10#include <gtsam/geometry/OrientedPlane3.h>
37 Key poseKey,
Key landmarkKey)
38 :
Base(noiseModel, poseKey, landmarkKey), measured_p_(z) {}
41 void print(
const std::string& s =
"OrientedPlane3Factor",
42 const KeyFormatter& keyFormatter = DefaultKeyFormatter)
const override;
47 boost::optional<Matrix&> H1 = boost::none,
48 boost::optional<Matrix&> H2 = boost::none)
const override;
65 const SharedGaussian& noiseModel)
66 :
Base(noiseModel, key), measured_p_(z) {}
69 void print(
const std::string& s =
"OrientedPlane3DirectionPrior",
70 const KeyFormatter& keyFormatter = DefaultKeyFormatter)
const override;
76 boost::optional<Matrix&> H = boost::none)
const override;
Non-linear factor base classes.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition Matrix.cpp:156
std::uint64_t Key
Integer nonlinear key type.
Definition types.h:100
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition Key.h:35
Template to create a binary predicate.
Definition Testable.h:111
Represents an infinite plane in 3D, which is composed of a planar normal and its perpendicular distan...
Definition OrientedPlane3.h:36
A 3D pose (R,t) : (Rot3,Point3)
Definition Pose3.h:37
Nonlinear factor base class.
Definition NonlinearFactor.h:42
A convenient base class for creating your own NoiseModelFactor with n variables.
Definition NonlinearFactor.h:400
Factor to measure a planar landmark from a given pose.
Definition OrientedPlane3Factor.h:18
OrientedPlane3Factor(const Vector4 &z, const SharedGaussian &noiseModel, Key poseKey, Key landmarkKey)
Constructor with measured plane (a,b,c,d) coefficients.
Definition OrientedPlane3Factor.h:36
OrientedPlane3Factor()
Constructor.
Definition OrientedPlane3Factor.h:25
Definition OrientedPlane3Factor.h:52
OrientedPlane3DirectionPrior(Key key, const Vector4 &z, const SharedGaussian &noiseModel)
Constructor with measured plane coefficients (a,b,c,d), noise model, landmark symbol.
Definition OrientedPlane3Factor.h:64
NoiseModelFactorN< OrientedPlane3 > Base
measured plane parameters
Definition OrientedPlane3Factor.h:55
OrientedPlane3DirectionPrior()
Constructor.
Definition OrientedPlane3Factor.h:60