21#include <gtsam/nonlinear/ExpressionFactor.h>
46 push_back(boost::allocate_shared<F>(Eigen::aligned_allocator<F>(), R, z, h));
Factor Graph consisting of non-linear factors.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
noiseModel::Base::shared_ptr SharedNoiseModel
Aliases.
Definition NoiseModel.h:724
IsDerived< DERIVEDFACTOR > push_back(boost::shared_ptr< DERIVEDFACTOR > factor)
Add a factor directly using a shared_ptr.
Definition FactorGraph.h:186
Factor that supports arbitrary expressions via AD.
Definition ExpressionFactor.h:44
Expression class that supports automatic differentiation.
Definition Expression.h:48
Factor graph that supports adding ExpressionFactors directly.
Definition ExpressionFactorGraph.h:29
void addExpressionFactor(const Expression< T > &h, const T &z, const SharedNoiseModel &R)
Directly add ExpressionFactor that implements |h(x)-z|^2_R.
Definition ExpressionFactorGraph.h:43
Definition NonlinearFactorGraph.h:55