2]

gtsam::PointToLineSegmentFactor::PointToLineSegmentFactor ( const Point3 &  sensor_t_point,
const Pose3 &  world_T_line,
const Pose3 &  body_T_sensor,
const double  line_length,
const SharedNoiseModel &  model,
Key  pose_key,
const bool  use_silu = false 
)
inline

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::PointToLineSegmentFactor::clone ( ) const
inlineoverride

◆ equals()

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

◆ evaluateError()

Vector gtsam::PointToLineSegmentFactor::evaluateError ( const Pose3 &  world_T_body,
boost::optional< Matrix & >  H = boost::none 
) const
inlineoverride

◆ line_length()

double gtsam::PointToLineSegmentFactor::line_length ( ) const
inline

◆ print()

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

◆ use_silu()

bool gtsam::PointToLineSegmentFactor::use_silu ( ) 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: