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105 <p>Efficient·incomplete·Cholesky·on·rank-deficient·matrices,·todo:·constrained·Cholesky.··107 <p>Base·class·and·basic·functions·for·Lie·types.··
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 162 <tr·class="memitem:adbd55c711e6ceee791b595558eb3ec8a"><td·class="memTemplItemLeft"·align="right"·valign="top">T&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#adbd55c711e6ceee791b595558eb3ec8a">gtsam::BCH</a>·(const·T·&amp;X,·const·T·&amp;Y)</td></tr>
 163 <tr·class="memdesc:adbd55c711e6ceee791b595558eb3ec8a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Three·term·approximation·of·the·Baker-Campbell-Hausdorff·formula·In·non-commutative·Lie·groups,·when·composing·exp(Z)·=·exp(X)exp(Y)·it·is·not·true·that·Z·=·X+Y.··<br·/></td></tr>
 164 <tr·class="separator:adbd55c711e6ceee791b595558eb3ec8a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 165 <tr·class="memitem:afe28b7f8e3592fb9f5cf9ebae09497ba"·id="r_afe28b7f8e3592fb9f5cf9ebae09497ba"><td·class="memTemplParams"·colspan="2"><a·id="afe28b7f8e3592fb9f5cf9ebae09497ba"·name="afe28b7f8e3592fb9f5cf9ebae09497ba"></a>
 166 template&lt;class·T·&gt;·</td></tr>
 167 <tr·class="memitem:afe28b7f8e3592fb9f5cf9ebae09497ba"><td·class="memTemplItemLeft"·align="right"·valign="top">Matrix&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::wedge</b>·(const·Vector·&amp;x)</td></tr>
 168 <tr·class="memdesc:afe28b7f8e3592fb9f5cf9ebae09497ba"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Declaration·of·wedge·(see·Murray94book)·used·to·convert·from·n·exponential·coordinates·to·n*n·element·of·the·Lie·algebra.·<br·/></td></tr>
 169 <tr·class="separator:afe28b7f8e3592fb9f5cf9ebae09497ba"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 170 <tr·class="memitem:a3041816208c79ef76d3ef2e0991d90b2"·id="r_a3041816208c79ef76d3ef2e0991d90b2"><td·class="memTemplParams"·colspan="2">template&lt;class·T·&gt;·</td></tr>
 171 <tr·class="memitem:a3041816208c79ef76d3ef2e0991d90b2"><td·class="memTemplItemLeft"·align="right"·valign="top">T&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a3041816208c79ef76d3ef2e0991d90b2">gtsam::expm</a>·(const·Vector·&amp;x,·int·K=7)</td></tr>
 172 <tr·class="memdesc:a3041816208c79ef76d3ef2e0991d90b2"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Exponential·map·given·exponential·coordinates·class·T·needs·a·wedge&lt;&gt;·function·and·a·constructor·from·Matrix.··<br·/></td></tr>
 173 <tr·class="separator:a3041816208c79ef76d3ef2e0991d90b2"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 174 <tr·class="memitem:adaf06b04fa93b050e99bc3d571d85d53"·id="r_adaf06b04fa93b050e99bc3d571d85d53"><td·class="memTemplParams"·colspan="2">template&lt;typename·T·&gt;·</td></tr>
 175 <tr·class="memitem:adaf06b04fa93b050e99bc3d571d85d53"><td·class="memTemplItemLeft"·align="right"·valign="top">T&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#adaf06b04fa93b050e99bc3d571d85d53">gtsam::interpolate</a>·(const·T·&amp;X,·const·T·&amp;Y,·double·t,·typename·<a·class="el"·href="a02460.html">MakeOptionalJacobian</a>&lt;·T,·T·&gt;::type·Hx=boost::none,·typename·<a·class="el"·href="a02460.html">MakeOptionalJacobian</a>&lt;·T,·T·&gt;::type·Hy=boost::none)</td></tr>
 176 <tr·class="memdesc:adaf06b04fa93b050e99bc3d571d85d53"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Linear·interpolation·between·X·and·Y·by·coefficient·t.··<br·/></td></tr>
 177 <tr·class="separator:adaf06b04fa93b050e99bc3d571d85d53"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
122 </table>178 </table>
123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>179 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
124 <div·class="textblock"><p>Efficient·incomplete·Cholesky·on·rank-deficient·matrices,·todo:·constrained·Cholesky.·</p>180 <div·class="textblock"><p>Base·class·and·basic·functions·for·Lie·types.·</p>
125 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>181 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>
126 <dd>182 <dd>
 183 Alex·Cunningham·</dd>
 184 <dd>
127 Frank·Dellaert·</dd></dl>185 Frank·Dellaert·</dd>
128 <dl·class="section·date"><dt>Date</dt><dd>Nov·5,·2010·</dd></dl>186 <dd>
 187 Mike·Bosse·</dd>
 188 <dd>
 189 Duy·Nguyen·Ta·</dd>
 190 <dd>
 191 Yotam·Stern·</dd></dl>
 192 </div><h2·class="groupheader">Macro·Definition·Documentation</h2>
 193 <a·id="aeef5af7d583d275fbc0e6e5af8bf2afc"·name="aeef5af7d583d275fbc0e6e5af8bf2afc"></a>
 194 <h2·class="memtitle"><span·class="permalink"><a·href="#aeef5af7d583d275fbc0e6e5af8bf2afc">&#9670;&#160;</a></span>GTSAM_CONCEPT_LIE_INST</h2>
  
 195 <div·class="memitem">
 196 <div·class="memproto">
 197 ······<table·class="memname">
 198 ········<tr>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/chartTesting.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/FastDefaultAllocator.h·Source·File</title>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">chartTesting.h</div></div>104 ··<div·class="headertitle"><div·class="title">FastDefaultAllocator.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00005.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div> 
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·chartTesting.h</span></div> 
120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@brief</span></div> 
121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·November,·2014</span></div> 
122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*·@author·Paul·Furgale</span></div> 
123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">·*/</span></div> 
124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div> 
125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;gtsam/config.h&gt;</span>······<span·class="comment">//·Configuration·from·CMake</span></div>
126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#if·!defined·GTSAM_ALLOCATOR_BOOSTPOOL·&amp;&amp;·!defined·GTSAM_ALLOCATOR_TBB·&amp;&amp;·!defined·GTSAM_ALLOCATOR_STL</span></div>
127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div> 
128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Manifold.h</a>&gt;</span></div> 
129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div> 
130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;CppUnitLite/TestResult.h&gt;</span></div> 
131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;CppUnitLite/Test.h&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#··ifdef·GTSAM_USE_TBB</span></div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="comment">//···Use·TBB·allocator·by·default·if·we·have·TBB,·otherwise·boost·pool</span></div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#····define·GTSAM_ALLOCATOR_TBB</span></div>
132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;CppUnitLite/Failure.h&gt;</span></div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#··else</span></div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#····define·GTSAM_ALLOCATOR_BOOSTPOOL</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#··endif</span></div>
133 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#endif</span></div>
134 <div·class="foldopen"·id="foldopen00028"·data-start="{"·data-end="}"> 
135 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno"><a·class="line"·href="a01428.html">···28</a></span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
136 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="comment">//·Do·a·full·concept·check·and·test·the·invertibility·of·local()·vs.·retract().</span></div> 
137 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T&gt;</div> 
138 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keywordtype">void</span>·testDefaultChart(TestResult&amp;·result_,</div> 
139 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>······················<span·class="keyword">const</span>·std::string&amp;·name_,</div> 
140 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>······················<span·class="keyword">const</span>·T&amp;·value)·{</div> 
141 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
142 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··GTSAM_CONCEPT_TESTABLE_TYPE(T)</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#if·defined·GTSAM_ALLOCATOR_BOOSTPOOL</span></div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#··include·&lt;boost/pool/pool_alloc.hpp&gt;</span></div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#elif·defined·GTSAM_ALLOCATOR_TBB</span></div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#··include·&lt;tbb/tbb_allocator.h&gt;</span></div>
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#··undef·min·</span><span·class="comment">//·TBB·seems·to·include·Windows.h·which·defines·these·macros·that·cause·problems</span></div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="preprocessor">#··undef·max</span></div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#··undef·ERROR</span></div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#elif·defined·GTSAM_ALLOCATOR_STL</span></div>
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="preprocessor">#··include·&lt;memory&gt;</span></div>
 139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="preprocessor">#endif</span></div>
143 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a></div>
144 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·gtsam::DefaultChart&lt;T&gt;·Chart;</div> 
145 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·Chart::vector·Vector;</div> 
146 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div> 
147 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="comment">//·First,·check·the·basic·chart·concept.·This·checks·that·the·interface·is·satisfied.</span></div> 
148 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·The·rest·of·the·function·is·even·more·detailed,·checking·the·correctness·of·the·chart.</span></div> 
149 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··BOOST_CONCEPT_ASSERT((ChartConcept&lt;Chart&gt;));</div> 
150 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>{</div>
151 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··T·other·=·value;</div> 
152 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
153 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Check·that·the·dimension·of·the·local·value·matches·the·chart·dimension.</span></div>144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">namespace·</span>internal</div>
154 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··Vector·dx·=·Chart::local(value,·other);</div>145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··{</div>
155 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··EXPECT_LONGS_EQUAL(Chart::getDimension(value),·dx.size());</div> 
156 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="comment">//·And·that·the·&quot;local&quot;·of·a·value·vs.·itself·is·zero.</span></div> 
157 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(Matrix(dx),·Matrix(Eigen::VectorXd::Zero(dx.size()))));</div>146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T&gt;</div>
 147 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="};">
 148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a02304.html">···49</a></span>····<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02304.html">FastDefaultAllocator</a></div>
158 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····{</div>
 150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span><span·class="preprocessor">#if·defined·GTSAM_ALLOCATOR_BOOSTPOOL</span></div>
 151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<span·class="keyword">typedef</span>·boost::fast_pool_allocator&lt;T&gt;·type;</div>
 152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isBoost·=·<span·class="keyword">true</span>;</div>
 153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isTBB·=·<span·class="keyword">false</span>;</div>
 154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isSTL·=·<span·class="keyword">false</span>;</div>
 155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span><span·class="preprocessor">#elif·defined·GTSAM_ALLOCATOR_TBB</span></div>
 156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<span·class="keyword">typedef</span>·tbb::tbb_allocator&lt;T&gt;·type;</div>
 157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isBoost·=·<span·class="keyword">false</span>;</div>
 158 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isTBB·=·<span·class="keyword">true</span>;</div>
 159 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isSTL·=·<span·class="keyword">false</span>;</div>
 160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span><span·class="preprocessor">#elif·defined·GTSAM_ALLOCATOR_STL</span></div>
 161 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······<span·class="keyword">typedef</span>·std::allocator&lt;T&gt;·type;</div>
 162 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isBoost·=·<span·class="keyword">false</span>;</div>
 163 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isTBB·=·<span·class="keyword">false</span>;</div>
 164 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isSTL·=·<span·class="keyword">true</span>;</div>
159 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="comment">//·Test·the·invertibility·of·retract/local</span></div>165 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span><span·class="preprocessor">#endif</span></div>
160 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··dx.setRandom();</div> 
161 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··T·updated·=·Chart::retract(value,·dx);</div> 
162 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··Vector·invdx·=·Chart::local(value,·updated);</div> 
163 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(Matrix(dx),·Matrix(invdx),·1e-9));</div> 
164 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>166 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····};</div>
165 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="comment">//·And·test·that·negative·steps·work·as·well.</span></div> 
166 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··dx·=·-dx;</div> 
167 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··updated·=·Chart::retract(value,·dx);</div> 
168 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··invdx·=·Chart::local(value,·updated);</div> 
169 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(Matrix(dx),·Matrix(invdx),·1e-9));</div> 
170 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>}</div> 
171 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>}··<span·class="comment">//·namespace·gtsam</span></div> 
172 </div>167 </div>
173 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>168 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 169 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T&gt;</div>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/FastDefaultAllocator.h·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/WeightedSampler.h·File·Reference</title>
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95 </div>95 </div>
96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>·&#124;101 <a·href="#namespaces">Namespaces</a>··</div>
102 <a·href="#define-members">Macros</a>··</div> 
103 ··<div·class="headertitle"><div·class="title">FastDefaultAllocator.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">WeightedSampler.h·File·Reference</div></div>
104 </div><!--header-->103 </div><!--header-->
105 <div·class="contents">104 <div·class="contents">
  
106 <p>An·easy·way·to·control·which·allocator·is·used·for·Fast*·collections.··105 <p>Fast·sampling·without·replacement.··
107 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
108 <p><a·href="a00008_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00008_source.html">Go·to·the·source·code·of·this·file.</a></p>
109 <table·class="memberdecls">108 <table·class="memberdecls">
110 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
111 Classes</h2></td></tr>110 Classes</h2></td></tr>
112 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02304.html">gtsam::internal::FastDefaultAllocator&lt;·T·&gt;</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02664.html">gtsam::WeightedSampler&lt;·Engine·&gt;</a></td></tr>
113 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Default·allocator·for·list,·map,·and·set·types.··<a·href="a02304.html#details">More...</a><br·/></td></tr> 
114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
115 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02308.html">gtsam::internal::FastDefaultVectorAllocator&lt;·T·&gt;</a></td></tr> 
116 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Default·allocator·for·vector·types·(we·never·use·boost·pool·for·vectors)··<a·href="a02308.html#details">More...</a><br·/></td></tr> 
117 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
118 </table><table·class="memberdecls">113 </table><table·class="memberdecls">
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121 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>116 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
122 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>117 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
123 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>118 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
124 </table>119 </table>
125 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>120 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
126 <div·class="textblock"><p>An·easy·way·to·control·which·allocator·is·used·for·Fast*·collections.·</p>121 <div·class="textblock"><p>Fast·sampling·without·replacement.·</p>
127 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>122 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
128 <dl·class="section·date"><dt>Date</dt><dd>Aug·15,·2013·</dd></dl>123 <dl·class="section·date"><dt>Date</dt><dd>May·2019·</dd></dl>
129 </div></div><!--·contents·-->124 </div></div><!--·contents·-->
130 </div><!--·doc-content·-->125 </div><!--·doc-content·-->
131 <!--·start·footer·part·-->126 <!--·start·footer·part·-->
132 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->127 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
133 ··<ul>128 ··<ul>
134 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00008.html">FastDefaultAllocator.h</a></li>129 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00008.html">WeightedSampler.h</a></li>
135 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>130 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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138 </body>133 </body>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">FastDefaultAllocator.h</div></div>104 ··<div·class="headertitle"><div·class="title">WeightedSampler.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00008.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00008.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;gtsam/config.h&gt;</span>······<span·class="comment">//·Configuration·from·CMake</span></div> 
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#if·!defined·GTSAM_ALLOCATOR_BOOSTPOOL·&amp;&amp;·!defined·GTSAM_ALLOCATOR_TBB·&amp;&amp;·!defined·GTSAM_ALLOCATOR_STL</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#··ifdef·GTSAM_USE_TBB</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="comment">//···Use·TBB·allocator·by·default·if·we·have·TBB,·otherwise·boost·pool</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#····define·GTSAM_ALLOCATOR_TBB</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#··else</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#····define·GTSAM_ALLOCATOR_BOOSTPOOL</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#··endif</span></div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#endif</span></div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#if·defined·GTSAM_ALLOCATOR_BOOSTPOOL</span></div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#··include·&lt;boost/pool/pool_alloc.hpp&gt;</span></div> 
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#elif·defined·GTSAM_ALLOCATOR_TBB</span></div> 
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#··include·&lt;tbb/tbb_allocator.h&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;cmath&gt;</span></div>
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#··undef·min·</span><span·class="comment">//·TBB·seems·to·include·Windows.h·which·defines·these·macros·that·cause·problems</span></div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="preprocessor">#··undef·max</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;queue&gt;</span></div>
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#··undef·ERROR</span></div> 
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#elif·defined·GTSAM_ALLOCATOR_STL</span></div> 
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="preprocessor">#··include·&lt;memory&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;random&gt;</span></div>
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="preprocessor">#endif</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;stdexcept&gt;</span></div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a></div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>{</div> 
143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="comment">/*</span></div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">·*·Fast·sampling·without·replacement.</span></div>
 130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="comment">·*·Example·usage:</span></div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">·*···std::mt19937·rng(42);</span></div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">·*···WeightedSampler&lt;std::mt19937&gt;·sampler(&amp;rng);</span></div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">·*···auto·samples·=·sampler.sampleWithoutReplacement(5,·weights);</span></div>
144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">namespace·</span>internal</div>134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="comment">·*/</span></div>
145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··{</div> 
146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T&gt;</div>135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Engine·=·std::mt19937&gt;</div>
147 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="};">136 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};">
148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a02304.html">···49</a></span>····<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02304.html">FastDefaultAllocator</a></div>137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a02664.html">···37</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02664.html">WeightedSampler</a>·{</div>
 138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·<span·class="keyword">private</span>:</div>
 139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··Engine*·engine_;··<span·class="comment">//·random·number·generation·engine</span></div>
149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····{</div>140 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span><span·class="preprocessor">#if·defined·GTSAM_ALLOCATOR_BOOSTPOOL</span></div> 
151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<span·class="keyword">typedef</span>·boost::fast_pool_allocator&lt;T&gt;·type;</div> 
152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isBoost·=·<span·class="keyword">true</span>;</div> 
153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isTBB·=·<span·class="keyword">false</span>;</div> 
154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isSTL·=·<span·class="keyword">false</span>;</div> 
155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span><span·class="preprocessor">#elif·defined·GTSAM_ALLOCATOR_TBB</span></div> 
156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<span·class="keyword">typedef</span>·tbb::tbb_allocator&lt;T&gt;·type;</div> 
157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isBoost·=·<span·class="keyword">false</span>;</div> 
158 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isTBB·=·<span·class="keyword">true</span>;</div> 
159 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isSTL·=·<span·class="keyword">false</span>;</div> 
160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span><span·class="preprocessor">#elif·defined·GTSAM_ALLOCATOR_STL</span></div> 
161 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······<span·class="keyword">typedef</span>·std::allocator&lt;T&gt;·type;</div> 
162 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isBoost·=·<span·class="keyword">false</span>;</div> 
163 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isTBB·=·<span·class="keyword">false</span>;</div> 
164 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·isSTL·=·<span·class="keyword">true</span>;</div> 
165 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span><span·class="preprocessor">#endif</span></div>141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·<span·class="keyword">public</span>:</div>
 142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a02664.html#aa938b7f88f6efd2be5ee3b1cf12c85f7">···46</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02664.html#aa938b7f88f6efd2be5ee3b1cf12c85f7">WeightedSampler</a>(Engine*·engine)·:·engine_(engine)·{}</div>
 143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··std::vector&lt;size_t&gt;·sampleWithoutReplacement(</div>
 145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······<span·class="keywordtype">size_t</span>·numSamples,·<span·class="keyword">const</span>·std::vector&lt;double&gt;&amp;·weights)·{</div>
 146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····<span·class="comment">//·Implementation·adapted·from·code·accompanying·paper·at</span></div>
 147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="comment">//·https://www.ethz.ch/content/dam/ethz/special-interest/baug/ivt/ivt-dam/vpl/reports/1101-1200/ab1141.pdf</span></div>
 148 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·n·=·weights.size();</div>
 149 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keywordflow">if</span>·(n·&lt;·numSamples)·{</div>
 150 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······<span·class="keywordflow">throw</span>·std::runtime_error(</div>
 151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··········<span·class="stringliteral">&quot;numSamples·must·be·smaller·than·weights.size()&quot;</span>);</div>
166 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····};</div>152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····}</div>
167 </div>153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 154 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="comment">//·Return·empty·array·if·numSamples==0</span></div>
 155 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····std::vector&lt;size_t&gt;·result(numSamples);</div>
 156 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">if</span>·(numSamples·==·0)·<span·class="keywordflow">return</span>·result;</div>
 157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 158 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<span·class="comment">//·Step·1:·The·first·m·items·of·V·are·inserted·into·reservoir</span></div>
 159 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="comment">//·Step·2:·For·each·item·v_i·∈·reservoir:·Calculate·a·key·k_i·=·u_i^(1/w),</span></div>
 160 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="comment">//·where·u_i·=·random(0,·1)</span></div>
 161 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="comment">//·(Modification:·Calculate·and·store·-log·k_i·=·e_i·/·w·where·e_i·=·exp(1),</span></div>
 162 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="comment">//··reservoir·is·a·priority·queue·that·pops·the·*maximum*·elements)</span></div>
 163 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····std::priority_queue&lt;std::pair&lt;double,·size_t&gt;·&gt;·reservoir;</div>
168 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>164 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 165 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·kexp1·=·std::exp(1.0);</div>
 166 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordflow">for</span>·(<span·class="keyword">auto</span>·it·=·weights.begin();·it·!=·weights.begin()·+·numSamples;·++it)·{</div>
169 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T&gt;</div>167 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·k_i·=·kexp1·/·*it;</div>
170 <div·class="foldopen"·id="foldopen00071"·data-start="{"·data-end="};"> 
171 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno"><a·class="line"·href="a02308.html">···71</a></span>····<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02308.html">FastDefaultVectorAllocator</a></div>168 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······reservoir.push(std::make_pair(k_i,·it·-·weights.begin()·+·1));</div>
 169 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····}</div>
 170 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 171 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="comment">//·Step·4:·Repeat·Steps·5–10·until·the·population·is·exhausted</span></div>
172 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····{</div>172 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····{</div>
 173 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>······<span·class="comment">//·Step·3:·The·threshold·T_w·is·the·minimum·key·of·reservoir</span></div>
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103 <a·href="#func-members">Functions</a>··</div>103 <a·href="#func-members">Functions</a>·&#124;
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104 ··<div·class="headertitle"><div·class="title">Vector.h·File·Reference</div></div>105 ··<div·class="headertitle"><div·class="title">Group.h·File·Reference</div></div>
105 </div><!--header-->106 </div><!--header-->
106 <div·class="contents">107 <div·class="contents">
  
107 <p>typedef·and·functions·to·augment·Eigen's·VectorXd··108 <p>Concept·check·class·for·variable·types·with·Group·properties.··
108 <a·href="#details">More...</a></p>109 <a·href="#details">More...</a></p>
  
109 <p><a·href="a00014_source.html">Go·to·the·source·code·of·this·file.</a></p>110 <p><a·href="a00014_source.html">Go·to·the·source·code·of·this·file.</a></p>
110 <table·class="memberdecls">111 <table·class="memberdecls">
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 116 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 124 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 125 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02348.html">gtsam::DirectProduct</a></td></tr>
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 131 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 132 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02360.html">gtsam::traits&lt;·DirectSum&lt;·G,·H·&gt;·&gt;</a></td></tr>
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112 Namespaces</h2></td></tr>136 Namespaces</h2></td></tr>
113 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>137 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
114 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>138 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
115 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>139 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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118 Macros</h2></td></tr>142 Macros</h2></td></tr>
119 <tr·class="memitem:ab2fd0608a4ce4c91132e2380ea142499"·id="r_ab2fd0608a4ce4c91132e2380ea142499"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ab2fd0608a4ce4c91132e2380ea142499"·name="ab2fd0608a4ce4c91132e2380ea142499"></a> 
120 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>MKL_BLAS</b>&#160;&#160;&#160;MKL_DOMAIN_BLAS</td></tr>143 <tr·class="memitem:aac1ea136475ea605715c809f4b3f0156"·id="r_aac1ea136475ea605715c809f4b3f0156"><td·class="memItemLeft"·align="right"·valign="top">#define&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a00014.html#aac1ea136475ea60571[·...·truncated·by·diffoscope;·len:·141,·SHA:·6bc4ea46a90da616ad407e68741950a285ecbfe52c8618d075e123563c5a5650·...·]</td></tr>
 144 <tr·class="memdesc:aac1ea136475ea605715c809f4b3f0156"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Macros·for·using·the·IsGroup.··<br·/></td></tr>
121 <tr·class="separator:ab2fd0608a4ce4c91132e2380ea142499"><td·class="memSeparator"·colspan="2">&#160;</td></tr>145 <tr·class="separator:aac1ea136475ea605715c809f4b3f0156"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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122 <tr·class="memitem:a3db3efa973a0c25f0fa531f00a24c76b"·id="r_a3db3efa973a0c25f0fa531f00a24c76b"><td·class="memItemLeft"·align="right"·valign="top">#define&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a00014.html#a3db3efa973a0c25f0fa531f00a24c76b">GTSAM_MAKE_VECTOR_DEFS</a>(N)</td></tr> 
123 <tr·class="separator:a3db3efa973a0c25f0fa531f00a24c76b"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
124 </table><table·class="memberdecls"> 
125 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="typedef-members"·name="typedef-members"></a> 
126 Typedefs</h2></td></tr> 
127 <tr·class="memitem:aad6a39f5eb77f4d28961cef67ebf98f3"·id="r_aad6a39f5eb77f4d28961cef67ebf98f3"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aad6a39f5eb77f4d28961cef67ebf98f3"·name="aad6a39f5eb77f4d28961cef67ebf98f3"></a> 
128 typedef·Eigen::VectorXd&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::Vector</b></td></tr> 
129 <tr·class="separator:aad6a39f5eb77f4d28961cef67ebf98f3"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
130 <tr·class="memitem:a3acc4ae7ccbb2c04ee7e024f2d7e0675"·id="r_a3acc4ae7ccbb2c04ee7e024f2d7e0675"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a3acc4ae7ccbb2c04ee7e024f2d7e0675"·name="a3acc4ae7ccbb2c04ee7e024f2d7e0675"></a> 
131 typedef·Eigen::Matrix&lt;·double,·1,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::Vector1</b></td></tr> 
132 <tr·class="separator:a3acc4ae7ccbb2c04ee7e024f2d7e0675"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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134 typedef·Eigen::Vector2d&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::Vector2</b></td></tr> 
135 <tr·class="separator:a54f77c4fccbc506166116e363c1fa06e"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
136 <tr·class="memitem:a87074ffb029b86bb8c54edd2a29cb1ae"·id="r_a87074ffb029b86bb8c54edd2a29cb1ae"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a87074ffb029b86bb8c54edd2a29cb1ae"·name="a87074ffb029b86bb8c54edd2a29cb1ae"></a> 
137 typedef·Eigen::Vector3d&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::Vector3</b></td></tr> 
138 <tr·class="separator:a87074ffb029b86bb8c54edd2a29cb1ae"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
139 <tr·class="memitem:ae8d1471ff74798e876eac3c5dddc3d53"·id="r_ae8d1471ff74798e876eac3c5dddc3d53"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ae8d1471ff74798e876eac3c5dddc3d53"·name="ae8d1471ff74798e876eac3c5dddc3d53"></a> 
140 typedef·Eigen::VectorBlock&lt;·Vector·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::SubVector</b></td></tr> 
141 <tr·class="separator:ae8d1471ff74798e876eac3c5dddc3d53"><td·class="memSeparator"·colspan="2">&#160;</td></tr>148 <tr·class="separator:a775f74787da8b717f1b6b9932e30701d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
142 <tr·class="memitem:aab75d3757735f345508c14966678e983"·id="r_aab75d3757735f345508c14966678e983"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aab75d3757735f345508c14966678e983"·name="aab75d3757735f345508c14966678e983"></a> 
143 typedef·Eigen::VectorBlock&lt;·const·Vector·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::ConstSubVector</b></td></tr> 
144 <tr·class="separator:aab75d3757735f345508c14966678e983"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
145 </table><table·class="memberdecls">149 </table><table·class="memberdecls">
146 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>150 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
147 Functions</h2></td></tr>151 Functions</h2></td></tr>
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 153 template&lt;typename·G·&gt;·</td></tr>
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148 <tr·class="memitem:ae19c359190a379cba44bf818a2293f7c"·id="r_ae19c359190a379cba44bf818a2293f7c"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ae19c359190a379cba44bf818a2293f7c">gtsam::fpEqual</a>·(double·a,·double·b,·double·tol,·bool·check_relative_also=true)</td></tr> 
149 <tr·class="memdesc:ae19c359190a379cba44bf818a2293f7c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Ensure·we·are·not·including·a·different·version·of·Eigen·in·user·code·than·while·compiling·gtsam,·since·it·can·lead·to·hard-to-understand·runtime·crashes.··<br·/></td></tr> 
150 <tr·class="separator:ae19c359190a379cba44bf818a2293f7c"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
151 <tr·class="memitem:a760cc36e9009b23cf564c436294b3504"·id="r_a760cc36e9009b23cf564c436294b3504"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a760cc36e9009b23cf564c436294b3504"·name="a760cc36e9009b23cf564c436294b3504"></a> 
152 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::print</b>·(const·Vector·&amp;v,·const·std::string·&amp;s,·std::ostream·&amp;stream)</td></tr> 
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128 <div·class="textblock"><p>serialization·for·Vectors·</p>134 <div·class="textblock"><p>Global·debugging·flags.·</p>
129 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>135 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
130 <dl·class="section·date"><dt>Date</dt><dd>February·2022·</dd></dl>136 <dl·class="section·date"><dt>Date</dt><dd>Feb·1,·2011·</dd></dl>
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 117 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">We·store·the·forest·in·an·STL·map,·but·parents·are·done·with·pointers.··<a·href="a02288.html#details">More...</a><br·/></td></tr>
 118 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 119 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02292.html">gtsam::IndexPair</a></td></tr>
 120 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Small·utility·class·for·representing·a·wrappable·pairs·of·ints.··<a·href="a02292.html#details">More...</a><br·/></td></tr>
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109 Namespaces</h2></td></tr>124 Namespaces</h2></td></tr>
110 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>125 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
111 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>126 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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 129 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="typedef-members"·name="typedef-members"></a>
 130 Typedefs</h2></td></tr>
 131 <tr·class="memitem:a092fd3b7d2dd45e74b0f86535352096e"·id="r_a092fd3b7d2dd45e74b0f86535352096e"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a092fd3b7d2dd45e74b0f86535352096e"·name="a092fd3b7d2dd45e74b0f86535352096e"></a>
 132 typedef·std::vector&lt;·<a·class="el"·href="a02292.html">IndexPair</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::IndexPairVector</b></td></tr>
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 135 typedef·std::set&lt;·<a·class="el"·href="a02292.html">IndexPair</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::IndexPairSet</b></td></tr>
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 138 typedef·std::map&lt;·<a·class="el"·href="a02292.html">IndexPair</a>,·IndexPairSet·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::IndexPairSetMap</b></td></tr>
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 141 typedef·<a·class="el"·href="a02284.html">DSFMap</a>&lt;·<a·class="el"·href="a02292.html">IndexPair</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::DSFMapIndexPair</b></td></tr>
 142 <tr·class="separator:ab6fc976abe80b9b909bb77d8c541e20e"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 143 </table><table·class="memberdecls">
114 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>144 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
115 Functions</h2></td></tr>145 Functions</h2></td></tr>
 146 <tr·class="memitem:afc7c15222eaeb30c50aa9c485c13cd8d"·id="r_afc7c15222eaeb30c50aa9c485c13cd8d"><td·class="memItemLeft"·align="right"·valign="top"><a·id="afc7c15222eaeb30c50aa9c485c13cd8d"·name="afc7c15222eaeb30c50aa9c485c13cd8d"></a>
 147 IndexPairVector&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::IndexPairSetAsArray</b>·(IndexPairSet·&amp;set)</td></tr>
116 <tr><td·colspan="2"><div·class="groupHeader">Standard·serialization</div></td></tr> 
117 <tr><td·colspan="2"><div·class="groupText"><p>Serialization·in·default·compressed·format·</p> 
118 </div></td></tr> 
119 <tr·class="memitem:a007080ca4741cc3d3d6a209b0ae3fe61"·id="r_a007080ca4741cc3d3d6a209b0ae3fe61"><td·class="memTemplParams"·colspan="2">template&lt;class·T·&gt;·</td></tr> 
120 <tr·class="memitem:a007080ca4741cc3d3d6a209b0ae3fe61"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a007080ca4741cc3d3d6a209b0ae3fe61">gtsam::serializeToStream</a>·(const·T·&amp;input,·std::ostream·&amp;out_archive_stream)</td></tr> 
121 <tr·class="separator:a007080ca4741cc3d3d6a209b0ae3fe61"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
122 <tr·class="memitem:ab181d2a3de466fc0c87bd29501bbc7ab"·id="r_ab181d2a3de466fc0c87bd29501bbc7ab"><td·class="memTemplParams"·colspan="2"><a·id="ab181d2a3de466fc0c87bd29501bbc7ab"·name="ab181d2a3de466fc0c87bd29501bbc7ab"></a> 
123 template&lt;class·T·&gt;·</td></tr> 
124 <tr·class="memitem:ab181d2a3de466fc0c87bd29501bbc7ab"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::deserializeFromStream</b>·(std::istream·&amp;in_archive_stream,·T·&amp;output)</td></tr> 
125 <tr·class="memdesc:ab181d2a3de466fc0c87bd29501bbc7ab"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">deserializes·from·a·stream·<br·/></td></tr> 
126 <tr·class="separator:ab181d2a3de466fc0c87bd29501bbc7ab"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
127 <tr·class="memitem:aa12c78301a9d2968afe5a1a14baa7e90"·id="r_aa12c78301a9d2968afe5a1a14baa7e90"><td·class="memTemplParams"·colspan="2"><a·id="aa12c78301a9d2968afe5a1a14baa7e90"·name="aa12c78301a9d2968afe5a1a14baa7e90"></a> 
128 template&lt;class·T·&gt;·</td></tr> 
129 <tr·class="memitem:aa12c78301a9d2968afe5a1a14baa7e90"><td·class="memTemplItemLeft"·align="right"·valign="top">std::string&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializeToString</b>·(const·T·&amp;input)</td></tr> 
130 <tr·class="memdesc:aa12c78301a9d2968afe5a1a14baa7e90"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">serializes·to·a·string·<br·/></td></tr> 
131 <tr·class="separator:aa12c78301a9d2968afe5a1a14baa7e90"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
132 <tr·class="memitem:a262487af458d1f48dd7d3bc549caae00"·id="r_a262487af458d1f48dd7d3bc549caae00"><td·class="memTemplParams"·colspan="2"><a·id="a262487af458d1f48dd7d3bc549caae00"·name="a262487af458d1f48dd7d3bc549caae00"></a> 
133 template&lt;class·T·&gt;·</td></tr> 
134 <tr·class="memitem:a262487af458d1f48dd7d3bc549caae00"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::deserializeFromString</b>·(const·std::string·&amp;serialized,·T·&amp;output)</td></tr> 
135 <tr·class="memdesc:a262487af458d1f48dd7d3bc549caae00"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">deserializes·from·a·string·<br·/></td></tr> 
136 <tr·class="separator:a262487af458d1f48dd7d3bc549caae00"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
137 <tr·class="memitem:aa3261c2d455f892dae1921f8c3a39267"·id="r_aa3261c2d455f892dae1921f8c3a39267"><td·class="memTemplParams"·colspan="2"><a·id="aa3261c2d455f892dae1921f8c3a39267"·name="aa3261c2d455f892dae1921f8c3a39267"></a> 
138 template&lt;class·T·&gt;·</td></tr> 
139 <tr·class="memitem:aa3261c2d455f892dae1921f8c3a39267"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializeToFile</b>·(const·T·&amp;input,·const·std::string·&amp;filename)</td></tr> 
140 <tr·class="memdesc:aa3261c2d455f892dae1921f8c3a39267"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">serializes·to·a·file·<br·/></td></tr> 
141 <tr·class="separator:aa3261c2d455f892dae1921f8c3a39267"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
142 <tr·class="memitem:adbb4a71187706918faca3a11519b62f6"·id="r_adbb4a71187706918faca3a11519b62f6"><td·class="memTemplParams"·colspan="2"><a·id="adbb4a71187706918faca3a11519b62f6"·name="adbb4a71187706918faca3a11519b62f6"></a> 
143 template&lt;class·T·&gt;·</td></tr> 
144 <tr·class="memitem:adbb4a71187706918faca3a11519b62f6"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::deserializeFromFile</b>·(const·std::string·&amp;filename,·T·&amp;output)</td></tr> 
145 <tr·class="memdesc:adbb4a71187706918faca3a11519b62f6"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">deserializes·from·a·file·<br·/></td></tr> 
146 <tr·class="separator:adbb4a71187706918faca3a11519b62f6"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
147 <tr·class="memitem:a332bad7d1e70d3c04ceca35adce7a134"·id="r_a332bad7d1e70d3c04ceca35adce7a134"><td·class="memTemplParams"·colspan="2"><a·id="a332bad7d1e70d3c04ceca35adce7a134"·name="a332bad7d1e70d3c04ceca35adce7a134"></a> 
148 template&lt;class·T·&gt;·</td></tr> 
149 <tr·class="memitem:a332bad7d1e70d3c04ceca35adce7a134"><td·class="memTemplItemLeft"·align="right"·valign="top">std::string&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serialize</b>·(const·T·&amp;input)</td></tr> 
150 <tr·class="memdesc:a332bad7d1e70d3c04ceca35adce7a134"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">serializes·to·a·string·<br·/></td></tr> 
151 <tr·class="separator:a332bad7d1e70d3c04ceca35adce7a134"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
152 <tr·class="memitem:aa4d516d0d98946341ad2766521011d1b"·id="r_aa4d516d0d98946341ad2766521011d1b"><td·class="memTemplParams"·colspan="2"><a·id="aa4d516d0d98946341ad2766521011d1b"·name="aa4d516d0d98946341ad2766521011d1b"></a> 
153 template&lt;class·T·&gt;·</td></tr> 
154 <tr·class="memitem:aa4d516d0d98946341ad2766521011d1b"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::deserialize</b>·(const·std::string·&amp;serialized,·T·&amp;output)</td></tr> 
155 <tr·class="memdesc:aa4d516d0d98946341ad2766521011d1b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">deserializes·from·a·string·<br·/></td></tr> 
156 <tr·class="separator:aa4d516d0d98946341ad2766521011d1b"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
157 <tr><td·colspan="2"><div·class="groupHeader">XML·Serialization</div></td></tr> 
158 <tr><td·colspan="2"><div·class="groupText"><p>Serialization·to·XML·format·with·named·structures·</p> 
159 </div></td></tr> 
160 <tr·class="memitem:ae2e939177cf58b42d7ed4c9856d536c5"·id="r_ae2e939177cf58b42d7ed4c9856d536c5"><td·class="memTemplParams"·colspan="2">template&lt;class·T·&gt;·</td></tr> 
161 <tr·class="memitem:ae2e939177cf58b42d7ed4c9856d536c5"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ae2e939177cf58b42d7ed4c9856d536c5">gtsam::serializeToXMLStream</a>·(const·T·&amp;input,·std::ostream·&amp;out_archive_stream,·const·std::string·&amp;name=&quot;data&quot;)</td></tr> 
162 <tr·class="separator:ae2e939177cf58b42d7ed4c9856d536c5"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
163 <tr·class="memitem:a8d7ea177ef3e93af15a4a77c2bd7fa8b"·id="r_a8d7ea177ef3e93af15a4a77c2bd7fa8b"><td·class="memTemplParams"·colspan="2"><a·id="a8d7ea177ef3e93af15a4a77c2bd7fa8b"·name="a8d7ea177ef3e93af15a4a77c2bd7fa8b"></a> 
164 template&lt;class·T·&gt;·</td></tr> 
165 <tr·class="memitem:a8d7ea177ef3e93af15a4a77c2bd7fa8b"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::deserializeFromXMLStream</b>·(std::istream·&amp;in_archive_stream,·T·&amp;output,·const·std::string·&amp;name=&quot;data&quot;)</td></tr> 
166 <tr·class="memdesc:a8d7ea177ef3e93af15a4a77c2bd7fa8b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">deserializes·from·a·stream·in·XML·<br·/></td></tr> 
167 <tr·class="separator:a8d7ea177ef3e93af15a4a77c2bd7fa8b"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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169 template&lt;class·T·&gt;·</td></tr> 
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#namespaces">Namespaces</a>·&#124;100 <a·href="#namespaces">Namespaces</a>·&#124;
101 <a·href="#define-members">Macros</a>·&#124; 
102 <a·href="#func-members">Functions</a>··</div>101 <a·href="#func-members">Functions</a>··</div>
103 ··<div·class="headertitle"><div·class="title">debug.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">treeTraversal-inst.h·File·Reference</div></div>
104 </div><!--header-->103 </div><!--header-->
105 <div·class="contents">104 <div·class="contents">
  
106 <p>Global·debugging·flags.·· 
107 <a·href="#details">More...</a></p> 
  
108 <p><a·href="a00026_source.html">Go·to·the·source·code·of·this·file.</a></p>105 <p><a·href="a00026_source.html">Go·to·the·source·code·of·this·file.</a></p>
109 <table·class="memberdecls">106 <table·class="memberdecls">
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111 Namespaces</h2></td></tr>108 Namespaces</h2></td></tr>
112 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>109 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
113 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>110 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 112 <tr·class="memitem:a01434"·id="r_a01434"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01434.html">gtsam::treeTraversal</a></td></tr>
 113 <tr·class="memdesc:a01434"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Internal·functions·used·for·traversing·trees.·<br·/></td></tr>
115 </table><table·class="memberdecls"> 
116 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="define-members"·name="define-members"></a> 
117 Macros</h2></td></tr> 
118 <tr·class="memitem:af7270cef4672870336758d74db515187"·id="r_af7270cef4672870336758d74db515187"><td·class="memItemLeft"·align="right"·valign="top"><a·id="af7270cef4672870336758d74db515187"·name="af7270cef4672870336758d74db515187"></a> 
119 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>ISDEBUG</b>(S)&#160;&#160;&#160;(gtsam::guardedIsDebug(S))</td></tr> 
120 <tr·class="separator:af7270cef4672870336758d74db515187"><td·class="memSeparator"·colspan="2">&#160;</td></tr>114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
121 <tr·class="memitem:ac46f0859be95498efa4c901a71730a3f"·id="r_ac46f0859be95498efa4c901a71730a3f"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac46f0859be95498efa4c901a71730a3f"·name="ac46f0859be95498efa4c901a71730a3f"></a> 
122 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>SETDEBUG</b>(S,··V)&#160;&#160;&#160;((void)(gtsam::guardedSetDebug(S,V)))</td></tr> 
123 <tr·class="separator:ac46f0859be95498efa4c901a71730a3f"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
124 </table><table·class="memberdecls">115 </table><table·class="memberdecls">
125 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>116 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
126 Functions</h2></td></tr>117 Functions</h2></td></tr>
127 <tr·class="memitem:ad795393f0c5cabf9b56c337700b5b4ad"·id="r_ad795393f0c5cabf9b56c337700b5b4ad"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ad795393f0c5cabf9b56c337700b5b4ad"·name="ad795393f0c5cabf9b56c337700b5b4ad"></a> 
128 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::guardedIsDebug</b>·(const·std::string·&amp;s)</td></tr>118 <tr·class="memitem:a50e24f0a9085721425089cdce18f2475"·id="r_a50e24f0a9085721425089cdce18f2475"><td·class="memTemplParams"·colspan="2">template&lt;class·FOREST·,·typename·DATA·,·typename·VISITOR_PRE·,·typename·VISITOR_POST·&gt;·</td></tr>
 119 <tr·class="memitem:a50e24f0a9085721425089cdce18f2475"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01434.html#a50e24f0a9085721425089cdce18f2475">gtsam::treeTraversal::DepthFirstForest</a>·(FOREST·&amp;forest,·DATA·&amp;rootData,·VISITOR_PRE·&amp;visitorPre,·VISITOR_POST·&amp;visitorPost)</td></tr>
 120 <tr·class="memdesc:a50e24f0a9085721425089cdce18f2475"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Traverse·a·forest·depth-first·with·pre-order·and·post-order·visits.··<br·/></td></tr>
 121 <tr·class="separator:a50e24f0a9085721425089cdce18f2475"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 123 <tr·class="memitem:a3735d0cee6f4d530e75479f7b1ebaf07"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01434.html#a3735d0cee6f4d530e75479f7b1ebaf07">gtsam::treeTraversal::DepthFirstForest</a>·(FOREST·&amp;forest,·DATA·&amp;rootData,·VISITOR_PRE·&amp;visitorPre)</td></tr>
 124 <tr·class="memdesc:a3735d0cee6f4d530e75479f7b1ebaf07"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Traverse·a·forest·depth-first,·with·a·pre-order·visit·but·no·post-order·visit.··<br·/></td></tr>
 125 <tr·class="separator:a3735d0cee6f4d530e75479f7b1ebaf07"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 126 <tr·class="memitem:afd7410807789da9ad91d6630063be36f"·id="r_afd7410807789da9ad91d6630063be36f"><td·class="memTemplParams"·colspan="2">template&lt;class·FOREST·,·typename·DATA·,·typename·VISITOR_PRE·,·typename·VISITOR_POST·&gt;·</td></tr>
 127 <tr·class="memitem:afd7410807789da9ad91d6630063be36f"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01434.html#afd7410807789da9ad91d6630063be36f">gtsam::treeTraversal::DepthFirstForestParallel</a>·(FOREST·&amp;forest,·DATA·&amp;rootData,·VISITOR_PRE·&amp;visitorPre,·VISITOR_POST·&amp;visitorPost,·int·problemSizeThreshold=10)</td></tr>
 128 <tr·class="memdesc:afd7410807789da9ad91d6630063be36f"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Traverse·a·forest·depth-first·with·pre-order·and·post-order·visits.··<br·/></td></tr>
 129 <tr·class="separator:afd7410807789da9ad91d6630063be36f"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 130 <tr·class="memitem:a67e7c6f5c4916c4a58a783e6b566d55a"·id="r_a67e7c6f5c4916c4a58a783e6b566d55a"><td·class="memTemplParams"·colspan="2">template&lt;class·FOREST·&gt;·</td></tr>
 131 <tr·class="memitem:a67e7c6f5c4916c4a58a783e6b566d55a"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;·boost::shared_ptr&lt;·typename·FOREST::Node·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01434.html#a67e7c6f5c4916c4a58a783e6b566d55a">gtsam::treeTraversal::CloneForest</a>·(const·FOREST·&amp;forest)</td></tr>
 132 <tr·class="memdesc:a67e7c6f5c4916c4a58a783e6b566d55a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Clone·a·tree,·copy-constructing·new·nodes·(calling·boost::make_shared)·and·setting·up·child·pointers·for·a·clone·of·the·original·tree.··<br·/></td></tr>
129 <tr·class="separator:ad795393f0c5cabf9b56c337700b5b4ad"><td·class="memSeparator"·colspan="2">&#160;</td></tr>133 <tr·class="separator:a67e7c6f5c4916c4a58a783e6b566d55a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 <tr·class="memitem:a146cbcf83a545afa692d6d84dfba68c2"·id="r_a146cbcf83a545afa692d6d84dfba68c2"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a146cbcf83a545afa692d6d84dfba68c2"·name="a146cbcf83a545afa692d6d84dfba68c2"></a> 
131 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::guardedSetDebug</b>·(const·std::string·&amp;s,·const·bool·v)</td></tr>134 <tr·class="memitem:a7228bbaf6ad62b65be7a2084c01aae5c"·id="r_a7228bbaf6ad62b65be7a2084c01aae5c"><td·class="memTemplParams"·colspan="2">template&lt;class·FOREST·&gt;·</td></tr>
 135 <tr·class="memitem:a7228bbaf6ad62b65be7a2084c01aae5c"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01434.html#a7228bbaf6ad62b65be7a2084c01aae5c">gtsam::treeTraversal::PrintForest</a>·(const·FOREST·&amp;forest,·std::string·str,·const·<a·class="el"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter)</td></tr>
 136 <tr·class="memdesc:a7228bbaf6ad62b65be7a2084c01aae5c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Print·a·tree,·prefixing·each·line·with·<code>str</code>,·and·formatting·keys·using·<code>keyFormatter</code>.··<br·/></td></tr>
132 <tr·class="separator:a146cbcf83a545afa692d6d84dfba68c2"><td·class="memSeparator"·colspan="2">&#160;</td></tr>137 <tr·class="separator:a7228bbaf6ad62b65be7a2084c01aae5c"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
133 <tr·class="memitem:a7445e057a644b5bd2b51f03f04049b70"·id="r_a7445e057a644b5bd2b51f03f04049b70"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a7445e057a644b5bd2b51f03f04049b70"·name="a7445e057a644b5bd2b51f03f04049b70"></a> 
134 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::isDebugVersion</b>·()</td></tr> 
135 <tr·class="separator:a7445e057a644b5bd2b51f03f04049b70"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
136 </table>138 </table>
137 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>139 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
138 <div·class="textblock"><p>Global·debugging·flags.·</p> 
139 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>140 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
140 <dl·class="section·date"><dt>Date</dt><dd>Feb·1,·2011·</dd></dl>141 <dl·class="section·date"><dt>Date</dt><dd>April·9,·2013·</dd></dl>
141 </div></div><!--·contents·-->142 </div></div><!--·contents·-->
142 </div><!--·doc-content·-->143 </div><!--·doc-content·-->
143 <!--·start·footer·part·-->144 <!--·start·footer·part·-->
144 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->145 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
145 ··<ul>146 ··<ul>
146 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00026.html">debug.h</a></li>147 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00026.html">treeTraversal-inst.h</a></li>
147 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>148 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
148 ··</ul>149 ··</ul>
149 </div>150 </div>
150 </body>151 </body>
151 </html>152 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/debug.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/treeTraversal-inst.h·Source·File</title>
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99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">debug.h</div></div>104 ··<div·class="headertitle"><div·class="title">treeTraversal-inst.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00026.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00026.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
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 118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>
 120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;gtsam/base/treeTraversal/parallelTraversalTasks.h&gt;</span></div>
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 122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
 123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00038.html">gtsam/base/FastList.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01397.html">gtsam/global_includes.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00134.html">gtsam/base/FastVector.h</a>&gt;</span></div>
 125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
 126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;gtsam/config.h&gt;</span>·<span·class="comment">//·for·GTSAM_USE_TBB</span></div>
 127 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
 128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;stack&gt;</span></div>
 129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
 132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
 134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 136 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="}">
 137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a01434.html">···36</a></span><span·class="keyword">namespace·</span>treeTraversal·{</div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="comment">//·This·file·defines·granular·debugging·flags·that·may·be·switched·on·and·off</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="comment">//·at·run·time.··Typical·usage·is·&#39;if(ISDEBUG(&quot;myFunction&quot;))&#39;·to·check·if·the</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="comment">//·&#39;myFunction&#39;·flag·is·enabled,·and·SETDEBUG(&quot;myFunction&quot;,·true)·to·enable</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="comment">//·this·flag,·or·SETDEBUG(&quot;myFunction&quot;,·false)·to·disable·it.</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="comment">//</span></div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="comment">//·Debug·flags·are·created·automatically·as·they·are·accessed,·so·they·can·be</span></div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·used·immediately·without·explicitly·creating·them.··Each·flag·defaults·to</span></div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="comment">//·&#39;false&#39;,·i.e.·disabled.</span></div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">//</span></div> 
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">//·For·these·macro·to·have·any·effect,·granular·debugging·must·be·enabled·by</span></div> 
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">//·defining·GTSAM_ENABLE_DEBUG.··If·NDEBUG·is·not·defined,·then</span></div> 
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="comment">//·GTSAM_ENABLE_DEBUG·will·be·automatically·defined·and·thus·granular</span></div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="comment">//·debugging·enabled.</span></div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
 139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="comment">/*·*************************************************************************·*/</span></div>
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#ifndef·NDEBUG</span></div>140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">namespace·</span>{</div>
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="preprocessor">#ifndef·GTSAM_ENABLE_DEBUG</span></div> 
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="preprocessor">#define·GTSAM_ENABLE_DEBUG</span></div> 
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="preprocessor">#endif</span></div>141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="comment">//·Internal·node·used·in·DFS·preorder·stack</span></div>
 142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·NODE,·<span·class="keyword">typename</span>·DATA&gt;</div>
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="preprocessor">#endif</span></div>143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="keyword">struct·</span>TraversalNode·{</div>
 144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keywordtype">bool</span>·expanded;</div>
 145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">const</span>·boost::shared_ptr&lt;NODE&gt;&amp;·treeNode;</div>
 146 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··DATA&amp;·parentData;</div>
 147 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">typename</span>·<a·class="code·hl_class"·href="a02312.html">FastList&lt;DATA&gt;::iterator</a>·dataPointer;</div>
 148 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··TraversalNode(<span·class="keyword">const</span>·boost::shared_ptr&lt;NODE&gt;&amp;·_treeNode,·DATA&amp;·_parentData)·:</div>
 149 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······expanded(<span·class="keyword">false</span>),·treeNode(_treeNode),·parentData(_parentData)·{</div>
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>150 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··}</div>
143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··GTSAM_EXTERN_EXPORT·FastMap&lt;std::string,·ValueWithDefault&lt;bool,false&gt;·&gt;·debugFlags;</div> 
145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="comment">//·Non-guarded·use·led·to·crashes,·and·solved·in·commit·cd35db2</span></div> 
147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keywordtype">bool</span>·GTSAM_EXPORT·guardedIsDebug(<span·class="keyword">const</span>·std::string&amp;·s);</div> 
148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keywordtype">void</span>·GTSAM_EXPORT·guardedSetDebug(<span·class="keyword">const</span>·std::string&amp;·s,·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·v);</div> 
149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>151 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>};</div>
150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·function·to·check·if·compiled·version·has·debug·information</span></div> 
151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keywordtype">bool</span>·GTSAM_EXPORT·isDebugVersion();</div> 
152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>}</div> 
153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>152 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 153 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="comment">//·Do·nothing·-·default·argument·for·post-visitor·for·tree·traversal</span></div>
154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="preprocessor">#undef·ISDEBUG</span></div>154 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">struct·</span>no_op·{</div>
 155 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·NODE,·<span·class="keyword">typename</span>·DATA&gt;</div>
 156 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordtype">void</span>·operator()(<span·class="keyword">const</span>·boost::shared_ptr&lt;NODE&gt;&amp;·node,·<span·class="keyword">const</span>·DATA&amp;·data)·{</div>
155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span><span·class="preprocessor">#undef·SETDEBUG</span></div>157 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··}</div>
156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>158 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>};</div>
157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><span·class="preprocessor">#ifdef·GTSAM_ENABLE_DEBUG</span></div>159 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
158 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>160 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>}</div>
159 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="preprocessor">#define·ISDEBUG(S)·(gtsam::guardedIsDebug(S))</span></div> 
160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span><span·class="preprocessor">#define·SETDEBUG(S,V)·((void)(gtsam::guardedSetDebug(S,V)))</span></div> 
161 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>161 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span><span·class="keyword">template</span>&lt;<span·class="keyword">class·</span>FOREST,·<span·class="keyword">typename</span>·DATA,·<span·class="keyword">typename</span>·VISITOR_PRE,</div>
 163 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="keyword">typename</span>·VISITOR_POST&gt;</div>
 164 <div·class="foldopen"·id="foldopen00077"·data-start="{"·data-end="}">
 165 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno"><a·class="line"·href="a01434.html#a50e24f0a9085721425089cdce18f2475">···77</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01434.html#a50e24f0a9085721425089cdce18f2475">DepthFirstForest</a>(FOREST&amp;·forest,·DATA&amp;·rootData,·VISITOR_PRE&amp;·visitorPre,</div>
 166 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····VISITOR_POST&amp;·visitorPost)·{</div>
 167 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="comment">//·Typedefs</span></div>
 168 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·FOREST::Node·Node;</div>
 169 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;Node&gt;·sharedNode;</div>
 170 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>
 171 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<span·class="comment">//·Depth·first·traversal·stack</span></div>
 172 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<span·class="keyword">typedef</span>·TraversalNode&lt;typename·FOREST::Node,·DATA&gt;·TraversalNode;</div>
 173 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02312.html">FastList&lt;TraversalNode&gt;</a>·Stack;</div>
 174 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··Stack·<a·class="code·hl_function"·href="a01428.html#a5c82884a356ddd09229a5283aed04df9">stack</a>;</div>
 175 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<a·class="code·hl_class"·href="a02312.html">FastList&lt;DATA&gt;</a>·dataList;·<span·class="comment">//·List·to·store·node·data·as·it·is·returned·from·the·pre-order·visitor</span></div>
 176 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
 177 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="comment">//·Add·roots·to·stack·(insert·such·that·they·are·visited·and·processed·in·order</span></div>
 178 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··{</div>
 179 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····<span·class="keyword">typename</span>·Stack::iterator·insertLocation·=·<a·class="code·hl_function"·href="a01428.html#a5c82884a356ddd09229a5283aed04df9">stack</a>.begin();</div>
 180 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·sharedNode&amp;·root:·forest.roots())</div>
 181 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>······<a·class="code·hl_function"·href="a01428.html#a5c82884a356ddd09229a5283aed04df9">stack</a>.insert(insertLocation,·TraversalNode(root,·rootData));</div>
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103 ··<div·class="headertitle"><div·class="title">serializationTestHelpers.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">SymmetricBlockMatrix.cpp·File·Reference</div></div>
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115 Functions</h2></td></tr> 
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117 template&lt;class·T·&gt;·</td></tr> 
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124 template&lt;class·T·&gt;·</td></tr> 
125 <tr·class="memitem:a28a0db1d956ec46b7961c97f561f1d52"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::roundtrip</b>·(const·T·&amp;input,·T·&amp;output)</td></tr> 
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128 template&lt;class·T·&gt;·</td></tr> 
129 <tr·class="memitem:a1ce0a0efd90fbaa99a33267d0b5497f2"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::roundtripFile</b>·(const·T·&amp;input,·T·&amp;output)</td></tr> 
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132 template&lt;class·T·&gt;·</td></tr> 
133 <tr·class="memitem:a7716234e0ed8a78aa754d86770bf7cd2"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::equality</b>·(const·T·&amp;input=T())</td></tr> 
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136 template&lt;class·T·&gt;·</td></tr> 
137 <tr·class="memitem:a211403c98907c641fbbd04c09087948d"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::equalsObj</b>·(const·T·&amp;input=T())</td></tr> 
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140 template&lt;class·T·&gt;·</td></tr> 
141 <tr·class="memitem:adc9911aad16c4c0c3d7beb2826aba812"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::equalsDereferenced</b>·(const·T·&amp;input)</td></tr> 
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144 template&lt;class·T·&gt;·</td></tr> 
145 <tr·class="memitem:a53d913075aae098725e020da48840067"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::roundtripXML</b>·(const·T·&amp;input,·T·&amp;output)</td></tr> 
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148 template&lt;class·T·&gt;·</td></tr> 
149 <tr·class="memitem:a3777b50528d17741fdfeeb77b6c6c012"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::roundtripXMLFile</b>·(const·T·&amp;input,·T·&amp;output)</td></tr> 
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153 <tr·class="memitem:a2d091b3e02566c09b4757fee29239701"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::equalityXML</b>·(const·T·&amp;input=T())</td></tr> 
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156 template&lt;class·T·&gt;·</td></tr> 
157 <tr·class="memitem:a7bd1712ccb1939de2587c2a621c87f45"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::equalsXML</b>·(const·T·&amp;input=T())</td></tr> 
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160 template&lt;class·T·&gt;·</td></tr> 
161 <tr·class="memitem:a0ee23a7b74e9d554236804952f7e4bd2"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::equalsDereferencedXML</b>·(const·T·&amp;input=T())</td></tr> 
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165 <tr·class="memitem:a949f5709ff96b291b22ee2a0c16121f7"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::roundtripBinary</b>·(const·T·&amp;input,·T·&amp;output)</td></tr> 
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169 <tr·class="memitem:a8bd1afa797020a5192f68f2f5989c139"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::roundtripBinaryFile</b>·(const·T·&amp;input,·T·&amp;output)</td></tr> 
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172 template&lt;class·T·&gt;·</td></tr> 
173 <tr·class="memitem:ad75d4fed1638b33f08002a2600aef35d"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::equalityBinary</b>·(const·T·&amp;input=T())</td></tr> 
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176 template&lt;class·T·&gt;·</td></tr> 
177 <tr·class="memitem:a1e5d51b6c575d0546b547e69bc894aa0"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::equalsBinary</b>·(const·T·&amp;input=T())</td></tr> 
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180 template&lt;class·T·&gt;·</td></tr> 
181 <tr·class="memitem:a8eacbfffb8ec7f3335d0077f57aa0e85"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serializationTestHelpers::equalsDereferencedBinary</b>·(const·T·&amp;input=T())</td></tr> 
182 <tr·class="separator:a8eacbfffb8ec7f3335d0077f57aa0e85"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
183 </table><table·class="memberdecls"> 
184 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="var-members"·name="var-members"></a> 
185 Variables</h2></td></tr> 
186 <tr·class="memitem:a087685f54898c5180dd954bfc1e5fb1f"·id="r_a087685f54898c5180dd954bfc1e5fb1f"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a087685f54898c5180dd954bfc1e5fb1f"·name="a087685f54898c5180dd954bfc1e5fb1f"></a> 
187 const·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>verbose</b>·=·false</td></tr> 
188 <tr·class="separator:a087685f54898c5180dd954bfc1e5fb1f"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
189 </table>112 </table>
190 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 114 <div·class="textblock"><p>Access·to·matrices·via·blocks·of·pre-defined·sizes.·</p>
 115 <p>Used·in·GaussianFactor·and·<a·class="el"·href="a05068.html"·title="is·the·normalization·constant.">GaussianConditional</a>.·</p><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
191 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Alex·Cunningham·</dd> 
192 <dd> 
193 Richard·Roberts·</dd></dl> 
194 <dl·class="section·date"><dt>Date</dt><dd>Feb·7,·2012·</dd></dl>116 <dl·class="section·date"><dt>Date</dt><dd>Sep·18,·2010·</dd></dl>
195 </div></div><!--·contents·-->117 </div></div><!--·contents·-->
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199 ··<ul>121 ··<ul>
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99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
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103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>A·thin·wrapper·around·std::map·that·uses·boost's·fast_pool_allocator.··105 <p>A·thin·wrapper·around·std::list·that·uses·boost's·fast_pool_allocator.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00038_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00038_source.html">Go·to·the·source·code·of·this·file.</a></p>
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a02316.html"·title="FastMap·is·a·thin·wrapper·around·std::map·that·uses·the·boost·fast_pool_allocator·instead·of·the·defa...">FastMap</a>·is·a·thin·wrapper·around·std::map·that·uses·the·boost·fast_pool_allocator·instead·of·the·default·STL·allocator.··<a·href="a[·...·truncated·by·diffoscope;·len:·5,·SHA:·e0f8866c48a4977ef98546bb1e14ecd992572ea24e1265f6d4049ba463fb88e2·...·].html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a02312.html"·title="FastList·is·a·thin·wrapper·around·std::list·that·uses·the·boost·fast_pool_allocator·instead·of·the·de...">FastList</a>·is·a·thin·wrapper·around·std::list·that·uses·the·boost·fast_pool_allocator·instead·of·the·default·STL·allocator.··<a·href=[·...·truncated·by·diffoscope;·len:·7,·SHA:·b7fddfdf4fedb7f984d337588605f609e3ba820b00c36632c00c901a4447bd69·...·].html#details">More...</a><br·/></td></tr>
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
114 </table><table·class="memberdecls">114 </table><table·class="memberdecls">
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116 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 </table>120 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>A·thin·wrapper·around·std::map·that·uses·boost's·fast_pool_allocator.·</p>122 <div·class="textblock"><p>A·thin·wrapper·around·std::list·that·uses·boost's·fast_pool_allocator.·</p>
123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
124 <dl·class="section·date"><dt>Date</dt><dd>Oct·17,·2010·</dd></dl>124 <dl·class="section·date"><dt>Date</dt><dd>Oct·22,·2010·</dd></dl>
125 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
126 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
127 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
129 ··<ul>129 ··<ul>
130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00038.html">FastMap.h</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00038.html">FastList.h</a></li>
131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
132 ··</ul>132 ··</ul>
133 </div>133 </div>
134 </body>134 </body>
135 </html>135 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/FastMap.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/FastList.h·Source·File</title>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">FastMap.h</div></div>104 ··<div·class="headertitle"><div·class="title">FastList.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00038.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00038.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
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115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00008.html">gtsam/base/FastDefaultAllocator.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00005.html">gtsam/base/FastDefaultAllocator.h</a>&gt;</span></div>
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 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/utility/enable_if.hpp&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
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124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;map&gt;</span></div> 
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
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127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
128 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·KEY,·<span·class="keyword">typename</span>·VALUE&gt;</div>131 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·VALUE&gt;</div>
129 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};">132 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="};">
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131 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··typename·internal::FastDefaultAllocator&lt;std::pair&lt;const·KEY,·VALUE&gt;·&gt;::type&gt;·{</div> 
132 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div> 
133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">public</span>:</div> 
134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
135 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">typedef</span>·std::map&lt;KEY,·VALUE,·std::less&lt;KEY&gt;,</div>135 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="keyword">public</span>:</div>
136 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keyword">typename</span>·<a·class="code·hl_struct"·href="a02304.html">internal::FastDefaultAllocator&lt;std::pair&lt;const·KEY,·VALUE&gt;</a>·&gt;::type·&gt;·Base;</div> 
137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>136 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a02316.html#aa2c7d3ae2440cc9e7f4cbbcd6cfdfbf5">···46</a></span>··<a·class="code·hl_function"·href="a02316.html#aa2c7d3ae2440cc9e7f4cbbcd6cfdfbf5">FastMap</a>()·{}</div>137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">typedef</span>·std::list&lt;VALUE,·typename·internal::FastDefaultAllocator&lt;VALUE&gt;::type&gt;·Base;</div>
139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a02312.html#a4ddfad84c21aa8e028650085d28e64e1">···47</a></span>··<a·class="code·hl_function"·href="a02312.html#a4ddfad84c21aa8e028650085d28e64e1">FastList</a>()·{}</div>
 140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·INPUTITERATOR&gt;</div>141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·INPUTITERATOR&gt;</div>
141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a02316.html#a44f4df011d0ec4151435413fe4633a76">···50</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02316.html#a44f4df011d0ec4151435413fe4633a76">FastMap</a>(INPUTITERATOR·first,·INPUTITERATOR·last)·:·Base(first,·last)·{}</div>142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02312.html#a4b392c0cdea93c6af52956ccf6282f44">···51</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02312.html#a4b392c0cdea93c6af52956ccf6282f44">FastList</a>(INPUTITERATOR·first,·INPUTITERATOR·last)·:·Base(first,·last)·{}</div>
142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>143 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
143 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a02316.html#a882d34220cdc01fe4aa83ea2bbf29ce6">···53</a></span>··<a·class="code·hl_function"·href="a02316.html#a882d34220cdc01fe4aa83ea2bbf29ce6">FastMap</a>(<span·class="keyword">const</span>[·...·truncated·by·diffoscope;·len:·60,·SHA:·d43d7f5497cdb2ae9ff7ed8f699585bce1fcdb1f6c2790949885f825fd2a5286·...·]VALUE&gt;</a>&amp;·x)·:·Base(x)·{}</div>144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a02312.html#a64ede4dd260eb040bf895828796af872">···54</a></span>··<a·class="code·hl_function"·href="a02312.html#a64ede4dd260eb040bf895828796af872">FastList</a>(<span·class="keyword">const</span[·...·truncated·by·diffoscope;·len:·58,·SHA:·75b1acf3bdab10cbfa357ea82bb1c3dd62a42e0ba47fd69cead428da510a3ade·...·]VALUE&gt;</a>&amp;·x)·:·Base(x)·{}</div>
144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>145 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a02316.html#a2e756b7ee7f04a4e9d890ce38d388d61">···56</a></span>··<a·class="code·hl_function"·href="a02316.html#a2e756b7ee7f04a4e9d890ce38d388d61">FastMap</a>(<span·class="keyword">const</span>·Base&amp;·x)·:·Base(x)·{}</div>146 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a02312.html#ad71cc6bc403f46960f54c75bc956093f">···57</a></span>··<a·class="code·hl_function"·href="a02312.html#ad71cc6bc403f46960f54c75bc956093f">FastList</a>(<span·class="keyword">const</span>·Base&amp;·x)·:·Base(x)·{}</div>
146 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>147 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 148 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a02312.html#a4fe23ef7de32013838ac668231983daf">···60</a></span>··<a·class="code·hl_function"·href="a02312.html#a4fe23ef7de32013838ac668231983daf">FastList</a>(std::initializer_list&lt;VALUE&gt;·l)·:·Base(l)·{}</div>
147 <div·class="foldopen"·id="foldopen00059"·data-start="{"·data-end="}"> 
148 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a02316.html#a64addaed169f9a54a4cba54da5c9571d">···59</a></span>··<span·class="keyword">operator</span>·std::map&lt;KEY,VALUE&gt;()<span·class="keyword">·const·</span>{</div> 
149 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">return</span>·std::map&lt;KEY,VALUE&gt;(this-&gt;begin(),·this-&gt;end());</div> 
150 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div>149 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 150 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span><span·class="preprocessor">#ifdef·GTSAM_ALLOCATOR_BOOSTPOOL</span></div>
 151 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<a·class="code·hl_function"·href="a02312.html#a4ddfad84c21aa8e028650085d28e64e1">FastList</a>(<span·class="keyword">const</span>·std::list&lt;VALUE&gt;&amp;·x)·{</div>
 152 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="comment">//·This·if·statement·works·around·a·bug·in·boost·pool·allocator·and/or</span></div>
 153 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="comment">//·STL·vector·where·if·the·size·is·zero,·the·pool·allocator·will·allocate</span></div>
 154 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····<span·class="comment">//·huge·amounts·of·memory.</span></div>
151 </div> 
152 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div> 
153 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a02316.html#a5c254b6b3b877e2987970bc08b2a6c89">···64</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a02316.html#a5c254b6b3b877e2987970bc08b2a6c89">insert2</a>(<span·class="keyword">const</span>·KEY&amp;·key,·<span·class="keyword">const</span>·VALUE&amp;·val)·{·<span·class="keywordflow">return</span>·Base::insert(std::make_pair(key,·val)).second;·}</div> 
154 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div> 
155 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a02316.html#ab2d8e8a8da5e66cffdbf553bf2ea7df0">···67</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a02316.html#ab2d8e8a8da5e66cffdbf553bf2ea7df0">exists</a>(<span·class="keyword">const</span>·KEY&amp;·e)<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·this-&gt;find(e)·!=·this-&gt;end();·}</div> 
156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div> 
157 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span><span·class="keyword">private</span>:</div>155 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="keywordflow">if</span>(x.size()·&gt;·0)</div>
 156 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······Base::assign(x.begin(),·x.end());</div>
158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno"><a·class="line"·href="a02316.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">···71</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a02316.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div> 
159 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div> 
160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div> 
161 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····ar·&amp;·BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);</div> 
162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··}</div>157 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··}</div>
 158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span><span·class="preprocessor">#endif</span></div>
 159 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
 160 <div·class="foldopen"·id="foldopen00074"·data-start="{"·data-end="}">
 161 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno"><a·class="line"·href="a02312.html#a7c6e1a66ccf6adc94022389c3d81af55">···74</a></span>··<span·class="keyword">operator</span>·std::list&lt;VALUE&gt;()<span·class="keyword">·const·</span>{</div>
 162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="keywordflow">return</span>·std::list&lt;VALUE&gt;(this-&gt;begin(),·this-&gt;end());</div>
163 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>};</div>163 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··}</div>
164 </div>164 </div>
165 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>165 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
 166 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span><span·class="keyword">private</span>:</div>
 167 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a02312.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">···80</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a02312.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>
 168 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
 169 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 170 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····ar·&amp;·BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);</div>
 171 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··}</div>
 172 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
 173 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>};</div>
 174 </div>
 175 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>
166 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>}</div>176 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>}</div>
167 <div·class="ttc"·id="aa00008_html"><div·class="ttname"><a·href="a00008.html">FastDefaultAllocator.h</a></div><div·class="ttdoc">An·easy·way·to·control·which·allocator·is·used·for·Fast*·collections.</div></div>177 <div·class="ttc"·id="aa00005_html"><div·class="ttname"><a·href="a00005.html">FastDefaultAllocator.h</a></div><div·class="ttdoc">An·easy·way·to·control·which·allocator·is·used·for·Fast*·collections.</div></div>
168 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>178 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
169 <div·class="ttc"·id="aa02304_html"><div·class="ttname"><a·href="a02304.html">gtsam::internal::FastDefaultAllocator</a></div><div·class="ttdoc">Default·allocator·for·list,·map,·and·set·types.</div><div·class="ttdef"><b>Definition</b>·FastDefaultAllocator.h:50</div></div> 
170 <div·class="ttc"·id="aa02316_html"><div·class="ttname"><a·href="a02316.html">gtsam::FastMap</a></div><div·class="ttdoc">FastMap·is·a·thin·wrapper·around·std::map·that·uses·the·boost·fast_pool_allocator·instead·of·the·defa...</div><div·class="ttdef"><b>Definition</b>·FastMap.h:38</div></div>179 <div·class="ttc"·id="aa02312_html"><div·class="ttname"><a·href="a02312.html">gtsam::FastList</a></div><div·class="ttdoc">FastList·is·a·thin·wrapper·around·std::list·that·uses·the·boost·fast_pool_allocator·instead·of·the·de...</div><div·class="ttdef"><b>Definition</b>·FastList.h:40</div></div>
 180 <div·class="ttc"·id="aa02312_html_a4b392c0cdea93c6af52956ccf6282f44"><div·class="ttname"><a·href="a02312.html#a4b392c0cdea93c6af52956ccf6282f44">gtsam::FastList::FastList</a></div><div·class="ttdeci">FastList(INPUTITERATOR·first,·INPUTITERATOR·last)</div><div·class="ttdoc">Constructor·from·a·range,·passes·through·to·base·class.</div><div·class="ttdef"><b>Definition</b>·FastList.h:51</div></div>
 181 <div·class="ttc"·id="aa02312_html_a4ddfad84c21aa8e028650085d28e64e1"><div·class="ttname"><a·href="a02312.html#a4ddfad84c21aa8e028650085d28e64e1">gtsam::FastList::FastList</a></div><div·class="ttdeci">FastList()</div><div·class="ttdoc">Default·constructor.</div><div·class="ttdef"><b>Definition</b>·FastList.h:47</div></div>
 182 <div·class="ttc"·id="aa02312_html_a4fe23ef7de32013838ac668231983daf"><div·class="ttname"><a·href="a02312.html#a4fe23ef7de32013838ac668231983daf">gtsam::FastList::FastList</a></div><div·class="ttdeci">FastList(std::initializer_list&lt;·VALUE·&gt;·l)</div><div·class="ttdoc">Construct·from·c++11·initializer·list:</div><div·class="ttdef"><b>Definition</b>·FastList.h:60</div></div>
 183 <div·class="ttc"·id="aa02312_html_a64ede4dd260eb040bf895828796af872"><div·class="ttname"><a·href="a02312.html#a64ede4dd260eb040bf895828796af872">gtsam::FastList::FastList</a></div><div·class="ttdeci">FastList(const·FastList&lt;·VALUE·&gt;·&amp;x)</div><div·class="ttdoc">Copy·constructor·from·another·FastList.</div><div·class="ttdef"><b>Definition</b>·FastList.h:54</div></div>
171 <div·class="ttc"·id="aa02316_html_a2e756b7ee7f04a4e9d890ce38d388d61"><div·class="ttname"><a·href="a02316.html#a2e756b7ee7f04a4e9d890ce38d388d61">gtsam::FastMap::FastMap</a></div><div·class="ttdeci">FastMap(const·Base·&amp;x)</div><div·class="ttdoc">Copy·constructor·from·the·base·map·class.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:56</div></div> 
172 <div·class="ttc"·id="aa02316_html_a44f4df011d0ec4151435413fe4633a76"><div·class="ttname"><a·href="a02316.html#a44f4df011d0ec4151435413fe4633a76">gtsam::FastMap::FastMap</a></div><div·class="ttdeci">FastMap(INPUTITERATOR·first,·INPUTITERATOR·last)</div><div·class="ttdoc">Constructor·from·a·range,·passes·through·to·base·class.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:50</div></div> 
173 <div·class="ttc"·id="aa02316_html_a5c254b6b3b877e2987970bc08b2a6c89"><div·class="ttname"><a·href="a02316.html#a5c254b6b3b877e2987970bc08b2a6c89">gtsam::FastMap::insert2</a></div><div·class="ttdeci">bool·insert2(const·KEY·&amp;key,·const·VALUE·&amp;val)</div><div·class="ttdoc">Handy·'insert'·function·for·Matlab·wrapper.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:64</div></div> 
174 <div·class="ttc"·id="aa02316_html_a882d34220cdc01fe4aa83ea2bbf29ce6"><div·class="ttname"><a·href="a02316.html#a882d34220cdc01fe4aa83ea2bbf29ce6">gtsam::FastMap::FastMap</a></div><div·class="ttdeci">FastMap(const·FastMap&lt;·KEY,·VALUE·&gt;·&amp;x)</div><div·class="ttdoc">Copy·constructor·from·another·FastMap.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:53</div></div> 
175 <div·class="ttc"·id="aa02316_html_aa2c7d3ae2440cc9e7f4cbbcd6cfdfbf5"><div·class="ttname"><a·href="a02316.html#aa2c7d3ae2440cc9e7f4cbbcd6cfdfbf5">gtsam::FastMap::FastMap</a></div><div·class="ttdeci">FastMap()</div><div·class="ttdoc">Default·constructor.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:46</div></div> 
176 <div·class="ttc"·id="aa02316_html_ab2d8e8a8da5e66cffdbf553bf2ea7df0"><div·class="ttname"><a·href="a02316.html#ab2d8e8a8da5e66cffdbf553bf2ea7df0">gtsam::FastMap::exists</a></div><div·class="ttdeci">bool·exists(const·KEY·&amp;e)·const</div><div·class="ttdoc">Handy·'exists'·function.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:67</div></div> 
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102 ··<div·class="headertitle"><div·class="title">FastSet.h·File·Reference</div></div>105 ··<div·class="headertitle"><div·class="title">Matrix.h·File·Reference</div></div>
103 </div><!--header-->106 </div><!--header-->
104 <div·class="contents">107 <div·class="contents">
  
105 <p>A·thin·wrapper·around·std::set·that·uses·boost's·fast_pool_allocator.··108 <p>typedef·and·functions·to·augment·Eigen's·MatrixXd··
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107 <p><a·href="a00044_source.html">Go·to·the·source·code·of·this·file.</a></p>110 <p><a·href="a00044_source.html">Go·to·the·source·code·of·this·file.</a></p>
108 <table·class="memberdecls">111 <table·class="memberdecls">
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94 </div>94 </div>
95 </div>95 </div>
96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124; 
101 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">FastList.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">DSFVector.cpp·File·Reference</div></div>
103 </div><!--header-->102 </div><!--header-->
104 <div·class="contents">103 <div·class="contents">
  
105 <p>A·thin·wrapper·around·std::list·that·uses·boost's·fast_pool_allocator.··104 <p>a·faster·implementation·for·DSF,·which·uses·vector·rather·than·btree.··
106 <a·href="#details">More...</a></p>105 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00047_source.html">Go·to·the·source·code·of·this·file.</a></p> 
108 <table·class="memberdecls">106 <table·class="memberdecls">
109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a> 
110 Classes</h2></td></tr> 
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02312.html">gtsam::FastList&lt;·VALUE·&gt;</a></td></tr> 
112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a02312.html"·title="FastList·is·a·thin·wrapper·around·std::list·that·uses·the·boost·fast_pool_allocator·instead·of·the·de...">FastList</a>·is·a·thin·wrapper·around·std::list·that·uses·the·boost·fast_pool_allocator·instead·of·the·default·STL·allocator.··<a·href="a02312.html#details">More...</a><br·/></td></tr> 
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115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
116 Namespaces</h2></td></tr>108 Namespaces</h2></td></tr>
117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>109 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>110 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 </table>112 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 114 <div·class="textblock"><p>a·faster·implementation·for·DSF,·which·uses·vector·rather·than·btree.·</p>
122 <div·class="textblock"><p>A·thin·wrapper·around·std::list·that·uses·boost's·fast_pool_allocator.·</p> 
123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
124 <dl·class="section·date"><dt>Date</dt><dd>Oct·22,·2010·</dd></dl>115 <dl·class="section·date"><dt>Date</dt><dd>Jun·25,·2010·</dd></dl>
 116 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd></dl>
125 </div></div><!--·contents·-->117 </div></div><!--·contents·-->
126 </div><!--·doc-content·-->118 </div><!--·doc-content·-->
127 <!--·start·footer·part·-->119 <!--·start·footer·part·-->
128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->120 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
129 ··<ul>121 ··<ul>
130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00047.html">FastList.h</a></li>122 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00047.html">DSFVector.cpp</a></li>
131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>123 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
132 ··</ul>124 ··</ul>
133 </div>125 </div>
134 </body>126 </body>
135 </html>127 </html>
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1 <!DOCTYPE·html·PUBLIC·"-//W3C//DTD·XHTML·1.0·Transitional//EN"·"https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">1 <!DOCTYPE·html·PUBLIC·"-//W3C//DTD·XHTML·1.0·Transitional//EN"·"https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/make_shared.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/ConcurrentMap.h·Source·File</title>
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13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">make_shared.h</div></div>104 ··<div·class="headertitle"><div·class="title">ConcurrentMap.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00056.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2020,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00125.html">gtsam/base/types.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;Eigen/Core&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01394.html">gtsam/global_includes.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="comment">//·Change·class·depending·on·whether·we·are·using·TBB</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#ifdef·GTSAM_USE_TBB</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="comment">//·Include·TBB·header</span></div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#··include·&lt;tbb/concurrent_unordered_map.h&gt;</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#··undef·min·</span><span·class="comment">//·TBB·seems·to·include·Windows.h·which·defines·these·macros·that·cause·problems</span></div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;type_traits&gt;</span></div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#··undef·max</span></div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#··undef·ERROR</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div> 
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">template</span>&lt;<span·class="keywordtype">bool</span>·B,·<span·class="keyword">class</span>·T·=·<span·class="keywordtype">void</span>&gt;</div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a01428.html#a47e06cd29f4e8a20a8a7842e4045845f">···31</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a01428.html#a47e06cd29f4e8a20a8a7842e4045845f">enable_if_t</a>·=·<span·class="keyword">typename</span>·std::enable_if&lt;B,·T&gt;::type;</div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>}</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;functional&gt;</span>·<span·class="comment">//·std::hash()</span></div>
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">//·Use·TBB·concurrent_unordered_map·for·ConcurrentMap</span></div>
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·KEY,·<span·class="keyword">typename</span>·VALUE&gt;</div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">using·</span><a·class="code·hl_class"·href="a02316.html">ConcurrentMapBase</a>·=·tbb::concurrent_unordered_map&lt;</div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··KEY,</div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··VALUE,</div>
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··std::hash&lt;KEY&gt;</div>
 139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··&gt;;</div>
 140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="preprocessor">#else</span></div>
 142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
 143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="comment">//·If·we&#39;re·not·using·TBB,·use·a·FastMap·for·ConcurrentMap</span></div>
 144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00137.html">gtsam/base/FastMap.h</a>&gt;</span></div>
 145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·KEY,·<span·class="keyword">typename</span>·VALUE&gt;</div>
 146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="keyword">using·</span><a·class="code·hl_class"·href="a02316.html">ConcurrentMapBase</a>·=·<a·class="code·hl_class"·href="a02316.html">gtsam::FastMap&lt;KEY,·VALUE&gt;</a>;</div>
 147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="preprocessor">#endif</span></div>
 149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
 151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="preprocessor">#include·&lt;boost/serialization/split_member.hpp&gt;</span></div>
 152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="preprocessor">#include·&lt;boost/static_assert.hpp&gt;</span></div>
 153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00134.html">gtsam/base/FastVector.h</a>&gt;</span></div>
 155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
135 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T,·<span·class="keyword">typename</span>·...·Args&gt;</div>158 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·KEY,·<span·class="keyword">typename</span>·VALUE&gt;</div>
136 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}">159 <div·class="foldopen"·id="foldopen00068"·data-start="{"·data-end="};">
 160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno"><a·class="line"·href="a02280.html">···68</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02280.html">ConcurrentMap</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02316.html">ConcurrentMapBase</a>&lt;KEY,VALUE&gt;·{</div>
137 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a01428.html#abcb9ece2bd206193ac40f118f1815c0e">···57</a></span>··<a·class="code·hl_typedef"·href="a01428.html#a47e06cd29f4e8a20a8a7842e4045845f">gtsam::enable_if_t&lt;needs_eigen_aligned_allocator&lt;T&gt;::value</a>,·boost::shared_ptr&lt;T&gt;&gt;·<a·class="code·hl_function"·href="a01428.html#abcb9ece2bd206193ac40f118f1815c0e">make_shared</a>(Args·&amp;&amp;...·args)·{</div> 
138 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keywordflow">return</span>·boost::allocate_shared&lt;T&gt;(Eigen::aligned_allocator&lt;T&gt;(),·std::forward&lt;Args&gt;(args)...);</div> 
139 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··}</div>161 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 162 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span><span·class="keyword">public</span>:</div>
 163 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 164 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02316.html">ConcurrentMapBase&lt;KEY,VALUE&gt;</a>·Base;</div>
 165 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
 166 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a02280.html#ab8ff3bd589931dfcf0270d4d34087253">···75</a></span>··<a·class="code·hl_function"·href="a02280.html#ab8ff3bd589931dfcf0270d4d34087253">ConcurrentMap</a>()·{}</div>
 167 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 168 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·INPUTITERATOR&gt;</div>
 169 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno"><a·class="line"·href="a02280.html#a00df2b0e065bb753f3f58328b3a32355">···79</a></span>··<a·class="code·hl_function"·href="a02280.html#a00df2b0e065bb753f3f58328b3a32355">ConcurrentMap</a>(INPUTITERATOR·first,·INPUTITERATOR·last)·:·Base(first,·last)·{}</div>
 170 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
 171 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno"><a·class="line"·href="a02280.html#a32688fb734dda9eb9b437f9c63c84893">···82</a></span>··<a·class="code·hl_function"·href="a02280.html#a32688fb734dda9eb9b437f9c63c84893">ConcurrentMap</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02280.html">ConcurrentMap&lt;KEY,VALUE&gt;</a>&amp;·x)·:·Base(x)·{}</div>
 172 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
 173 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno"><a·class="line"·href="a02280.html#a7480e044beeb4638fe108d77ff2a0e0e">···85</a></span>··<a·class="code·hl_function"·href="a02280.html#a7480e044beeb4638fe108d77ff2a0e0e">ConcurrentMap</a>(<span·class="keyword">const</span>·Base&amp;·x)·:·Base(x)·{}</div>
 174 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
 175 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno"><a·class="line"·href="a02280.html#a65c98661457fce1b72ac720f1c102b3b">···88</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a02280.html#a65c98661457fce1b72ac720f1c102b3b">exists</a>(<span·class="keyword">const</span>·KEY&amp;·e)<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·this-&gt;count(e);·}</div>
 176 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>
 177 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span><span·class="preprocessor">#ifndef·GTSAM_USE_TBB</span></div>
 178 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··<span·class="comment">//·If·we&#39;re·not·using·TBB·and·this·is·actually·a·FastMap,·we·need·to·add·these·functions·and·hide</span></div>
 179 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··<span·class="comment">//·the·original·erase·functions.</span></div>
 180 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>··<span·class="keywordtype">void</span>·unsafe_erase(<span·class="keyword">typename</span>·Base::iterator·position)·{·((Base*)<span·class="keyword">this</span>)-&gt;erase(position);·}</div>
 181 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··<span·class="keyword">typename</span>·Base::size_type·unsafe_erase(<span·class="keyword">const</span>·KEY&amp;·k)·{·<span·class="keywordflow">return</span>·((Base*)<span·class="keyword">this</span>)-&gt;erase(k);·}</div>
 182 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>··<span·class="keywordtype">void</span>·unsafe_erase(<span·class="keyword">typename</span>·Base::iterator·first,·<span·class="keyword">typename</span>·Base::iterator·last)·{</div>
 183 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>····<span·class="keywordflow">return</span>·((Base*)<span·class="keyword">this</span>)-&gt;erase(first,·last);·}</div>
 184 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span><span·class="keyword">private</span>:</div>
 185 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··<span·class="keywordtype">void</span>·erase()·{}</div>
 186 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span><span·class="keyword">public</span>:</div>
 187 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span><span·class="preprocessor">#endif</span></div>
 188 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>·</div>
 189 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span><span·class="keyword">private</span>:</div>
 190 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno"><a·class="line"·href="a02280.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">··104</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a02280.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>
 191 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·Archive&gt;</div>
 192 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>··<span·class="keywordtype">void</span>·save(Archive&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)<span·class="keyword">·const</span></div>
 193 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span><span·class="keyword">··</span>{</div>
 194 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>····<span·class="comment">//·Copy·to·an·STL·container·and·serialize·that</span></div>
 195 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>····<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector&lt;std::pair&lt;KEY,·VALUE&gt;</a>·&gt;·map(this-&gt;size());</div>
 196 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>····std::copy(this-&gt;begin(),·this-&gt;end(),·map.begin());</div>
 197 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(map);</div>
 198 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>··}</div>
 199 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno">··113</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·Archive&gt;</div>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/DSFVector.cpp·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/VerticalBlockMatrix.cpp·File·Reference</title>
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95 </div>95 </div>
96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>··</div>
101 ··<div·class="headertitle"><div·class="title">DSFVector.cpp·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">VerticalBlockMatrix.cpp·File·Reference</div></div>
102 </div><!--header-->102 </div><!--header-->
103 <div·class="contents">103 <div·class="contents">
  
104 <p>a·faster·implementation·for·DSF,·which·uses·vector·rather·than·btree.··104 <p>A·matrix·with·column·blocks·of·pre-defined·sizes.··
105 <a·href="#details">More...</a></p>105 <a·href="#details">More...</a></p>
106 <table·class="memberdecls">106 <table·class="memberdecls">
107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
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109 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>109 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
110 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>110 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
112 </table>112 </table>
113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
114 <div·class="textblock"><p>a·faster·implementation·for·DSF,·which·uses·vector·rather·than·btree.·</p>114 <div·class="textblock"><p>A·matrix·with·column·blocks·of·pre-defined·sizes.·</p>
 115 <p>Used·in·<a·class="el"·href="a05064.html"·title="In·Gaussian·factors,·the·error·function·returns·either·the·negative·log-likelihood,...">JacobianFactor</a>·and·<a·class="el"·href="a05068.html"·title="is·the·normalization·constant.">GaussianConditional</a>.·</p><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
115 <dl·class="section·date"><dt>Date</dt><dd>Jun·25,·2010·</dd></dl>116 <dl·class="section·date"><dt>Date</dt><dd>Sep·18,·2010·</dd></dl>
116 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd></dl> 
117 </div></div><!--·contents·-->117 </div></div><!--·contents·-->
118 </div><!--·doc-content·-->118 </div><!--·doc-content·-->
119 <!--·start·footer·part·-->119 <!--·start·footer·part·-->
120 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->120 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
121 ··<ul>121 ··<ul>
122 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00059.html">DSFVector.cpp</a></li>122 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00059.html">VerticalBlockMatrix.cpp</a></li>
123 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>123 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
124 ··</ul>124 ··</ul>
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99 ··<div·class="summary">99 ··<div·class="summary">
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102 <a·href="#typedef-members">Typedefs</a>·&#124;101 <a·href="#typedef-members">Typedefs</a>·&#124;
103 <a·href="#func-members">Functions</a>··</div>102 <a·href="#func-members">Functions</a>··</div>
104 ··<div·class="headertitle"><div·class="title">DSFMap.h·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">make_shared.h·File·Reference</div></div>
105 </div><!--header-->104 </div><!--header-->
106 <div·class="contents">105 <div·class="contents">
  
107 <p>Allow·for·arbitrary·type·in·DSF.··106 <p>make_shared·trampoline·function·to·ensure·proper·alignment··
108 <a·href="#details">More...</a></p>107 <a·href="#details">More...</a></p>
  
109 <p><a·href="a00062_source.html">Go·to·the·source·code·of·this·file.</a></p>108 <p><a·href="a00062_source.html">Go·to·the·source·code·of·this·file.</a></p>
110 <table·class="memberdecls">109 <table·class="memberdecls">
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131 <tr·class="memitem:a092fd3b7d2dd45e74b0f86535352096e"·id="r_a092fd3b7d2dd45e74b0f86535352096e"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a092fd3b7d2dd45e74b0f86535352096e"·name="a092fd3b7d2dd45e74b0f86535352096e"></a> 
132 typedef·std::vector&lt;·<a·class="el"·href="a02292.html">IndexPair</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::IndexPairVector</b></td></tr> 
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135 typedef·std::set&lt;·<a·class="el"·href="a02292.html">IndexPair</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::IndexPairSet</b></td></tr> 
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138 typedef·std::map&lt;·<a·class="el"·href="a02292.html">IndexPair</a>,·IndexPairSet·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::IndexPairSetMap</b></td></tr> 
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141 typedef·<a·class="el"·href="a02284.html">DSFMap</a>&lt;·<a·class="el"·href="a02292.html">IndexPair</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::DSFMapIndexPair</b></td></tr> 
142 <tr·class="separator:ab6fc976abe80b9b909bb77d8c541e20e"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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145 Functions</h2></td></tr>125 Functions</h2></td></tr>
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 131 template&lt;typename·T·,·typename·...·Args&gt;·</td></tr>
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 133 <tr·class="memdesc:a6f805b32c5544e5552d702d5e2b4e801"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Fall·back·to·the·boost·version·if·no·need·for·alignment.·<br·/></td></tr>
148 <tr·class="separator:afc7c15222eaeb30c50aa9c485c13cd8d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>134 <tr·class="separator:a6f805b32c5544e5552d702d5e2b4e801"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
149 </table>135 </table>
150 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>136 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 137 <div·class="textblock"><p>make_shared·trampoline·function·to·ensure·proper·alignment·</p>
151 <div·class="textblock"><p>Allow·for·arbitrary·type·in·DSF.·</p> 
152 <dl·class="section·date"><dt>Date</dt><dd>Oct·26,·2013·</dd></dl> 
153 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>138 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang·</dd></dl>
154 </div></div><!--·contents·-->139 </div></div><!--·contents·-->
155 </div><!--·doc-content·-->140 </div><!--·doc-content·-->
156 <!--·start·footer·part·-->141 <!--·start·footer·part·-->
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158 ··<ul>143 ··<ul>
159 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00062.html">DSFMap.h</a></li>144 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00062.html">make_shared.h</a></li>
160 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>145 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
161 ··</ul>146 ··</ul>
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102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DSFMap.h</div></div>104 ··<div·class="headertitle"><div·class="title">make_shared.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00062.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00062.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2020,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00146.html">gtsam/base/types.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;cstdlib&gt;</span>··<span·class="comment">//·Provides·size_t</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;Eigen/Core&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;set&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;type_traits&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·KEY&gt;</div> 
128 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">template</span>&lt;<span·class="keywordtype">bool</span>·B,·<span·class="keyword">class</span>·T·=·<span·class="keywordtype">void</span>&gt;</div>
 130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a01428.html#a47e06cd29f4e8a20a8a7842e4045845f">···31</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a01428.html#a47e06cd29f4e8a20a8a7842e4045845f">enable_if_t</a>·=·<span·class="keyword">typename</span>·std::enable_if&lt;B,·T&gt;::type;</div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>}</div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a02284.html">···34</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02284.html">DSFMap</a>·{</div>133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·<span·class="keyword">protected</span>:</div>134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
 135 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T,·<span·class="keyword">typename</span>·...·Args&gt;</div>
131 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};">136 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}">
 137 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a01428.html#abcb9ece2bd206193ac40f118f1815c0e">···57</a></span>··<a·class="code·hl_typedef"·href="a01428.html#a47e06cd29f4e8a20a8a7842e4045845f">gtsam::enable_if_t&lt;needs_eigen_aligned_allocator&lt;T&gt;::value</a>,·boost::shared_ptr&lt;T&gt;&gt;·<a·class="code·hl_function"·href="a01428.html#abcb9ece2bd206193ac40f118f1815c0e">make_shared</a>(Args·&amp;&amp;...·args)·{</div>
 138 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keywordflow">return</span>·boost::allocate_shared&lt;T&gt;(Eigen::aligned_allocator&lt;T&gt;(),·std::forward&lt;Args&gt;(args)...);</div>
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a02288.html">···37</a></span>··<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02288.html">Entry</a>·{</div> 
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="keyword">typename</span>·std::map&lt;KEY,·Entry&gt;::iterator·parent_;</div> 
134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keywordtype">size_t</span>·rank_;</div> 
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<a·class="code·hl_struct"·href="a02288.html">Entry</a>()·{}</div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··};</div>139 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··}</div>
137 </div>140 </div>
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·std::map&lt;KEY,·Entry&gt;·Map;</div> 
140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·Map::iterator·iterator;</div> 
141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">mutable</span>·Map·entries_;</div> 
142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>141 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 142 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T,·<span·class="keyword">typename</span>·...·Args&gt;</div>
143 <div·class="foldopen"·id="foldopen00048"·data-start="{"·data-end="}">143 <div·class="foldopen"·id="foldopen00063"·data-start="{"·data-end="}">
 144 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a01428.html#a6f805b32c5544e5552d702d5e2b4e801">···63</a></span>··<a·class="code·hl_typedef"·href="a01428.html#a47e06cd29f4e8a20a8a7842e4045845f">gtsam::enable_if_t&lt;!needs_eigen_aligned_allocator&lt;T&gt;::value</a>,·boost::shared_ptr&lt;T&gt;&gt;·<a·class="code·hl_function"·href="a01428.html#abcb9ece2bd206193ac40f118f1815c0e">make_shared</a>(Args·&amp;&amp;...·args)·{</div>
144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a02284.html#a16de46adebcd2c0f874c98127bc4ffd0">···48</a></span>··iterator·<a·class="code·hl_function"·href="a02284.html#a16de46adebcd2c0f874c98127bc4ffd0">find__</a>(<span·class="keyword">const</span>·KEY&amp;·key)<span·class="keyword">·const·</span>{</div> 
145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keyword">static</span>·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02288.html">Entry</a>·empty;</div> 
146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····iterator·it·=·entries_.find(key);</div> 
147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="comment">//·if·key·does·not·exist,·create·and·return·itself</span></div> 
148 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keywordflow">if</span>·(it·==·entries_.end())·{</div> 
149 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······it·=·entries_.insert(std::make_pair(key,·empty)).first;</div> 
150 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······it-&gt;second.parent_·=·it;</div> 
151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······it-&gt;second.rank_·=·0;</div> 
152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····}</div> 
153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keywordflow">return</span>·it;</div>145 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keywordflow">return</span>·boost::make_shared&lt;T&gt;(std::forward&lt;Args&gt;(args)...);</div>
154 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··}</div>146 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··}</div>
155 </div>147 </div>
156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
157 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}"> 
158 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a02284.html#a22b6fe2aec10f27fbcb9777d74d12c15">···61</a></span>··iterator·<a·class="code·hl_function"·href="a02284.html#a22b6fe2aec10f27fbcb9777d74d12c15">find_</a>(<span·class="keyword">const</span>·iterator&amp;·it)<span·class="keyword">·const·</span>{</div> 
159 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<span·class="comment">//·follow·parent·pointers·until·we·reach·set·representative</span></div> 
160 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····iterator&amp;·parent·=·it-&gt;second.parent_;</div> 
161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keywordflow">if</span>·(parent·!=·it)·parent·=·<a·class="code·hl_function"·href="a02284.html#a22b6fe2aec10f27fbcb9777d74d12c15">find_</a>(parent);··<span·class="comment">//·not·yet,·recurse!</span></div> 
162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">return</span>·parent;</div> 
163 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div>148 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
164 </div> 
165 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>149 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>}</div>
 150 <div·class="ttc"·id="aa00146_html"><div·class="ttname"><a·href="a00146.html">types.h</a></div><div·class="ttdoc">Typedefs·for·easier·changing·of·types.</div></div>
166 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}"> 
167 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a02284.html#a4883de168fa5121beee34c9c7d712f28">···69</a></span>··<span·class="keyword">inline</span>·iterator·<a·class="code·hl_function"·href="a02284.html#a4883de168fa5121beee34c9c7d712f28">find_</a>(<span·class="keyword">const</span>·KEY&amp;·key)<span·class="keyword">·const·</span>{</div> 
168 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····iterator·initial·=·<a·class="code·hl_function"·href="a02284.html#a16de46adebcd2c0f874c98127bc4ffd0">find__</a>(key);</div> 
169 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02284.html#a22b6fe2aec10f27fbcb9777d74d12c15">find_</a>(initial);</div> 
170 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··}</div> 
171 </div> 
172 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div> 
173 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·<span·class="keyword">public</span>:</div> 
174 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<span·class="keyword">typedef</span>·std::set&lt;KEY&gt;·Set;</div> 
175 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div> 
176 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a02284.html#aac017122db12132a7b6656dd1bb5760f">···78</a></span>··<a·class="code·hl_function"·href="a02284.html#aac017122db12132a7b6656dd1bb5760f">DSFMap</a>()·{}</div> 
177 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div> 
178 <div·class="foldopen"·id="foldopen00081"·data-start="{"·data-end="}"> 
179 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno"><a·class="line"·href="a02284.html#aad793cdeca5c9150d15814c76ce8b903">···81</a></span>··<span·class="keyword">inline</span>·KEY·<a·class="code·hl_function"·href="a02284.html#aad793cdeca5c9150d15814c76ce8b903">find</a>(<span·class="keyword">const</span>·KEY&amp;·key)<span·class="keyword">·const·</span>{</div> 
180 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····iterator·root·=·<a·class="code·hl_function"·href="a02284.html#a22b6fe2aec10f27fbcb9777d74d12c15">find_</a>(key);</div> 
181 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····<span·class="keywordflow">return</span>·root-&gt;first;</div> 
182 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··}</div> 
183 </div> 
184 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div> 
185 <div·class="foldopen"·id="foldopen00087"·data-start="{"·data-end="}"> 
186 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a02284.html#acce8aad42f635e5e0218503995afed91">···87</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a02284.html#acce8aad42f635e5e0218503995afed91">merge</a>(<span·class="keyword">const</span>·KEY&amp;·x,·<span·class="keyword">const</span>·KEY&amp;·y)·{</div> 
187 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····<span·class="comment">//·straight·from·http://en.wikipedia.org/wiki/Disjoint-set_data_structure</span></div> 
188 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>····iterator·xRoot·=·<a·class="code·hl_function"·href="a02284.html#a22b6fe2aec10f27fbcb9777d74d12c15">find_</a>(x);</div> 
189 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>····iterator·yRoot·=·<a·class="code·hl_function"·href="a02284.html#a22b6fe2aec10f27fbcb9777d74d12c15">find_</a>(y);</div> 
190 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····<span·class="keywordflow">if</span>·(xRoot·==·yRoot)·<span·class="keywordflow">return</span>;</div> 
191 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div> 
192 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>····<span·class="comment">//·Merge·sets</span></div> 
193 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>····<span·class="keywordflow">if</span>·(xRoot-&gt;second.rank_·&lt;·yRoot-&gt;second.rank_)</div> 
194 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>······xRoot-&gt;second.parent_·=·yRoot;</div> 
195 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>····<span·class="keywordflow">else</span>·<span·class="keywordflow">if</span>·(xRoot-&gt;second.rank_·&gt;·yRoot-&gt;second.rank_)</div> 
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/ConcurrentMap.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/FastSet.h·Source·File</title>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ConcurrentMap.h</div></div>104 ··<div·class="headertitle"><div·class="title">FastSet.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00065.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01397.html">gtsam/global_includes.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="comment">//·Change·class·depending·on·whether·we·are·using·TBB</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#ifdef·GTSAM_USE_TBB</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="comment">//·Include·TBB·header</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#··include·&lt;tbb/concurrent_unordered_map.h&gt;</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#··undef·min·</span><span·class="comment">//·TBB·seems·to·include·Windows.h·which·defines·these·macros·that·cause·problems</span></div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#··undef·max</span></div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#··undef·ERROR</span></div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;functional&gt;</span>·<span·class="comment">//·std::hash()</span></div> 
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div> 
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">//·Use·TBB·concurrent_unordered_map·for·ConcurrentMap</span></div> 
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·KEY,·<span·class="keyword">typename</span>·VALUE&gt;</div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">using·</span><a·class="code·hl_class"·href="a02316.html">ConcurrentMapBase</a>·=·tbb::concurrent_unordered_map&lt;</div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··KEY,</div> 
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··VALUE,</div> 
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··std::hash&lt;KEY&gt;</div> 
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··&gt;;</div> 
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div> 
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="preprocessor">#else</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;boost/version.hpp&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#if·BOOST_VERSION·&gt;=·107400</span></div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/serialization/library_version_type.hpp&gt;</span></div>
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div> 
143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="comment">//·If·we&#39;re·not·using·TBB,·use·a·FastMap·for·ConcurrentMap</span></div> 
144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00038.html">gtsam/base/FastMap.h</a>&gt;</span></div> 
145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·KEY,·<span·class="keyword">typename</span>·VALUE&gt;</div> 
146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="keyword">using·</span><a·class="code·hl_class"·href="a02316.html">ConcurrentMapBase</a>·=·<a·class="code·hl_class"·href="a02316.html">gtsam::FastMap&lt;KEY,·VALUE&gt;</a>;</div> 
147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="preprocessor">#endif</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#endif</span></div>
149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="preprocessor">#include·&lt;boost/serialization/split_member.hpp&gt;</span></div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/serialization/set.hpp&gt;</span></div>
152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="preprocessor">#include·&lt;boost/static_assert.hpp&gt;</span></div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00005.html">gtsam/base/FastDefaultAllocator.h</a>&gt;</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;functional&gt;</span></div>
154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00074.html">gtsam/base/FastVector.h</a>&gt;</span></div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;set&gt;</span></div>
155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">namespace·</span>boost·{</div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">namespace·</span>serialization·{</div>
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">class·</span>access;</div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>}·<span·class="comment">/*·namespace·serialization·*/</span></div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>}·<span·class="comment">/*·namespace·boost·*/</span></div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
 140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·VALUE&gt;</div>
 141 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="};">
 142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a02320.html">···49</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02320.html">FastSet</a>:·<span·class="keyword">public</span>·std::set&lt;VALUE,·std::less&lt;VALUE&gt;,</div>
 143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····typename·internal::FastDefaultAllocator&lt;VALUE&gt;::type&gt;·{</div>
 144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··BOOST_CONCEPT_ASSERT·((<a·class="code·hl_class"·href="a02476.html">IsTestable&lt;VALUE&gt;</a>·));</div>
 146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keyword">public</span>:</div>
 148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 149 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">typedef</span>·std::set&lt;VALUE,·std::less&lt;VALUE&gt;,</div>
 150 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">typename</span>·internal::FastDefaultAllocator&lt;VALUE&gt;::type&gt;·Base;</div>
157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>151 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 152 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">using·</span>Base::Base;··<span·class="comment">//·Inherit·the·set·constructors</span></div>
 153 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 154 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a02320.html#add9c09326c85681eddf6e666f6a0a7eb">···61</a></span>··<a·class="code·hl_function"·href="a02320.html#add9c09326c85681eddf6e666f6a0a7eb">FastSet</a>()·=·<span·class="keywordflow">default</span>;·</div>
 155 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
158 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·KEY,·<span·class="keyword">typename</span>·VALUE&gt;</div>156 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·INPUTCONTAINER&gt;</div>
159 <div·class="foldopen"·id="foldopen00068"·data-start="{"·data-end="};">157 <div·class="foldopen"·id="foldopen00065"·data-start="{"·data-end="}">
160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno"><a·class="line"·href="a02280.html">···68</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02280.html">ConcurrentMap</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·hre[·...·truncated·by·diffoscope;·len:·56,·SHA:·29e79b0392c5edcf16049afaa73bb891deee225ca1defe3eb28ee024b3a12a8d·...·]</div>158 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a02320.html#a6fe5c76facd1eab99fe84c19c68d9e5c">···65</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02320.html#a6fe5c76facd1eab99fe84c19c68d9e5c">FastSet<[·...·truncated·by·diffoscope;·len:·71,·SHA:·36d06218cf4a7cce1cb410d95d8f1c7ac837fb68e26d714401219a7449da5600·...·]</div>
 159 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··Base(container.begin(),·container.end())·{</div>
 160 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div>
 161 </div>
161 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>162 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 163 <div·class="foldopen"·id="foldopen00070"·data-start="{"·data-end="}">
 164 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a02320.html#a7f6cb2d27052a33035f135e837b51c47">···70</a></span>··<a·class="code·hl_function"·href="a02320.html#a7f6cb2d27052a33035f135e837b51c47">FastSet</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02320.html">FastSet&lt;VALUE&gt;</a>&amp;·x)·:</div>
162 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span><span·class="keyword">public</span>:</div>165 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··Base(x)·{</div>
163 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>166 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··}</div>
164 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02316.html">ConcurrentMapBase&lt;KEY,VALUE&gt;</a>·Base;</div>167 </div>
165 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>168 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
166 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a02280.html#ab8ff3bd589931dfcf0270d4d34087253">···75</a></span>··<a·class="code·hl_function"·href="a02280.html#ab8ff3bd589931dfcf0270d4d34087253">ConcurrentMap</a>()·{}</div>169 <div·class="foldopen"·id="foldopen00075"·data-start="{"·data-end="}">
 170 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a02320.html#acd2dc81b5518151095ba9aef2eb4d81d">···75</a></span>··<a·class="code·hl_function"·href="a02320.html#acd2dc81b5518151095ba9aef2eb4d81d">FastSet</a>(<span·class="keyword">const</span>·Base&amp;·x)·:</div>
 171 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··Base(x)·{</div>
 172 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··}</div>
 173 </div>
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156 template&lt;class·T·&gt;·</td></tr> 
157 <tr·class="memitem:ad2dbee4a72127938c79162cc8b6d5152"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::equal</b>·(const·T·&amp;obj1,·const·T·&amp;obj2,·double·tol)</td></tr> 
158 <tr·class="memdesc:ad2dbee4a72127938c79162cc8b6d5152"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Call·equal·on·the·object.·<br·/></td></tr>139 <tr·class="memitem:a8bdced1844ffd6a53af0396d82eaa6da"·id="r_a8bdced1844ffd6a53af0396d82eaa6da"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a8bdced1844ffd6a53af0396d82eaa6da"·name="a8bdced1844ffd6a53af0396d82eaa6da"></a>
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161 template&lt;class·T·&gt;·</td></tr> 
162 <tr·class="memitem:a1f3dc67ad88b799c469088e428c583b1"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::equal</b>·(const·T·&amp;obj1,·const·T·&amp;obj2)</td></tr> 
163 <tr·class="memdesc:a1f3dc67ad88b799c469088e428c583b1"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Call·equal·without·tolerance·(use·default·tolerance)·<br·/></td></tr>152 <tr·class="memitem:ac3cf8e8e70cd696d9c789c31bc1e89a7"·id="r_ac3cf8e8e70cd696d9c789c31bc1e89a7"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ac3cf8e8e70cd696d9c789c31bc1e89a7">g[·...·truncated·by·diffoscope;·len:·94,·SHA:·10d495ee4dd268fa8d03ef9a98ddc759a4de1d33e300452bf5a27fff6afa8e98·...·]</td></tr>
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166 template&lt;class·V·&gt;·</td></tr> 
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168 <tr·class="memdesc:a659619cca082d1c10b07c033d48c54da"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·template·works·for·any·type·with·equals.·<br·/></td></tr>158 <tr·class="memitem:a2a0cfd7908b06491df49b6a9c9186775"·id="r_a2a0cfd7908b06491df49b6a9c9186775"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a2a0cfd7908b06491df49b6a9c9186775">g[·...·truncated·by·diffoscope;·len:·92,·SHA:·257b6b89100284782f6471cf6f9299fc77d2d32b6d4f24872a04bfab1973b49d·...·]</td></tr>
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102 ··<div·class="headertitle"><div·class="title">FastVector.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">timing.cpp·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>A·thin·wrapper·around·std::vector·that·uses·a·custom·allocator.··105 <p>Timing·utilities.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00074_source.html">Go·to·the·source·code·of·this·file.</a></p> 
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116 Typedefs</h2></td></tr> 
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122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>132 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
123 <div·class="textblock"><p>A·thin·wrapper·around·std::vector·that·uses·a·custom·allocator.·</p>133 <div·class="textblock"><p>Timing·utilities.·</p>
124 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>134 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts,·Michael·Kaess·</dd></dl>
125 <dd> 
126 Frank·Dellaert·</dd></dl> 
127 <dl·class="section·date"><dt>Date</dt><dd>Feb·9,·2011·</dd></dl>135 <dl·class="section·date"><dt>Date</dt><dd>Oct·5,·2010·</dd></dl>
128 </div></div><!--·contents·-->136 </div></div><!--·contents·-->
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129 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
130 <div·class="textblock"><p>Special·class·for·optional·Jacobian·arguments.·</p>124 <div·class="textblock"><p>Group·product·of·two·Lie·Groups.·</p>
 125 <dl·class="section·date"><dt>Date</dt><dd>May,·2015·</dd></dl>
131 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>126 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
132 <dd> 
133 Natesh·Srinivasan·</dd></dl> 
134 <dl·class="section·date"><dt>Date</dt><dd>Nov·28,·2014·</dd></dl> 
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107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00086.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div> 
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·GenericValue.h</span></div> 
120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@brief·Wraps·any·type·T·so·it·can·play·as·a·Value</span></div> 
121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·October,·2014</span></div> 
122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*·@author·Michael·Bosse,·Abel·Gawel,·Renaud·Dube</span></div> 
123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">·*·based·on·DerivedValue.h·by·Duy·Nguyen·Ta</span></div> 
124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">·*/</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Manifold.h</a>&gt;</span></div> 
129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00125.html">gtsam/base/types.h</a>&gt;</span></div> 
130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00068.html">gtsam/base/Value.h</a>&gt;</span></div> 
131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div> 
132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div> 
133 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/pool/pool_alloc.hpp&gt;</span></div> 
134 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
135 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;cmath&gt;</span></div> 
136 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div> 
137 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;typeinfo&gt;</span>·<span·class="comment">//·operator·typeid</span></div> 
138 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div> 
139 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#ifdef·_WIN32</span></div> 
140 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#define·GENERICVALUE_VISIBILITY</span></div> 
141 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#else</span></div> 
142 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="comment">//·This·will·trigger·a·LNKxxxx·on·MSVC,·so·disable·for·MSVC·build</span></div> 
143 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">//·Please·refer·to·https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md</span></div> 
144 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#define·GENERICVALUE_VISIBILITY·GTSAM_EXPORT</span></div> 
145 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="preprocessor">#endif</span></div> 
146 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
147 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
148 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 124 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>GTSAM_EXPORT·std::pair&lt;size_t,bool&gt;·<a·class="code·hl_function"·href="a01428.html#a747683f736c50bca16b3aab0e95b1b76">choleskyCareful</a>(Matrix&amp;·ATA,·<span·class="keywordtype">int</span>·order·=·-1);</div>
149 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div> 
150 <div·class="foldopen"·id="foldopen00047"·data-start="{"·data-end="};"> 
151 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a02324.html">···47</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02324.html">GenericValue</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>·{</div> 
152 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>125 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 126 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>GTSAM_EXPORT·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#abe82fa6aceccfa2360cf314ab44f39ad">choleskyPartial</a>(Matrix&amp;·ABC,·<span·class="keywordtype">size_t</span>·nFrontal,·<span·class="keywordtype">size_t</span>·topleft=0);</div>
153 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="keyword">public</span>:</div> 
154 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
155 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">typedef</span>·T·type;</div> 
156 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
157 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">protected</span>:</div> 
158 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div> 
159 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a02324.html#ab8454e55f25f7f475f8d31001625a8e9">···55</a></span>··T·<a·class="code·hl_variable"·href="a02324.html#ab8454e55f25f7f475f8d31001625a8e9">value_</a>;·</div> 
160 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>127 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
161 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span><span·class="keyword">public</span>:</div> 
162 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="comment">//·Only·needed·for·serialization.</span></div> 
163 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<a·class="code·hl_class"·href="a02324.html">GenericValue</a>(){}</div> 
164 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
165 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="}"> 
166 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a02324.html#a8bf7ebb7a0a758cebd90d38663f88f89">···62</a></span>··<a·class="code·hl_function"·href="a02324.html#a8bf7ebb7a0a758cebd90d38663f88f89">GenericValue</a>(<span·class="keyword">const</span>·T&amp;·<a·class="code·hl_function"·href="a02324.html#adb4eb10667d811f19db1e32992785c0a">value</a>)·:</div> 
167 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<a·class="code·hl_variable"·href="a02324.html#ab8454e55f25f7f475f8d31001625a8e9">value_</a>(<a·class="code·hl_function"·href="a02324.html#adb4eb10667d811f19db1e32992785c0a">value</a>)·{</div> 
168 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··}</div>128 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>}</div>
169 </div> 
170 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>129 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
171 <div·class="foldopen"·id="foldopen00067"·data-start="{"·data-end="}"> 
172 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a02324.html#adb4eb10667d811f19db1e32992785c0a">···67</a></span>··<span·class="keyword">const</span>·T&amp;·<a·class="code·hl_function"·href="a02324.html#adb4eb10667d811f19db1e32992785c0a">value</a>()<span·class="keyword">·const·</span>{</div> 
173 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a02324.html#ab8454e55f25f7f475f8d31001625a8e9">value_</a>;</div> 
174 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··}</div> 
175 </div> 
176 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div> 
177 <div·class="foldopen"·id="foldopen00072"·data-start="{"·data-end="}"> 
178 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno"><a·class="line"·href="a02324.html#a13de4f83b7b5305a7be4ee1136dcd201">···72</a></span>··T&amp;·<a·class="code·hl_function"·href="a02324.html#a13de4f83b7b5305a7be4ee1136dcd201">value</a>()·{</div> 
179 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a02324.html#ab8454e55f25f7f475f8d31001625a8e9">value_</a>;</div> 
180 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··}</div> 
181 </div> 
182 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div> 
183 <div·class="foldopen"·id="foldopen00077"·data-start="{"·data-end="}"> 
184 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno"><a·class="line"·href="a02324.html#addd810632994517d363f0baa629fcf66">···77</a></span>··<a·class="code·hl_function"·href="a02324.html#addd810632994517d363f0baa629fcf66">~GenericValue</a>()<span·class="keyword">·override·</span>{</div> 
185 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··}</div> 
186 </div> 
187 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div> 
188 <div·class="foldopen"·id="foldopen00081"·data-start="{"·data-end="}"> 
189 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno"><a·class="line"·href="a02324.html#ad352f894df0e4ede3b39e45ffa0cb98d">···81</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a02324.html#ad352f894df0e4ede3b39e45ffa0cb98d">equals_</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>&amp;·p,·<span·class="keywordtype">double</span>·tol·=·1e-9)<span·class="keyword">·const·override·</span>{</div> 
190 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····<span·class="comment">//·Cast·the·base·class·Value·pointer·to·a·templated·generic·class·pointer</span></div> 
191 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02324.html">GenericValue</a>&amp;·genericValue2·=·<span·class="keyword">static_cast&lt;</span><span·class="keyword">const·</span><a·class="code·hl_class"·href="a02324.html">GenericValue</a>&amp;<span·class="keyword">&gt;</span>(p);</div> 
192 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····<span·class="comment">//·Return·the·result·of·using·the·equals·traits·for·the·derived·class</span></div> 
193 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(this-&gt;value_,·genericValue2.<a·class="code·hl_variable"·href="a02324.html#ab8454e55f25f7f475f8d31001625a8e9">value_</a>,·tol);</div> 
194 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··}</div> 
195 </div> 
196 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div> 
197 <div·class="foldopen"·id="foldopen00089"·data-start="{"·data-end="}"> 
198 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno"><a·class="line"·href="a02324.html#a60ddebd2ce398b9697a0161274ae91cc">···89</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a02324.html#a60ddebd2ce398b9697a0161274ae91cc">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02324.html">GenericValue</a>·&amp;other,·<span·class="keywordtype">double</span>·tol·=·1e-9)<span·class="keyword">·const·</span>{</div> 
199 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(this-&gt;<a·class="code·hl_function"·href="a02324.html#adb4eb10667d811f19db1e32992785c0a">value</a>(),·other.<a·class="code·hl_function"·href="a02324.html#adb4eb10667d811f19db1e32992785c0a">value</a>(),·tol);</div> 
200 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··}</div> 
201 </div> 
202 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div> 
203 <div·class="foldopen"·id="foldopen00094"·data-start="{"·data-end="}"> 
204 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno"><a·class="line"·href="a02324.html#a5a975666c504df56c7c633401e07a0c7">···94</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a02324.html#a5a975666c504df56c7c633401e07a0c7">print</a>(<span·class="keyword">const</span>·std::string&amp;·str)<span·class="keyword">·const·override·</span>{</div> 
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102 ··<div·class="headertitle"><div·class="title">ThreadsafeException.h·File·Reference<div·class="ingroups"><a·class="el"·href="a01413.html">Base</a></div></div></div>102 ··<div·class="headertitle"><div·class="title">SymmetricBlockMatrix.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Base·exception·type·that·uses·tbb_allocator·if·GTSAM·is·compiled·with·TBB.··105 <p>Access·to·matrices·via·blocks·of·pre-defined·sizes.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Base·exception·type·that·uses·tbb_allocator·if·GTSAM·is·compiled·with·TBB.··<a·href="a02496.html#details">More...</a><br·/></td></tr> 
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
120 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02508.html">gtsam::InvalidArgumentThreadsafe</a></td></tr> 
121 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Thread-safe·invalid·argument·exception.··<a·href="a02508.html#details">More...</a><br·/></td></tr> 
122 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
123 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02512.html">gtsam::CholeskyFailed</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02472.html">gtsam::SymmetricBlockMatrix</a></td></tr>
124 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Indicate·Cholesky·factorization·failure.··<a·href="a02512.html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·class·stores·a·dense·matrix·and·allows·it·to·be·accessed·as·a·collection·of·blocks.··<a·href="a02472.html#details">More...</a><br·/></td></tr>
125 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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133 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
134 <div·class="textblock"><p>Base·exception·type·that·uses·tbb_allocator·if·GTSAM·is·compiled·with·TBB.·</p> 
135 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>122 <div·class="textblock"><p>Access·to·matrices·via·blocks·of·pre-defined·sizes.·</p>
 123 <p>Used·in·GaussianFactor·and·<a·class="el"·href="a05068.html"·title="is·the·normalization·constant.">GaussianConditional</a>.·</p><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
136 <dl·class="section·date"><dt>Date</dt><dd>Aug·21,·2010·</dd></dl>124 <dl·class="section·date"><dt>Date</dt><dd>Sep·18,·2010·</dd></dl>
137 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
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102 ··<div·class="headertitle"><div·class="title">treeTraversal-inst.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">MatrixSerialization.h·File·Reference</div></div>
103 </div><!--header-->102 </div><!--header-->
104 <div·class="contents">103 <div·class="contents">
  
 104 <p>Serialization·for·matrices.··
 105 <a·href="#details">More...</a></p>
  
105 <p><a·href="a00092_source.html">Go·to·the·source·code·of·this·file.</a></p>106 <p><a·href="a00092_source.html">Go·to·the·source·code·of·this·file.</a></p>
106 <table·class="memberdecls">107 <table·class="memberdecls">
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112 <tr·class="memitem:a01434"·id="r_a01434"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01434.html">gtsam::treeTraversal</a></td></tr> 
113 <tr·class="memdesc:a01434"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Internal·functions·used·for·traversing·trees.·<br·/></td></tr> 
114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
115 </table><table·class="memberdecls"> 
116 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>108 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
117 Functions</h2></td></tr>109 Functions</h2></td></tr>
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119 <tr·class="memitem:a50e24f0a9085721425089cdce18f2475"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01434.html#a50e24f0a9085721425089cdce18f2475">gtsam::treeTraversal::DepthFirstForest</a>·(FOREST·&amp;forest,·DATA·&amp;rootData,·VISITOR_PRE·&amp;visitorPre,·VISITOR_POST·&amp;visitorPost)</td></tr> 
120 <tr·class="memdesc:a50e24f0a9085721425089cdce18f2475"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Traverse·a·forest·depth-first·with·pre-order·and·post-order·visits.··<br·/></td></tr>110 <tr·class="memitem:a068f1f8df2afd609744bc82386259e71"·id="r_a068f1f8df2afd609744bc82386259e71"><td·class="memTemplParams"·colspan="2">template&lt;class·Archive·,·typename·Scalar_·,·int·Rows_,·int·Cols_,·int·Ops_,·int·MaxRows_,·int·MaxCols_&gt;·</td></tr>
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 119 template&lt;class·Archive·,·typename·Scalar_·,·int·Rows_,·int·Cols_,·int·Ops_,·int·MaxRows_,·int·MaxCols_&gt;·</td></tr>
 120 <tr·class="memitem:ab778c43b5c119a388c08bafef4b64523"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>boost::serialization::serialize</b>·(Archive·&amp;ar,·Eigen::Matrix&lt;·Scalar_,·Rows_,·Cols_,·Ops_,·MaxRows_,·MaxCols_·&gt;·&amp;m,·const·unsigned·int·version)</td></tr>
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 122 <tr·class="memitem:a249e3c6c403da95aff72dfcdf269153b"·id="r_a249e3c6c403da95aff72dfcdf269153b"><td·class="memTemplParams"·colspan="2"><a·id="a249e3c6c403da95aff72dfcdf269153b"·name="a249e3c6c403da95aff72dfcdf269153b"></a>
 123 template&lt;class·Archive·&gt;·</td></tr>
 124 <tr·class="memitem:a249e3c6c403da95aff72dfcdf269153b"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>boost::serialization::serialize</b>·(Archive·&amp;ar,·gtsam::Matrix·&amp;m,·const·unsigned·int·version)</td></tr>
121 <tr·class="separator:a50e24f0a9085721425089cdce18f2475"><td·class="memSeparator"·colspan="2">&#160;</td></tr>125 <tr·class="separator:a249e3c6c403da95aff72dfcdf269153b"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
122 <tr·class="memitem:a3735d0cee6f4d530e75479f7b1ebaf07"·id="r_a3735d0cee6f4d530e75479f7b1ebaf07"><td·class="memTemplParams"·colspan="2">template&lt;class·FOREST·,·typename·DATA·,·typename·VISITOR_PRE·&gt;·</td></tr> 
123 <tr·class="memitem:a3735d0cee6f4d530e75479f7b1ebaf07"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01434.html#a3735d0cee6f4d530e75479f7b1ebaf07">gtsam::treeTraversal::DepthFirstForest</a>·(FOREST·&amp;forest,·DATA·&amp;rootData,·VISITOR_PRE·&amp;visitorPre)</td></tr> 
124 <tr·class="memdesc:a3735d0cee6f4d530e75479f7b1ebaf07"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Traverse·a·forest·depth-first,·with·a·pre-order·visit·but·no·post-order·visit.··<br·/></td></tr> 
125 <tr·class="separator:a3735d0cee6f4d530e75479f7b1ebaf07"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
126 <tr·class="memitem:afd7410807789da9ad91d6630063be36f"·id="r_afd7410807789da9ad91d6630063be36f"><td·class="memTemplParams"·colspan="2">template&lt;class·FOREST·,·typename·DATA·,·typename·VISITOR_PRE·,·typename·VISITOR_POST·&gt;·</td></tr> 
127 <tr·class="memitem:afd7410807789da9ad91d6630063be36f"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01434.html#afd7410807789da9ad91d6630063be36f">gtsam::treeTraversal::DepthFirstForestParallel</a>·(FOREST·&amp;forest,·DATA·&amp;rootData,·VISITOR_PRE·&amp;visitorPre,·VISITOR_POST·&amp;visitorPost,·int·problemSizeThreshold=10)</td></tr> 
128 <tr·class="memdesc:afd7410807789da9ad91d6630063be36f"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Traverse·a·forest·depth-first·with·pre-order·and·post-order·visits.··<br·/></td></tr> 
129 <tr·class="separator:afd7410807789da9ad91d6630063be36f"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
130 <tr·class="memitem:a67e7c6f5c4916c4a58a783e6b566d55a"·id="r_a67e7c6f5c4916c4a58a783e6b566d55a"><td·class="memTemplParams"·colspan="2">template&lt;class·FOREST·&gt;·</td></tr> 
131 <tr·class="memitem:a67e7c6f5c4916c4a58a783e6b566d55a"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;·boost::shared_ptr&lt;·typename·FOREST::Node·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01434.html#a67e7c6f5c4916c4a58a783e6b566d55a">gtsam::treeTraversal::CloneForest</a>·(const·FOREST·&amp;forest)</td></tr> 
132 <tr·class="memdesc:a67e7c6f5c4916c4a58a783e6b566d55a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Clone·a·tree,·copy-constructing·new·nodes·(calling·boost::make_shared)·and·setting·up·child·pointers·for·a·clone·of·the·original·tree.··<br·/></td></tr> 
133 <tr·class="separator:a67e7c6f5c4916c4a58a783e6b566d55a"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
134 <tr·class="memitem:a7228bbaf6ad62b65be7a2084c01aae5c"·id="r_a7228bbaf6ad62b65be7a2084c01aae5c"><td·class="memTemplParams"·colspan="2">template&lt;class·FOREST·&gt;·</td></tr> 
135 <tr·class="memitem:a7228bbaf6ad62b65be7a2084c01aae5c"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01434.html#a7228bbaf6ad62b65be7a2084c01aae5c">gtsam::treeTraversal::PrintForest</a>·(const·FOREST·&amp;forest,·std::string·str,·const·<a·class="el"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter)</td></tr> 
136 <tr·class="memdesc:a7228bbaf6ad62b65be7a2084c01aae5c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Print·a·tree,·prefixing·each·line·with·<code>str</code>,·and·formatting·keys·using·<code>keyFormatter</code>.··<br·/></td></tr> 
137 <tr·class="separator:a7228bbaf6ad62b65be7a2084c01aae5c"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
138 </table>126 </table>
139 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>127 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
140 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>128 <div·class="textblock"><p>Serialization·for·matrices.·</p>
 129 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
141 <dl·class="section·date"><dt>Date</dt><dd>April·9,·2013·</dd></dl>130 <dl·class="section·date"><dt>Date</dt><dd>February·2022·</dd></dl>
 131 </div><h2·class="groupheader">Function·Documentation</h2>
 132 <a·id="a068f1f8df2afd609744bc82386259e71"·name="a068f1f8df2afd609744bc82386259e71"></a>
 133 <h2·class="memtitle"><span·class="permalink"><a·href="#a068f1f8df2afd609744bc82386259e71">&#9670;&#160;</a></span>save()</h2>
  
 134 <div·class="memitem">
 135 <div·class="memproto">
 136 <div·class="memtemplate">
 137 template&lt;class·Archive·,·typename·Scalar_·,·int·Rows_,·int·Cols_,·int·Ops_,·int·MaxRows_,·int·MaxCols_&gt;·</div>
 138 ······<table·class="memname">
 139 ········<tr>
 140 ··········<td·class="memname">void·boost::serialization::save·</td>
 141 ··········<td>(</td>
 142 ··········<td·class="paramtype">Archive·&amp;&#160;</td>
 143 ··········<td·class="paramname"><em>ar</em>,·</td>
 144 ········</tr>
 145 ········<tr>
 146 ··········<td·class="paramkey"></td>
 147 ··········<td></td>
 148 ··········<td·class="paramtype">const·Eigen::Matrix&lt;·Scalar_,·Rows_,·Cols_,·Ops_,·MaxRows_,·MaxCols_·&gt;·&amp;&#160;</td>
 149 ··········<td·class="paramname"><em>m</em>,·</td>
 150 ········</tr>
 151 ········<tr>
 152 ··········<td·class="paramkey"></td>
 153 ··········<td></td>
 154 ··········<td·class="paramtype">const·unsigned·int&#160;</td>
 155 ··········<td·class="paramname">&#160;</td>
 156 ········</tr>
 157 ········<tr>
 158 ··········<td></td>
 159 ··········<td>)</td>
 160 ··········<td></td><td></td>
 161 ········</tr>
 162 ······</table>
 163 </div><div·class="memdoc">
  
 164 <p>Ref.·</p>
 165 <p><a·href="https://stackoverflow.com/questions/18382457/eigen-and-boostserialize/22903063#22903063">https://stackoverflow.com/questions/18382457/eigen-and-boostserialize/22903063#22903063</a></p>
 166 <p>Eigen·supports·calling·resize()·on·both·static·and·dynamic·matrices.·This·allows·for·a·uniform·API,·with·resize·having·no·effect·if·the·static·matrix·is·already·the·correct·size.·<a·href="https://eigen.tuxfamily.org/dox/group__TutorialMatrixClass.html#TutorialMatrixSizesResizing">https://eigen.tuxfamily.org/dox/group__TutorialMatrixClass.html#TutorialMatrixSizesResizing</a></p>
 167 <p>We·use·all·the·Matrix·template·parameters·to·ensure·wide·compatibility.</p>
 168 <p>eigen_typekit·in·ROS·uses·the·same·code·<a·href="http://docs.ros.org/lunar/api/eigen_typekit/html/eigen__mqueue_8cpp_source.html">http://docs.ros.org/lunar/api/eigen_typekit/html/eigen__mqueue_8cpp_source.html</a>·</p>
  
 169 </div>
 170 </div>
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/treeTraversal-inst.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/MatrixSerialization.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
14 <script·type="text/javascript"·src="navtreedata.js"></script>14 <script·type="text/javascript"·src="navtreedata.js"></script>
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99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">treeTraversal-inst.h</div></div>104 ··<div·class="headertitle"><div·class="title">MatrixSerialization.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00092.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00092.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">//·\callgraph</span></div>
 119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div> 
120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;gtsam/base/treeTraversal/parallelTraversalTasks.h&gt;</span></div> 
121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;gtsam/base/treeTraversal/statistics.h&gt;</span></div> 
122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00047.html">gtsam/base/FastList.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00074.html">gtsam/base/FastVector.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span></div> 
126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;gtsam/config.h&gt;</span>·<span·class="comment">//·for·GTSAM_USE_TBB</span></div> 
127 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;stack&gt;</span></div> 
129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/serialization/array.hpp&gt;</span></div>
130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/serialization/split_free.hpp&gt;</span></div>
132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div> 
133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span>boost·{</div>
134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span>serialization·{</div>
135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
 131 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="comment">//·split·version·-·sends·sizes·ahead</span></div>
 132 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class·</span>Archive,·<span·class="keyword">typename</span>·Scalar_,·<span·class="keywordtype">int</span>·Rows_,·<span·class="keywordtype">int</span>·Cols_,·<span·class="keywordtype">int</span>·Ops_,</div>
 133 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··········<span·class="keywordtype">int</span>·MaxRows_,·<span·class="keywordtype">int</span>·MaxCols_&gt;</div>
136 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="}">134 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="}">
 135 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a00092.html#a068f1f8df2afd609744bc82386259e71">···50</a></span><span·class="keywordtype">void</span>·save(</div>
137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a01434.html">···36</a></span><span·class="keyword">namespace·</span>treeTraversal·{</div> 
138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div> 
139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="comment">/*·*************************************************************************·*/</span></div> 
140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">namespace·</span>{</div> 
141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="comment">//·Internal·node·used·in·DFS·preorder·stack</span></div> 
142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·NODE,·<span·class="keyword">typename</span>·DATA&gt;</div> 
143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="keyword">struct·</span>TraversalNode·{</div> 
144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keywordtype">bool</span>·expanded;</div> 
145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">const</span>·boost::shared_ptr&lt;NODE&gt;&amp;·treeNode;</div> 
146 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··DATA&amp;·parentData;</div> 
147 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">typename</span>·<a·class="code·hl_class"·href="a02312.html">FastList&lt;DATA&gt;::iterator</a>·dataPointer;</div> 
148 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··TraversalNode(<span·class="keyword">const</span>·boost::shared_ptr&lt;NODE&gt;&amp;·_treeNode,·DATA&amp;·_parentData)·:</div> 
149 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······expanded(<span·class="keyword">false</span>),·treeNode(_treeNode),·parentData(_parentData)·{</div> 
150 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··}</div> 
151 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>};</div> 
152 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>136 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····Archive&amp;·ar,</div>
153 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="comment">//·Do·nothing·-·default·argument·for·post-visitor·for·tree·traversal</span></div> 
154 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">struct·</span>no_op·{</div> 
155 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·NODE,·<span·class="keyword">typename</span>·DATA&gt;</div> 
156 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordtype">void</span>·operator()(<span·class="keyword">const</span>·boost::shared_ptr&lt;NODE&gt;&amp;·node,·<span·class="keyword">const</span>·DATA&amp;·data)·{</div>137 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">const</span>·Eigen::Matrix&lt;Scalar_,·Rows_,·Cols_,·Ops_,·MaxRows_,·MaxCols_&gt;&amp;·m,</div>
 138 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 139 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·rows·=·m.rows(),·cols·=·m.cols();</div>
 140 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··ar·&lt;&lt;·BOOST_SERIALIZATION_NVP(rows);</div>
157 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··}</div>141 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··ar·&lt;&lt;·BOOST_SERIALIZATION_NVP(cols);</div>
158 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>};</div>142 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··ar·&lt;&lt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(m.data(),·m.size()));</div>
159 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>143 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>}</div>
160 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>}</div> 
161 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span><span·class="keyword">template</span>&lt;<span·class="keyword">class·</span>FOREST,·<span·class="keyword">typename</span>·DATA,·<span·class="keyword">typename</span>·VISITOR_PRE,</div> 
163 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="keyword">typename</span>·VISITOR_POST&gt;</div> 
164 <div·class="foldopen"·id="foldopen00077"·data-start="{"·data-end="}"> 
165 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno"><a·class="line"·href="a01434.html#a50e24f0a9085721425089cdce18f2475">···77</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01434.html#a50e24f0a9085721425089cdce18f2475">DepthFirstForest</a>(FOREST&amp;·forest,·DATA&amp;·rootData,·VISITOR_PRE&amp;·visitorPre,</div> 
166 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····VISITOR_POST&amp;·visitorPost)·{</div> 
167 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="comment">//·Typedefs</span></div> 
168 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·FOREST::Node·Node;</div> 
169 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;Node&gt;·sharedNode;</div> 
170 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div> 
171 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<span·class="comment">//·Depth·first·traversal·stack</span></div> 
172 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<span·class="keyword">typedef</span>·TraversalNode&lt;typename·FOREST::Node,·DATA&gt;·TraversalNode;</div> 
173 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02312.html">FastList&lt;TraversalNode&gt;</a>·Stack;</div> 
174 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··Stack·<a·class="code·hl_function"·href="a01428.html#a5c82884a356ddd09229a5283aed04df9">stack</a>;</div> 
175 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<a·class="code·hl_class"·href="a02312.html">FastList&lt;DATA&gt;</a>·dataList;·<span·class="comment">//·List·to·store·node·data·as·it·is·returned·from·the·pre-order·visitor</span></div> 
176 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div> 
177 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="comment">//·Add·roots·to·stack·(insert·such·that·they·are·visited·and·processed·in·order</span></div> 
178 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··{</div> 
179 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····<span·class="keyword">typename</span>·Stack::iterator·insertLocation·=·<a·class="code·hl_function"·href="a01428.html#a5c82884a356ddd09229a5283aed04df9">stack</a>.begin();</div> 
180 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·sharedNode&amp;·root:·forest.roots())</div> 
181 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>······<a·class="code·hl_function"·href="a01428.html#a5c82884a356ddd09229a5283aed04df9">stack</a>.insert(insertLocation,·TraversalNode(root,·rootData));</div> 
182 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··}</div> 
183 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div> 
184 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··<span·class="comment">//·Traverse</span></div> 
185 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··<span·class="keywordflow">while</span>·(!<a·class="code·hl_function"·href="a01428.html#a5c82884a356ddd09229a5283aed04df9">stack</a>.empty())·{</div> 
186 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>····<span·class="comment">//·Get·next·node</span></div> 
187 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>····TraversalNode&amp;·node·=·<a·class="code·hl_function"·href="a01428.html#a5c82884a356ddd09229a5283aed04df9">stack</a>.front();</div> 
188 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>·</div> 
189 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>····<span·class="keywordflow">if</span>·(node.expanded)·{</div> 
190 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>······<span·class="comment">//·If·already·expanded,·then·the·data·stored·in·the·node·is·no·longer·needed,·so·visit</span></div> 
191 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>······<span·class="comment">//·then·delete·it.</span></div> 
192 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>······(void)·visitorPost(node.treeNode,·*node.dataPointer);</div> 
193 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>······dataList.erase(node.dataPointer);</div> 
194 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>······<a·class="code·hl_function"·href="a01428.html#a5c82884a356ddd09229a5283aed04df9">stack</a>.pop_front();</div> 
195 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>····}·<span·class="keywordflow">else</span>·{</div> 
196 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>······<span·class="comment">//·If·not·already·visited,·visit·the·node·and·add·its·children·(use·reverse·iterators·so</span></div> 
197 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>······<span·class="comment">//·children·are·processed·in·the·order·they·appear)</span></div> 
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170 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::operator==</b>·(const·Matrix·&amp;A,·const·Matrix·&amp;B)</td></tr> 
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174 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::operator!=</b>·(const·Matrix·&amp;A,·const·Matrix·&amp;B)</td></tr> 
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178 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::assert_equal</b>·(const·Matrix·&amp;A,·const·Matrix·&amp;B,·double·tol=1e-9)</td></tr> 
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190 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::linear_independent</b>·(const·Matrix·&amp;A,·const·Matrix·&amp;B,·double·tol=1e-9)</td></tr> 
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106 <div·class="contents">106 <div·class="contents">
107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00098.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
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112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·testLie.h</span></div> 
120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@brief·Test·utilities·for·Lie·groups</span></div> 
121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·November,·2014</span></div> 
122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*·@author·Paul·Furgale</span></div> 
123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">·*/</span></div> 
124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
 120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>
 121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;sstream&gt;</span></div>
125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00128.html">gtsam/base/Lie.h</a>&gt;</span></div> 
128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00017.html">gtsam/base/numericalDerivative.h</a>&gt;</span></div> 
129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div> 
130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;CppUnitLite/TestResult.h&gt;</span></div> 
131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;CppUnitLite/Test.h&gt;</span></div> 
132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;CppUnitLite/Failure.h&gt;</span></div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00041.html">gtsam/base/serialization.h</a>&gt;</span></div>
133 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
134 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;boost/serialization/serialization.hpp&gt;</span></div>
 127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;boost/filesystem.hpp&gt;</span></div>
135 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
136 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·Do·a·comprehensive·test·of·Lie·Group·derivatives</span></div>130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">//·whether·to·print·the·serialized·text·to·stdout</span></div>
 131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·verbose·=·<span·class="keyword">false</span>;</div>
137 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·G&gt;</div> 
138 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keywordtype">void</span>·testLieGroupDerivatives(TestResult&amp;·result_,·<span·class="keyword">const</span>·std::string&amp;·name_,</div> 
139 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keyword">const</span>·G&amp;·t1,·<span·class="keyword">const</span>·G&amp;·t2)·{</div> 
140 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
141 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··Matrix·H1,·H2;</div>133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
142 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">typedef</span>·traits&lt;G&gt;·T;</div>134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">namespace·</span>serializationTestHelpers·{</div>
143 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">typedef</span>·OptionalJacobian&lt;T::dimension,T::dimension&gt;·OJ;</div> 
144 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
 136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="comment">//·templated·default·object·creation·so·we·only·need·to·declare·one·friend·(if·applicable)</span></div>
 137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div>
 138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>T·create()·{</div>
145 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="comment">//·Inverse</span></div>139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordflow">return</span>·T();</div>
146 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··OJ·none;</div>140 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>}</div>
147 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··EXPECT(assert_equal&lt;G&gt;(t1.inverse(),T::Inverse(t1,·H1)));</div> 
148 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative21&lt;G,G,OJ&gt;(T::Inverse,·t1,·none),H1));</div> 
149 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>141 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
150 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··EXPECT(assert_equal&lt;G&gt;(t2.inverse(),T::Inverse(t2,·H1)));</div> 
151 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative21&lt;G,G,OJ&gt;(T::Inverse,·t2,·none),H1));</div>142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="comment">//·Creates·or·empties·a·folder·in·the·build·folder·and·returns·the·relative·path</span></div>
 143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="keyword">inline</span>·boost::filesystem::path·resetFilesystem(</div>
 144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····boost::filesystem::path·folder·=·<span·class="stringliteral">&quot;actual&quot;</span>)·{</div>
 145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··boost::filesystem::remove_all(folder);</div>
 146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··boost::filesystem::create_directory(folder);</div>
 147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keywordflow">return</span>·folder;</div>
152 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>148 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>}</div>
153 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="comment">//·Compose</span></div> 
154 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··EXPECT(assert_equal&lt;G&gt;(t1·*·t2,T::Compose(t1,·t2,·H1,·H2)));</div> 
155 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative41&lt;G,G,G,OJ,OJ&gt;(T::Compose,·t1,·t2,·none,·none),·H1));</div> 
156 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative42&lt;G,G,G,OJ,OJ&gt;(T::Compose,·t1,·t2,·none,·none),·H2));</div> 
157 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>149 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
158 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="comment">//·Between</span></div>150 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="comment">//·Templated·round-trip·serialization</span></div>
159 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··EXPECT(assert_equal&lt;G&gt;(t1.inverse()·*·t2,T::Between(t1,·t2,·H1,·H2)));</div> 
160 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative41&lt;G,G,G,OJ,OJ&gt;(T::Between,·t1,·t2,·none,·none),·H1));</div> 
161 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative42&lt;G,G,G,OJ,OJ&gt;(T::Between,·t1,·t2,·none,·none),·H2));</div>151 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div>
 152 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keywordtype">void</span>·roundtrip(<span·class="keyword">const</span>·T&amp;·input,·T&amp;·output)·{</div>
 153 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··std::string·serialized·=·<a·class="code·hl_function"·href="a01428.html#a332bad7d1e70d3c04ceca35adce7a134">serialize</a>(input);</div>
 154 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keywordflow">if</span>·(verbose)·std::cout·&lt;&lt;·serialized·&lt;&lt;·std::endl·&lt;&lt;·std::endl;</div>
 155 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<a·class="code·hl_function"·href="a01428.html#aa4d516d0d98946341ad2766521011d1b">deserialize</a>(serialized,·output);</div>
162 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>}</div>156 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>}</div>
163 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>157 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
164 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><span·class="comment">//·Do·a·comprehensive·test·of·Lie·Group·Chart·derivatives</span></div>158 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="comment">//·Templated·round-trip·serialization·using·a·file</span></div>
165 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·G&gt;</div>159 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div>
166 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="keywordtype">void</span>·testChartDerivatives(TestResult&amp;·result_,·<span·class="keyword">const</span>·std::string&amp;·name_,</div>160 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span><span·class="keywordtype">void</span>·roundtripFile(<span·class="keyword">const</span>·T&amp;·input,·T&amp;·output)·{</div>
167 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<span·class="keyword">const</span>·G&amp;·t1,·<span·class="keyword">const</span>·G&amp;·t2)·{</div>161 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··boost::filesystem::path·path·=·resetFilesystem()/<span·class="stringliteral">&quot;graph.dat&quot;</span>;</div>
 162 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<a·class="code·hl_function"·href="a01428.html#aa3261c2d455f892dae1921f8c3a39267">serializeToFile</a>(input,·path.string());</div>
 163 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<a·class="code·hl_function"·href="a01428.html#adbb4a71187706918faca3a11519b62f6">deserializeFromFile</a>(path.string(),·output);</div>
168 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>164 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>}</div>
169 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··Matrix·H1,·H2;</div> 
170 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">typedef</span>·traits&lt;G&gt;·T;</div> 
171 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·T::TangentVector·V;</div> 
172 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="keyword">typedef</span>·OptionalJacobian&lt;T::dimension,T::dimension&gt;·OJ;</div> 
173 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>165 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
174 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="comment">//·Retract</span></div>166 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span><span·class="comment">//·This·version·requires·equality·operator·and·uses·string·and·file·round-trips</span></div>
 167 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div>
 168 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span><span·class="keywordtype">bool</span>·equality(<span·class="keyword">const</span>·T&amp;·input·=·T())·{</div>
 169 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··T·output·=·create&lt;T&gt;(),·outputf·=·create&lt;T&gt;();</div>
175 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··OJ·none;</div> 
176 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··V·w12·=·T::Local(t1,·t2);</div> 
177 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··EXPECT(assert_equal&lt;G&gt;(t2,·T::Retract(t1,w12,·H1,·H2)));</div> 
178 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative41&lt;G,G,V,OJ,OJ&gt;(T::Retract,·t1,·w12,·none,·none),·H1));</div> 
179 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative42&lt;G,G,V,OJ,OJ&gt;(T::Retract,·t1,·w12,·none,·none),·H2));</div> 
180 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>170 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··roundtrip&lt;T&gt;(input,output);</div>
 171 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··roundtripFile&lt;T&gt;(input,outputf);</div>
 172 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<span·class="keywordflow">return</span>·(input==output)·&amp;&amp;·(input==outputf);</div>
181 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<span·class="comment">//·Local</span></div> 
182 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(w12,·T::Local(t1,·t2,·H1,·H2)));</div> 
183 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative41&lt;V,G,G,OJ,OJ&gt;(T::Local,·t1,·t2,·none,·none),·H1));</div> 
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96 </div>96 </div>
97 </div>97 </div>
  
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99 ··<div·class="summary">99 ··<div·class="summary">
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101 <a·href="#func-members">Functions</a>··</div>103 <a·href="#func-members">Functions</a>··</div>
102 ··<div·class="headertitle"><div·class="title">cholesky.h·File·Reference</div></div>104 ··<div·class="headertitle"><div·class="title">Vector.h·File·Reference</div></div>
103 </div><!--header-->105 </div><!--header-->
104 <div·class="contents">106 <div·class="contents">
  
105 <p>Efficient·incomplete·Cholesky·on·rank-deficient·matrices,·todo:·constrained·Cholesky.··107 <p>typedef·and·functions·to·augment·Eigen's·VectorXd··
106 <a·href="#details">More...</a></p>108 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00104_source.html">Go·to·the·source·code·of·this·file.</a></p>109 <p><a·href="a00104_source.html">Go·to·the·source·code·of·this·file.</a></p>
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116 Functions</h2></td></tr>147 Functions</h2></td></tr>
117 <tr·class="memitem:a747683f736c50bca16b3aab0e95b1b76"·id="r_a747683f736c50bca16b3aab0e95b1b76"><td·class="memItemLeft"·align="right"·valign="top">pair&lt;·size_t,·bool·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a747683f736c50bca16b3aab0e95b1b76">gtsam::choleskyCareful</a>·(Matrix·&amp;ATA,·int·order=-1)</td></tr> 
118 <tr·class="memdesc:a747683f736c50bca16b3aab0e95b1b76"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">"Careful"·Cholesky·computes·the·positive·square-root·of·a·positive·symmetric·semi-definite·matrix·(i.e.··<br·/></td></tr>148 <tr·class="memitem:ae19c359190a379cba44bf818a2293f7c"·id="r_ae19c359190a379cba44bf818a2293f7c"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ae19c359190a379cba44bf818a2293f7c">g[·...·truncated·by·diffoscope;·len:·81,·SHA:·0aff6316c40ad7636e9d7b2bcb77ae1d6f563fae398b6e33f07b9cfa17b8e952·...·]</td></tr>
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119 <tr·class="separator:a747683f736c50bca16b3aab0e95b1b76"><td·class="memSeparator"·colspan="2">&#160;</td></tr>150 <tr·class="separator:ae19c359190a379cba44bf818a2293f7c"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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121 <tr·class="memdesc:abe82fa6aceccfa2360cf314ab44f39ad"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Partial·Cholesky·computes·a·factor·[R·S·such·that·[R'·0·[R·S·=·[A·B·0·L]·S'·I]·0·L]·B'·C].··<br·/></td></tr>151 <tr·class="memitem:a760cc36e9009b23cf564c436294b3504"·id="r_a760cc36e9009b23cf564c436294b3504"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a760cc36e9009b23cf564c436294b3504"·name="a760cc36e9009b23cf564c436294b3504"></a>
 152 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::print</b>·(const·Vector·&amp;v,·const·std::string·&amp;s,·std::ostream·&amp;stream)</td></tr>
 153 <tr·class="memdesc:a760cc36e9009b23cf564c436294b3504"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">print·without·optional·string,·must·specify·cout·yourself·<br·/></td></tr>
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 156 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::print</b>·(const·Vector·&amp;v,·const·std::string·&amp;s=&quot;&quot;)</td></tr>
 157 <tr·class="memdesc:a5e5d8018a0f44a6a299406aeda27d44b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">print·with·optional·string·to·cout·<br·/></td></tr>
122 <tr·class="separator:abe82fa6aceccfa2360cf314ab44f39ad"><td·class="memSeparator"·colspan="2">&#160;</td></tr>158 <tr·class="separator:a5e5d8018a0f44a6a299406aeda27d44b"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 168 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::greaterThanOrEqual</b>·(const·Vector·&amp;v1,·const·Vector·&amp;v2)</td></tr>
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 176 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::equal_with_abs_tol</b>·(const·SubVector·&amp;vec1,·const·SubVector·&amp;vec2,·double·tol)</td></tr>
 177 <tr·class="separator:a14034da7e28c95db712ec344d4a2ffaf"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 178 <tr·class="memitem:aa7ed1d4fe2dd6828cfeb2d8f488b818d"·id="r_aa7ed1d4fe2dd6828cfeb2d8f488b818d"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aa7ed1d4fe2dd6828cfeb2d8f488b818d"·name="aa7ed1d4fe2dd6828cfeb2d8f488b818d"></a>
 179 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::equal</b>·(const·Vector·&amp;vec1,·const·Vector·&amp;vec2,·double·tol)</td></tr>
 180 <tr·class="memdesc:aa7ed1d4fe2dd6828cfeb2d8f488b818d"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Override·of·equal·in·<a·class="el"·href="a00002.html"·title="Base·class·and·basic·functions·for·Lie·types.">Lie.h</a>.·<br·/></td></tr>
 181 <tr·class="separator:aa7ed1d4fe2dd6828cfeb2d8f488b818d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 182 <tr·class="memitem:a3d1cad2313f69f9fa5008fdc348d1526"·id="r_a3d1cad2313f69f9fa5008fdc348d1526"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a3d1cad2313f69f9fa5008fdc348d1526"·name="a3d1cad2313f69f9fa5008fdc348d1526"></a>
 183 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::equal</b>·(const·Vector·&amp;vec1,·const·Vector·&amp;vec2)</td></tr>
 184 <tr·class="memdesc:a3d1cad2313f69f9fa5008fdc348d1526"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Override·of·equal·in·<a·class="el"·href="a00002.html"·title="Base·class·and·basic·functions·for·Lie·types.">Lie.h</a>.·<br·/></td></tr>
 185 <tr·class="separator:a3d1cad2313f69f9fa5008fdc348d1526"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 186 <tr·class="memitem:a9f3ee662d25ffb8c04b4e35c4b02e90b"·id="r_a9f3ee662d25ffb8c04b4e35c4b02e90b"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a9f3ee662d25ffb8c04b4e35c4b02e90b">gtsam::assert_equal</a>·(const·Vector·&amp;vec1,·const·Vector·&amp;vec2,·double·tol=1e-9)</td></tr>
 187 <tr·class="memdesc:a9f3ee662d25ffb8c04b4e35c4b02e90b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Same,·prints·if·error.··<br·/></td></tr>
 188 <tr·class="separator:a9f3ee662d25ffb8c04b4e35c4b02e90b"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 189 <tr·class="memitem:a2ca3db47b15350977c1f03c5560ab332"·id="r_a2ca3db47b15350977c1f03c5560ab332"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a2ca3db47b15350977c1f03c5560ab332">gtsam::assert_inequal</a>·(const·Vector·&amp;vec1,·const·Vector·&amp;vec2,·double·tol=1e-9)</td></tr>
 190 <tr·class="memdesc:a2ca3db47b15350977c1f03c5560ab332"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Not·the·same,·prints·if·error.··<br·/></td></tr>
 191 <tr·class="separator:a2ca3db47b15350977c1f03c5560ab332"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 192 <tr·class="memitem:ac3cf8e8e70cd696d9c789c31bc1e89a7"·id="r_ac3cf8e8e70cd696d9c789c31bc1e89a7"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ac3cf8e8e70cd696d9c789c31bc1e89a7">gtsam::assert_equal</a>·(const·SubVector·&amp;vec1,·const·SubVector·&amp;vec2,·double·tol=1e-9)</td></tr>
 193 <tr·class="memdesc:ac3cf8e8e70cd696d9c789c31bc1e89a7"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Same,·prints·if·error.··<br·/></td></tr>
 194 <tr·class="separator:ac3cf8e8e70cd696d9c789c31bc1e89a7"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 195 <tr·class="memitem:ac95292df1087c65aa5b5388bf4c11842"·id="r_ac95292df1087c65aa5b5388bf4c11842"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac95292df1087c65aa5b5388bf4c11842"·name="ac95292df1087c65aa5b5388bf4c11842"></a>
 196 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::assert_equal</b>·(const·ConstSubVector·&amp;expected,·const·ConstSubVector·&amp;actual,·double·tol)</td></tr>
 197 <tr·class="separator:ac95292df1087c65aa5b5388bf4c11842"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 198 <tr·class="memitem:a2a0cfd7908b06491df49b6a9c9186775"·id="r_a2a0cfd7908b06491df49b6a9c9186775"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a2a0cfd7908b06491df49b6a9c9186775">gtsam::linear_dependent</a>·(const·Vector·&amp;vec1,·const·Vector·&amp;vec2,·double·tol=1e-9)</td></tr>
 199 <tr·class="memdesc:a2a0cfd7908b06491df49b6a9c9186775"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">check·whether·two·vectors·are·linearly·dependent··<br·/></td></tr>
 200 <tr·class="separator:a2a0cfd7908b06491df49b6a9c9186775"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/cholesky.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/Vector.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">cholesky.h</div></div>104 ··<div·class="headertitle"><div·class="title">Vector.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00104.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00104.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="comment">//·\callgraph</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#pragma·once</span></div>
 121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#ifndef·MKL_BLAS</span></div>
 122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#define·MKL_BLAS·MKL_DOMAIN_BLAS</span></div>
 123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#endif</span></div>
 124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
 125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01394.html">gtsam/global_includes.h</a>&gt;</span></div>
 126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;Eigen/Core&gt;</span></div>
 127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div>
 128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;list&gt;</span></div>
 129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="comment">//·Vector·is·just·a·typedef·of·the·Eigen·dynamic·vector·type</span></div>
124 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>GTSAM_EXPORT·std::pair&lt;size_t,bool&gt;·<a·class="code·hl_function"·href="a01428.html#a747683f736c50bca16b3aab0e95b1b76">choleskyCareful</a>(Matrix&amp;·ATA,·<span·class="keywordtype">int</span>·order·=·-1);</div> 
125 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
126 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>GTSAM_EXPORT·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#abe82fa6aceccfa2360cf314ab44f39ad">choleskyPartial</a>(Matrix&amp;·ABC,·<span·class="keywordtype">size_t</span>·nFrontal,·<span·class="keywordtype">size_t</span>·topleft=0);</div> 
127 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">//·Typedef·arbitary·length·vector</span></div>
 135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="keyword">typedef</span>·Eigen::VectorXd·Vector;</div>
 136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
 137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="comment">//·Commonly·used·fixed·size·vectors</span></div>
 138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="keyword">typedef</span>·Eigen::Matrix&lt;double,·1,·1&gt;·Vector1;</div>
 139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="keyword">typedef</span>·Eigen::Vector2d·Vector2;</div>
 140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">typedef</span>·Eigen::Vector3d·Vector3;</div>
 141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
 142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="keyword">static</span>·<span·class="keyword">const</span>·Eigen::MatrixBase&lt;Vector2&gt;::ConstantReturnType·Z_2x1·=·Vector2::Zero();</div>
 143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">static</span>·<span·class="keyword">const</span>·Eigen::MatrixBase&lt;Vector3&gt;::ConstantReturnType·Z_3x1·=·Vector3::Zero();</div>
 144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="comment">//·Create·handy·typedefs·and·constants·for·vectors·with·N&gt;3</span></div>
 146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="comment">//·VectorN·and·Z_Nx1,·for·N=1..9</span></div>
 147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="preprocessor">#define·GTSAM_MAKE_VECTOR_DEFS(N)················\</span></div>
 148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span><span·class="preprocessor">··using·Vector##N·=·Eigen::Matrix&lt;double,·N,·1&gt;;·\</span></div>
 149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="preprocessor">··static·const·Eigen::MatrixBase&lt;Vector##N&gt;::ConstantReturnType·Z_##N##x1·=·Vector##N::Zero();</span></div>
 150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>GTSAM_MAKE_VECTOR_DEFS(4)</div>
 152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>GTSAM_MAKE_VECTOR_DEFS(5)</div>
 153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>GTSAM_MAKE_VECTOR_DEFS(6)</div>
 154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>GTSAM_MAKE_VECTOR_DEFS(7)</div>
 155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>GTSAM_MAKE_VECTOR_DEFS(8)</div>
 156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>GTSAM_MAKE_VECTOR_DEFS(9)</div>
 157 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>GTSAM_MAKE_VECTOR_DEFS(10)</div>
 158 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>GTSAM_MAKE_VECTOR_DEFS(11)</div>
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130 <div·class="ttc"·id="aa00095_html"><div·class="ttname"><a·href="a00095.html">Matrix.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·MatrixXd</div></div>165 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span><span·class="preprocessor">#if·defined(GTSAM_EIGEN_VERSION_WORLD)</span></div>
 166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span><span·class="keyword">static_assert</span>(</div>
 167 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····GTSAM_EIGEN_VERSION_WORLD==EIGEN_WORLD_VERSION·&amp;&amp;</div>
 168 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····GTSAM_EIGEN_VERSION_MAJOR==EIGEN_MAJOR_VERSION,</div>
 169 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="stringliteral">&quot;Error:·GTSAM·was·built·against·a·different·version·of·Eigen&quot;</span>);</div>
 170 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span><span·class="preprocessor">#endif</span></div>
 171 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
 172 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>GTSAM_EXPORT·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#ae19c359190a379cba44bf818a2293f7c">fpEqual</a>(<span·class="keywordtype">double</span>·a,·<span·class="keywordtype">double</span>·b,·<span·class="keywordtype">double</span>·tol,</div>
 173 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··························<span·class="keywordtype">bool</span>·check_relative_also·=·<span·class="keyword">true</span>);</div>
 174 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>·</div>
 175 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>GTSAM_EXPORT·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·Vector&amp;·v,·<span·class="keyword">const</span>·std::string&amp;·s,·std::ostream&amp;·stream);</div>
 176 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>·</div>
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 186 <div·class="line"><a·id="l00130"·name="l00130"></a><span·class="lineno">··130</span>GTSAM_EXPORT·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#af31e657258505b2e5148846ebbaa3195">equal_with_abs_tol</a>(<span·class="keyword">const</span>·SubVector&amp;·vec1,·<span·class="keyword">const</span>·SubVector&amp;·vec2,·<span·class="keywordtype">double</span>·tol=1e-9);</div>
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 193 <div·class="line"><a·id="l00138"·name="l00138"></a><span·class="lineno">··138</span>·</div>
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 202 <div·class="line"><a·id="l00162"·name="l00162"></a><span·class="lineno">··162</span>GTSAM_EXPORT·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#a7a116d0643f123ef3b15d91056506492">assert_inequal</a>(<span·class="keyword">const</span>·Vector&amp;·vec1,·<span·class="keyword">const</span>·Vector&amp;·vec2,·<span·class="keywordtype">double</span>·tol=1e-9);</div>
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137 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>131 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
138 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>132 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
139 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>133 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
140 </table><table·class="memberdecls">134 </table><table·class="memberdecls">
141 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="define-members"·name="define-members"></a>135 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="define-members"·name="define-members"></a>
142 Macros</h2></td></tr>136 Macros</h2></td></tr>
143 <tr·class="memitem:a64b5e2e3c812d2cdea5ee294100f825f"·id="r_a64b5e2e3c812d2cdea5ee294100f825f"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a64b5e2e3c812d2cdea5ee294100f825f"·name="a64b5e2e3c812d2cdea5ee294100f825f"></a> 
144 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>GTSAM_CONCEPT_MANIFOLD_INST</b>(T)&#160;&#160;&#160;template·class·gtsam::IsManifold&lt;T&gt;;</td></tr> 
145 <tr·class="memdesc:a64b5e2e3c812d2cdea5ee294100f825f"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">&zwj;**·<br·/></td></tr>137 <tr·class="memitem:a09f3206ab3c49fa828b82721b56ad50d"·id="r_a09f3206ab3c49fa828b82721b56ad50d"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a09f3206ab3c49fa828b82721b56ad50d"·name="a09f3206ab3c49fa828b82721b56ad50d"></a>
 138 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>GTSAM_PRINT</b>(x)&#160;&#160;&#160;((x).print(#x))</td></tr>
 139 <tr·class="separator:a09f3206ab3c49fa828b82721b56ad50d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 141 <tr·class="memdesc:abe0a238cdd07d484ff0be56ae945b182"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Macros·for·using·the·TestableConcept.··<br·/></td></tr>
146 <tr·class="separator:a64b5e2e3c812d2cdea5ee294100f825f"><td·class="memSeparator"·colspan="2">&#160;</td></tr>142 <tr·class="separator:abe0a238cdd07d484ff0be56ae945b182"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
147 <tr·class="memitem:a5bc634a672a09f703802790292574815"·id="r_a5bc634a672a09f703802790292574815"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a5bc634a672a09f703802790292574815"·name="a5bc634a672a09f703802790292574815"></a>143 <tr·class="memitem:a1d8be087361f5a3d2b9bad75cdf5ed4c"·id="r_a1d8be087361f5a3d2b9bad75cdf5ed4c"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a1d8be087361f5a3d2b9bad75cdf5ed4c"·name="a1d8be087361f5a3d2b9bad75cdf5ed4c"></a>
148 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>GTSAM_CONCEPT_MANIFOLD_TYPE</b>(T)&#160;&#160;&#160;using·_gtsam_IsManifold_##T·=·gtsam::IsManifold&lt;T&gt;;</td></tr>144 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>GTSAM_CONCEPT_TESTABLE_TYPE</b>(T)&#160;&#160;&#160;using·_gtsam_Testable_##T·=·<a·class="el"·href="a02476.html">gtsam::IsTestable</a>&lt;T&gt;;</td></tr>
149 <tr·class="separator:a5bc634a672a09f703802790292574815"><td·class="memSeparator"·colspan="2">&#160;</td></tr>145 <tr·class="separator:a1d8be087361f5a3d2b9bad75cdf5ed4c"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
150 </table><table·class="memberdecls">146 </table><table·class="memberdecls">
151 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>147 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
152 Functions</h2></td></tr>148 Functions</h2></td></tr>
153 <tr·class="memitem:ae03a6aedf0a82f67c2f3e987fb3aacba"·id="r_ae03a6aedf0a82f67c2f3e987fb3aacba"><td·class="memTemplParams"·colspan="2"><a·id="ae03a6aedf0a82f67c2f3e987fb3aacba"·name="ae03a6aedf0a82f67c2f3e987fb3aacba"></a>149 <tr·class="memitem:acd4a964885d404ce95952a426d6ec66f"·id="r_acd4a964885d404ce95952a426d6ec66f"><td·class="memItemLeft"·align="right"·valign="top"><a·id="acd4a964885d404ce95952a426d6ec66f"·name="acd4a964885d404ce95952a426d6ec66f"></a>
 150 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::print</b>·(float·v,·const·std::string·&amp;s=&quot;&quot;)</td></tr>
 151 <tr·class="separator:acd4a964885d404ce95952a426d6ec66f"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 153 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::print</b>·(double·v,·const·std::string·&amp;s=&quot;&quot;)</td></tr>
 154 <tr·class="separator:a18388d9f853471b852e9cb5c2f6e321d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 155 <tr·class="memitem:ad2dbee4a72127938c79162cc8b6d5152"·id="r_ad2dbee4a72127938c79162cc8b6d5152"><td·class="memTemplParams"·colspan="2"><a·id="ad2dbee4a72127938c79162cc8b6d5152"·name="ad2dbee4a72127938c79162cc8b6d5152"></a>
154 template&lt;typename·T·&gt;·</td></tr>156 template&lt;class·T·&gt;·</td></tr>
155 <tr·class="memitem:ae03a6aedf0a82f67c2f3e987fb3aacba"><td·class="memTemplItemLeft"·align="right"·valign="top">&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::BOOST_CONCEPT_REQUIRES</b>·(((<a·class="el"·href="a02476.html">IsTestable</a>&lt;·T·&gt;)),(bool))·check_manifold_invariants(const·T·&amp;a</td></tr> 
156 <tr·class="memdesc:ae03a6aedf0a82f67c2f3e987fb3aacba"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Check·invariants·for·Manifold·type.·<br·/></td></tr>157 <tr·class="memitem:ad2dbee4a72127938c79162cc8b6d5152"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::equal</b>·(const·T·&amp;obj1,·const·T·&amp;obj2,·double·tol)</td></tr>
 158 <tr·class="memdesc:ad2dbee4a72127938c79162cc8b6d5152"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Call·equal·on·the·object.·<br·/></td></tr>
 159 <tr·class="separator:ad2dbee4a72127938c79162cc8b6d5152"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 160 <tr·class="memitem:a1f3dc67ad88b799c469088e428c583b1"·id="r_a1f3dc67ad88b799c469088e428c583b1"><td·class="memTemplParams"·colspan="2"><a·id="a1f3dc67ad88b799c469088e428c583b1"·name="a1f3dc67ad88b799c469088e428c583b1"></a>
 161 template&lt;class·T·&gt;·</td></tr>
 162 <tr·class="memitem:a1f3dc67ad88b799c469088e428c583b1"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::equal</b>·(const·T·&amp;obj1,·const·T·&amp;obj2)</td></tr>
 163 <tr·class="memdesc:a1f3dc67ad88b799c469088e428c583b1"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Call·equal·without·tolerance·(use·default·tolerance)·<br·/></td></tr>
157 <tr·class="separator:ae03a6aedf0a82f67c2f3e987fb3aacba"><td·class="memSeparator"·colspan="2">&#160;</td></tr>164 <tr·class="separator:a1f3dc67ad88b799c469088e428c583b1"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 165 <tr·class="memitem:a659619cca082d1c10b07c033d48c54da"·id="r_a659619cca082d1c10b07c033d48c54da"><td·class="memTemplParams"·colspan="2"><a·id="a659619cca082d1c10b07c033d48c54da"·name="a659619cca082d1c10b07c033d48c54da"></a>
 166 template&lt;class·V·&gt;·</td></tr>
 167 <tr·class="memitem:a659619cca082d1c10b07c033d48c54da"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::assert_equal</b>·(const·V·&amp;expected,·const·V·&amp;actual,·double·tol=1e-9)</td></tr>
 168 <tr·class="memdesc:a659619cca082d1c10b07c033d48c54da"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·template·works·for·any·type·with·equals.·<br·/></td></tr>
 169 <tr·class="separator:a659619cca082d1c10b07c033d48c54da"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
158 </table>170 </table>
159 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>171 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
160 <div·class="textblock"><p>Base·class·and·basic·functions·for·Manifold·types.·</p>172 <div·class="textblock"><p>Concept·check·for·values·that·can·be·used·in·unit·tests.·</p>
161 <dl·class="section·author"><dt>Author</dt><dd>Alex·Cunningham·</dd>173 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert</dd></dl>
162 <dd> 
163 Frank·Dellaert·</dd> 
164 <dd> 
165 Mike·Bosse·</dd></dl>174 <p>The·necessary·functions·to·implement·for·Testable·are·defined·below·with·additional·details·as·to·the·interface.·The·concept·checking·function·will·check·whether·or·not·the·function·exists·in·derived·class·and·throw·compile-time·errors.</p>
 175 <p>print·with·optional·string·naming·the·object·void·print(const·std::string&amp;·name)·const·=·0;</p>
 176 <p>equality·up·to·tolerance·tricky·to·implement,·see·PriorFactor·for·an·example·equals·is·not·supposed·to·print·out·<em>anything</em>,·just·return·true|false·bool·equals(const·Derived&amp;·expected,·double·tol)·const·=·0;·</p>
 177 </div><h2·class="groupheader">Macro·Definition·Documentation</h2>
 178 <a·id="abe0a238cdd07d484ff0be56ae945b182"·name="abe0a238cdd07d484ff0be56ae945b182"></a>
 179 <h2·class="memtitle"><span·class="permalink"><a·href="#abe0a238cdd07d484ff0be56ae945b182">&#9670;&#160;</a></span>GTSAM_CONCEPT_TESTABLE_INST</h2>
  
 180 <div·class="memitem">
 181 <div·class="memproto">
 182 ······<table·class="memname">
 183 ········<tr>
 184 ··········<td·class="memname">#define·GTSAM_CONCEPT_TESTABLE_INST</td>
 185 ··········<td>(</td>
 186 ··········<td·class="paramtype">&#160;</td>
 187 ··········<td·class="paramname">T</td><td>)</td>
 188 ··········<td>&#160;&#160;&#160;template·class·<a·class="el"·href="a02476.html">gtsam::IsTestable</a>&lt;T&gt;;</td>
 189 ········</tr>
 190 ······</table>
 191 </div><div·class="memdoc">
  
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/Manifold.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/Testable.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Manifold.h</div></div>104 ··<div·class="headertitle"><div·class="title">Testable.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00107.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00107.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">//·\callgraph</span></div>
 119 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>120 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div> 
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00083.html">gtsam/base/OptionalJacobian.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>121 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/concept_check.hpp&gt;</span></div>122 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="preprocessor">#include·&lt;boost/concept_check.hpp&gt;</span></div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/concept/requires.hpp&gt;</span></div>123 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#include·&lt;functional&gt;</span></div>
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;boost/type_traits/is_base_of.hpp&gt;</span></div>124 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>
 125 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="preprocessor">#include·&lt;memory&gt;</span></div>
 126 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>127 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 128 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="preprocessor">#define·GTSAM_PRINT(x)((x).print(#x))</span></div>
 129 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>130 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a02388.html">···33</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02388.html">manifold_tag</a>·{};</div> 
131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>131 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
132 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;·<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>;</div>132 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Forward·declaration</span></div>
 133 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;·<span·class="keyword">struct·</span>traits;</div>
133 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>134 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
134 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="keyword">namespace·</span>internal·{</div> 
135 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div> 
136 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·Class&gt;</div>135 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T&gt;</div>
137 <div·class="foldopen"·id="foldopen00059"·data-start="{"·data-end="};">136 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="};">
138 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a02392.html">···59</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02392.html">HasManifoldPrereqs</a>·{</div>137 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a02476.html">···58</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a02476.html">IsTestable</a>·{</div>
139 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>138 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····T·t;</div>
 139 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordtype">bool</span>·r1,r2;</div>
140 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">enum</span>·{·dim·=·Class::dimension·};</div>140 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">public</span>:</div>
141 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>141 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
142 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··Class·p,·q;</div> 
143 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··Eigen::Matrix&lt;double,·dim,·1&gt;·v;</div>142 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····BOOST_CONCEPT_USAGE(<a·class="code·hl_class"·href="a02476.html">IsTestable</a>)·{</div>
 143 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="comment">//·check·print·function,·with·optional·string</span></div>
 144 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Print</a>(t,·std::string());</div>
144 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;dim,·dim&gt;</a>·Hp,·Hq,·Hv;</div>145 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Print</a>(t);</div>
145 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>146 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
 147 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<span·class="comment">//·check·print,·with·optional·threshold</span></div>
 148 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······<span·class="keywordtype">double</span>·tol·=·1.0;</div>
 149 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······r1·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(t,t,tol);</div>
146 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··BOOST_CONCEPT_USAGE(<a·class="code·hl_struct"·href="a02392.html">HasManifoldPrereqs</a>)·{</div>150 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······r2·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(t,t);</div>
147 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····v·=·p.localCoordinates(q);</div> 
148 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····q·=·p.retract(v);</div> 
149 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··}</div>151 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····}</div>
150 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>};</div>152 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··};·<span·class="comment">//·\·Testable</span></div>
151 </div>153 </div>
152 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>154 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 155 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keywordtype">float</span>·v,·<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·{</div>
 156 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····std::cout·&lt;&lt;·(s.empty()·?·s·:·s·+·<span·class="stringliteral">&quot;·&quot;</span>)·&lt;&lt;·v·&lt;&lt;·std::endl;</div>
153 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·Class,·<span·class="keywordtype">int</span>·N&gt;</div> 
154 <div·class="foldopen"·id="foldopen00075"·data-start="{"·data-end="};"> 
155 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a02396.html">···75</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02396.html">GetDimensionImpl</a>·{</div> 
156 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="comment">//·Compile-time·dimensionality</span></div> 
157 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="keyword">static</span>·<span·class="keywordtype">int</span>·GetDimension(<span·class="keyword">const</span>·Class&amp;)·{</div> 
158 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keywordflow">return</span>·N;</div> 
159 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··}</div>157 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··}</div>
 158 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keywordtype">double</span>·v,·<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·{</div>
 159 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····std::cout·&lt;&lt;·(s.empty()·?·s·:·s·+·<span·class="stringliteral">&quot;·&quot;</span>)·&lt;&lt;·v·&lt;&lt;·std::endl;</div>
160 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>};</div>160 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··}</div>
161 </div> 
162 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>161 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
163 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·Class&gt;</div>162 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div>
164 <div·class="foldopen"·id="foldopen00084"·data-start="{"·data-end="};">163 <div·class="foldopen"·id="foldopen00084"·data-start="{"·data-end="}">
 164 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a01428.html#ad2dbee4a72127938c79162cc8b6d5152">···84</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#ad2dbee4a72127938c79162cc8b6d5152">equal</a>(<span·class="keyword">const</span>·T&amp;·obj1,·<span·class="keyword">const</span>·T&amp;·obj2,·<span·class="keywordtype">double</span>·tol)·{</div>
 165 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(obj1,obj2,·tol);</div>
165 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a02400.html">···84</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02396.html">GetDimensionImpl</a>&lt;Class,·Eigen::Dynamic&gt;·{</div> 
166 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··<span·class="comment">//·Run-time·dimensionality</span></div> 
167 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··<span·class="keyword">static</span>·<span·class="keywordtype">int</span>·GetDimension(<span·class="keyword">const</span>·Class&amp;·m)·{</div> 
168 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>····<span·class="keywordflow">return</span>·m.dim();</div> 
169 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··}</div>166 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··}</div>
170 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>};</div> 
171 </div>167 </div>
172 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>168 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>
173 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·Class&gt;</div>169 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div>
174 <div·class="foldopen"·id="foldopen00095"·data-start="{"·data-end="};">170 <div·class="foldopen"·id="foldopen00090"·data-start="{"·data-end="}">
175 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno"><a·class="line"·href="a02404.html">···95</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02404.html">ManifoldTraits</a>:·<a·class="code·hl_struct"·href="a02396.html">GetDimensionImpl<[·...·truncated·by·diffoscope;·len:·34,·SHA:·1e55a19dc1d50d6cfb3192c8b66ff9853819cc9196f4dcc9d0db30795f9425da·...·]·{</div>171 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno"><a·class="line"·href="a01428.html#a1f3dc67ad88b799c469088e428c583b1">···90</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#ad2dbee[·...·truncated·by·diffoscope;·len:·133,·SHA:·3cd022298a9ca570f03320c96d92896549d81f659598179dfa157bbd0eccaaad·...·]·{</div>
 172 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(obj1,obj2);</div>
 173 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··}</div>
 174 </div>
176 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·</div>175 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·</div>
177 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··<span·class="comment">//·Check·that·Class·has·the·necessary·machinery</span></div> 
178 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··BOOST_CONCEPT_ASSERT((<a·class="code·hl_struct"·href="a02392.html">HasManifoldPrereqs&lt;Class&gt;</a>));</div>176 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·V&gt;</div>
 177 <div·class="foldopen"·id="foldopen00098"·data-start="{"·data-end="}">
 178 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno"><a·class="line"·href="a01428.html#a659619cca082d1c10b07c033d48c54da">···98</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(<span·class="keyword">const</span>·V&amp;·expected,·<span·class="keyword">const</span>·V&amp;·actual,·<span·class="keywordtype">double</span>·tol·=·1e-9)·{</div>
 179 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>····<span·class="keywordflow">if</span>·(<a·class="code·hl_struct"·href="a02276.html">traits&lt;V&gt;::Equals</a>(actual,expected,·tol))</div>
 180 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>······<span·class="keywordflow">return</span>·<span·class="keyword">true</span>;</div>
 181 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>····printf(<span·class="stringliteral">&quot;Not·equal:\n&quot;</span>);</div>
 182 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>····<a·class="code·hl_struct"·href="a02276.html">traits&lt;V&gt;::Print</a>(expected,<span·class="stringliteral">&quot;expected:\n&quot;</span>);</div>
 183 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>····<a·class="code·hl_struct"·href="a02276.html">traits&lt;V&gt;::Print</a>(actual,<span·class="stringliteral">&quot;actual:\n&quot;</span>);</div>
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98 <div·class="header">98 <div·class="header">
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104 <div·class="contents">104 <div·class="contents">
  
105 <p>Group·product·of·two·Lie·Groups.··105 <p>The·base·class·for·any·variable·that·can·be·optimized·or·used·in·a·factor.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00110_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00110_source.html">Go·to·the·source·code·of·this·file.</a></p>
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111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02464.html">gtsam::ProductLieGroup&lt;·G,·H·&gt;</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02596.html">gtsam::Value</a></td></tr>
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Template·to·construct·the·product·Lie·group·of·two·other·Lie·groups·Assumes·Lie·group·structure·for·G·and·H.··<a·href="a02464.html#details">More...</a><br·/></td></tr> 
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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120 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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122 </table>120 </table>
123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
124 <div·class="textblock"><p>Group·product·of·two·Lie·Groups.·</p>122 <div·class="textblock"><p>The·base·class·for·any·variable·that·can·be·optimized·or·used·in·a·factor.·</p>
 123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
125 <dl·class="section·date"><dt>Date</dt><dd>May,·2015·</dd></dl>124 <dl·class="section·date"><dt>Date</dt><dd>Jan·14,·2012·</dd></dl>
126 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl> 
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ProductLieGroup.h</div></div>104 ··<div·class="headertitle"><div·class="title">Value.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00110.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00110.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
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132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">protected</span>:</div> 
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136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="keyword">public</span>:</div>131 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">public</span>:</div>
137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">···40</a></span>··<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>():Base(<a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;G&gt;::Identity(),<a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;H&gt;::Identity())·{}</div> 
138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div> 
139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="comment">//·Construct·from·two·subgroup·elements</span></div> 
140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>(<span·class="keyword">const</span>·G&amp;·g,·<span·class="keyword">const</span>·H&amp;·h):Base(g,h)·{}</div> 
141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div> 
142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="comment">//·Construct·from·base</span></div> 
143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>(<span·class="keyword">const</span>·Base&amp;·base):Base(base)·{}</div> 
144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">typedef</span>·multiplicative_group_tag·group_flavor;</div> 
146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">static</span>·<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>·Identity()·{<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>();}</div> 
147 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>·operator*(<span·class="keyword">const</span>·<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>&amp;·other)<span·class="keyword">·const·</span>{</div> 
149 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>(traits&lt;G&gt;::Compose(this-&gt;first,other.first),</div> 
150 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>········traits&lt;H&gt;::Compose(this-&gt;second,other.second));</div> 
151 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··}</div> 
152 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>·inverse()<span·class="keyword">·const·</span>{</div> 
153 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>(traits&lt;G&gt;::Inverse(this-&gt;first),·traits&lt;H&gt;::Inverse(this-&gt;second));</div> 
154 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··}</div> 
155 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>·compose(<span·class="keyword">const</span>·<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>&amp;·g)<span·class="keyword">·const·</span>{</div> 
156 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<span·class="keywordflow">return</span>·(*<span·class="keyword">this</span>)·*·g;</div> 
157 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··}</div> 
158 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>·between(<span·class="keyword">const</span>·<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>&amp;·g)<span·class="keyword">·const·</span>{</div> 
159 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keywordflow">return</span>·this-&gt;inverse()·*·g;</div> 
160 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··}</div> 
161 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div> 
162 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keyword">enum</span>·{dimension·=·dimension1·+·dimension2};</div> 
163 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<span·class="keyword">inline</span>·<span·class="keyword">static</span>·<span·class="keywordtype">size_t</span>·Dim()·{<span·class="keywordflow">return</span>·dimension;}</div> 
164 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">size_t</span>·dim()<span·class="keyword">·const·</span>{<span·class="keywordflow">return</span>·dimension;}</div> 
165 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>132 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<span·class="keyword">typedef</span>·Eigen::Matrix&lt;double,·dimension,·1&gt;·TangentVector;</div> 
167 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<span·class="keyword">typedef</span>·OptionalJacobian&lt;dimension,·dimension&gt;·ChartJacobian;</div>133 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a02596.html#ac6245c02ce05c4a87072ebc6bd27a7d5">···41</a></span>····<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>*·<a·class="code·hl_function"·href[·...·truncated·by·diffoscope;·len:·100,·SHA:·341d288ba9f22c7bf73b623fd83f19aee0cce4382479b272ac68d8fc4906c38a·...·];</div>
 134 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 135 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a02596.html#a5a0554b9e0758f370073ea3cc5cf1c9f">···44</a></span>····<span·class="keyword">virtual</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a02596.html#a5a0554b9e0758f370073ea3cc5cf1c9f">deallocate_</a>()·<span·class="keyword">const</span>·=·0;</div>
 136 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 137 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a02596.html#af8ca22b41d251396c03ffb96f914748d">···47</a></span>····<span·class="keyword">virtual</span>·boost::shared_ptr&lt;Value&gt;·<a·class="code·hl_function"·href="a02596.html#af8ca22b41d251396c03ffb96f914748d">clone</a>()·<span·class="keyword">const</span>·=·0;</div>
 138 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 139 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a02596.html#a74edb2709fe745b6d09087f6aacf507f">···50</a></span>····<span·class="keyword">virtual</span>·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a02596.html#a74edb2709fe745b6d09087f6aacf507f">equals_</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>·=·0;</div>
 140 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a02596.html#ac338307bb9f00cd29a70a48058069458">···53</a></span>····<span·class="keyword">virtual</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a02596.html#ac338307bb9f00cd29a70a48058069458">print</a>(<span·class="keyword">const</span>·std::string&amp;·str·=·<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const</span>·=·0;</div>
 142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 143 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a02596.html#a21e0a839ddaabd4c56559684ff887efe">···60</a></span>····<span·class="keyword">virtual</span>·<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a02596.html#a21e0a839ddaabd4c56559684ff887efe">dim</a>()·<span·class="keyword">const</span>·=·0;</div>
168 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>144 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
169 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>·retract(<span·class="keyword">const</span>·TangentVector&amp;·v,·<span·class="comment">//</span></div> 
170 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>······ChartJacobian·H1·=·boost::none,·ChartJacobian·H2·=·boost::none)<span·class="keyword">·const·</span>{</div> 
171 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordflow">if</span>·(H1||H2)·<span·class="keywordflow">throw</span>·std::runtime_error(<span·class="stringliteral">&quot;ProductLieGroup::retract·derivatives·not·implemented·yet&quot;</span>);</div> 
172 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····G·g·=·traits&lt;G&gt;::Retract(this-&gt;first,·v.template·head&lt;dimension1&gt;());</div> 
173 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>····H·h·=·traits&lt;H&gt;::Retract(this-&gt;second,·v.template·tail&lt;dimension2&gt;());</div> 
174 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>(g,h);</div>145 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno"><a·class="line"·href="a02596.html#a2b95d3ec328cbad775490fa15dae27d5">···68</a></span>····<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>*·<a·class="code·hl_function"·href[·...·truncated·by·diffoscope;·len:·154,·SHA:·685cd48eb0c6ee641cfb03141a0f984e9e00e9314b612fcbd0cdd27a75e37e97·...·];</div>
 146 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 147 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno"><a·class="line"·href="a02596.html#a83429f15b4f68ed92e976649ea52da97">···76</a></span>····<span·class="keyword">virtual</span>·Vector·<a·class="code·hl_function"·href="a02596.html#a83429f15b4f68ed92e976649ea52da97">localCoordinates_</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>&amp;·value)·<span·class="keyword">const</span>·=·0;</div>
 148 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
 149 <div·class="foldopen"·id="foldopen00079"·data-start="{"·data-end="}">
 150 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno"><a·class="line"·href="a02596.html#abefd5e7e205863119c1f88075070f5df">···79</a></span>····<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>&amp;·<a·class="code·hl_function"·href="a02596.html#abefd5e7e205863119c1f88075070f5df">operator=</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>&amp;·<span·class="comment">/*rhs*/</span>)·{</div>
 151 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······<span·class="comment">//needs·a·empty·definition·so·recursion·in·implicit·derived·assignment·operators·work</span></div>
 152 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·····<span·class="keywordflow">return</span>·*<span·class="keyword">this</span>;</div>
 153 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····}</div>
 154 </div>
175 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··}</div>155 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
176 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··TangentVector·localCoordinates(<span·class="keyword">const</span>·<a·class="code·hl_function"·href="a02464.html#aa25886a3e8642f111a265dec1045c6f3">ProductLieGroup</a>&amp;·g,·<span·class="comment">//</span></div> 
177 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>······ChartJacobian·H1·=·boost::none,·ChartJacobian·H2·=·boost::none)<span·class="keyword">·const·</span>{</div> 
178 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····<span·class="keywordflow">if</span>·(H1||H2)·<span·class="keywordflow">throw</span>·std::runtime_error(<span·class="stringliteral">&quot;ProductLieGroup::localCoordinates·derivatives·not·implemented·yet&quot;</span>);</div> 
179 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>····<span·class="keyword">typename</span>·traits&lt;G&gt;::TangentVector·v1·=·traits&lt;G&gt;::Local(this-&gt;first,·g.first);</div> 
180 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····<span·class="keyword">typename</span>·traits&lt;H&gt;::TangentVector·v2·=·traits&lt;H&gt;::Local(this-&gt;second,·g.second);</div> 
181 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>····TangentVector·v;</div> 
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>·&#124;
 102 <a·href="#define-members">Macros</a>·&#124;
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 104 <a·href="#var-members">Variables</a>··</div>
102 ··<div·class="headertitle"><div·class="title">SymmetricBlockMatrix.h·File·Reference</div></div>105 ··<div·class="headertitle"><div·class="title">timing.h·File·Reference</div></div>
103 </div><!--header-->106 </div><!--header-->
104 <div·class="contents">107 <div·class="contents">
  
105 <p>Access·to·matrices·via·blocks·of·pre-defined·sizes.··108 <p>Timing·utilities.··
106 <a·href="#details">More...</a></p>109 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00113_source.html">Go·to·the·source·code·of·this·file.</a></p>110 <p><a·href="a00113_source.html">Go·to·the·source·code·of·this·file.</a></p>
108 <table·class="memberdecls">111 <table·class="memberdecls">
109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>112 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
110 Classes</h2></td></tr>113 Classes</h2></td></tr>
 114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02516.html">gtsam::internal::TimingOutline</a></td></tr>
 115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Timing·Entry,·arranged·in·a·tree.··<a·href="a02516.html#details">More...</a><br·/></td></tr>
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 162 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
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 185 </table><table·class="memberdecls">
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 192 GTSAM_EXTERN_EXPORT·boost::weak_ptr&lt;·<a·class="el"·href="a02516.html">TimingOutline</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::internal::gCurrentTimer</b></td></tr>
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120 </table>194 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>195 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>Access·to·matrices·via·blocks·of·pre-defined·sizes.·</p> 
123 <p>Used·in·GaussianFactor·and·<a·class="el"·href="a05068.html"·title="is·the·normalization·constant.">GaussianConditional</a>.·</p><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>196 <div·class="textblock"><p>Timing·utilities.·</p>
 197 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts,·Michael·Kaess·</dd></dl>
124 <dl·class="section·date"><dt>Date</dt><dd>Sep·18,·2010·</dd></dl>198 <dl·class="section·date"><dt>Date</dt><dd>Oct·5,·2010·</dd></dl>
 199 </div><h2·class="groupheader">Macro·Definition·Documentation</h2>
 200 <a·id="afe4adb938a30dc8c81d2e03d879a3608"·name="afe4adb938a30dc8c81d2e03d879a3608"></a>
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#func-members">Functions</a>··</div>100 <a·href="#nested-classes">Classes</a>·&#124;
 101 <a·href="#namespaces">Namespaces</a>··</div>
101 ··<div·class="headertitle"><div·class="title">MatrixSerialization.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">VerticalBlockMatrix.h·File·Reference</div></div>
102 </div><!--header-->103 </div><!--header-->
103 <div·class="contents">104 <div·class="contents">
  
104 <p>Serialization·for·matrices.··105 <p>A·matrix·with·column·blocks·of·pre-defined·sizes.··
105 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
106 <p><a·href="a00116_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00116_source.html">Go·to·the·source·code·of·this·file.</a></p>
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 109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
 110 Classes</h2></td></tr>
 111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02660.html">gtsam::VerticalBlockMatrix</a></td></tr>
 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·class·stores·a·dense·matrix·and·allows·it·to·be·accessed·as·a·collection·of·vertical·blocks.··<a·href="a02660.html#details">More...</a><br·/></td></tr>
 113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 114 </table><table·class="memberdecls">
108 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
 116 Namespaces</h2></td></tr>
 117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
 118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
109 Functions</h2></td></tr> 
110 <tr·class="memitem:a068f1f8df2afd609744bc82386259e71"·id="r_a068f1f8df2afd609744bc82386259e71"><td·class="memTemplParams"·colspan="2">template&lt;class·Archive·,·typename·Scalar_·,·int·Rows_,·int·Cols_,·int·Ops_,·int·MaxRows_,·int·MaxCols_&gt;·</td></tr> 
111 <tr·class="memitem:a068f1f8df2afd609744bc82386259e71"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a00116.html#a068f1f8df2afd609744bc82386259e71">boost::serialization::save</a>·(Archive·&amp;ar,·const·Eigen::Matrix&lt;·Scalar_,·Rows_,·Cols_,·Ops_,·MaxRows_,·MaxCols_·&gt;·&amp;m,·const·unsigned·int)</td></tr> 
112 <tr·class="memdesc:a068f1f8df2afd609744bc82386259e71"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Ref.··<br·/></td></tr> 
113 <tr·class="separator:a068f1f8df2afd609744bc82386259e71"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
114 <tr·class="memitem:a4dc6429335569758179be176e10e53a1"·id="r_a4dc6429335569758179be176e10e53a1"><td·class="memTemplParams"·colspan="2"><a·id="a4dc6429335569758179be176e10e53a1"·name="a4dc6429335569758179be176e10e53a1"></a> 
115 template&lt;class·Archive·,·typename·Scalar_·,·int·Rows_,·int·Cols_,·int·Ops_,·int·MaxRows_,·int·MaxCols_&gt;·</td></tr> 
116 <tr·class="memitem:a4dc6429335569758179be176e10e53a1"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>boost::serialization::load</b>·(Archive·&amp;ar,·Eigen::Matrix&lt;·Scalar_,·Rows_,·Cols_,·Ops_,·MaxRows_,·MaxCols_·&gt;·&amp;m,·const·unsigned·int)</td></tr> 
117 <tr·class="separator:a4dc6429335569758179be176e10e53a1"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
118 <tr·class="memitem:ab778c43b5c119a388c08bafef4b64523"·id="r_ab778c43b5c119a388c08bafef4b64523"><td·class="memTemplParams"·colspan="2"><a·id="ab778c43b5c119a388c08bafef4b64523"·name="ab778c43b5c119a388c08bafef4b64523"></a> 
119 template&lt;class·Archive·,·typename·Scalar_·,·int·Rows_,·int·Cols_,·int·Ops_,·int·MaxRows_,·int·MaxCols_&gt;·</td></tr> 
120 <tr·class="memitem:ab778c43b5c119a388c08bafef4b64523"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>boost::serialization::serialize</b>·(Archive·&amp;ar,·Eigen::Matrix&lt;·Scalar_,·Rows_,·Cols_,·Ops_,·MaxRows_,·MaxCols_·&gt;·&amp;m,·const·unsigned·int·version)</td></tr> 
121 <tr·class="separator:ab778c43b5c119a388c08bafef4b64523"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
122 <tr·class="memitem:a249e3c6c403da95aff72dfcdf269153b"·id="r_a249e3c6c403da95aff72dfcdf269153b"><td·class="memTemplParams"·colspan="2"><a·id="a249e3c6c403da95aff72dfcdf269153b"·name="a249e3c6c403da95aff72dfcdf269153b"></a> 
123 template&lt;class·Archive·&gt;·</td></tr> 
124 <tr·class="memitem:a249e3c6c403da95aff72dfcdf269153b"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>boost::serialization::serialize</b>·(Archive·&amp;ar,·gtsam::Matrix·&amp;m,·const·unsigned·int·version)</td></tr> 
125 <tr·class="separator:a249e3c6c403da95aff72dfcdf269153b"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
126 </table>120 </table>
127 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
128 <div·class="textblock"><p>Serialization·for·matrices.·</p> 
129 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>122 <div·class="textblock"><p>A·matrix·with·column·blocks·of·pre-defined·sizes.·</p>
 123 <p>Used·in·<a·class="el"·href="a05064.html"·title="In·Gaussian·factors,·the·error·function·returns·either·the·negative·log-likelihood,...">JacobianFactor</a>·and·<a·class="el"·href="a05068.html"·title="is·the·normalization·constant.">GaussianConditional</a>.·</p><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
130 <dl·class="section·date"><dt>Date</dt><dd>February·2022·</dd></dl>124 <dl·class="section·date"><dt>Date</dt><dd>Sep·18,·2010·</dd></dl>
131 </div><h2·class="groupheader">Function·Documentation</h2> 
132 <a·id="a068f1f8df2afd609744bc82386259e71"·name="a068f1f8df2afd609744bc82386259e71"></a> 
133 <h2·class="memtitle"><span·class="permalink"><a·href="#a068f1f8df2afd609744bc82386259e71">&#9670;&#160;</a></span>save()</h2> 
  
134 <div·class="memitem"> 
135 <div·class="memproto"> 
136 <div·class="memtemplate"> 
137 template&lt;class·Archive·,·typename·Scalar_·,·int·Rows_,·int·Cols_,·int·Ops_,·int·MaxRows_,·int·MaxCols_&gt;·</div> 
138 ······<table·class="memname"> 
139 ········<tr> 
140 ··········<td·class="memname">void·boost::serialization::save·</td> 
141 ··········<td>(</td> 
142 ··········<td·class="paramtype">Archive·&amp;&#160;</td> 
143 ··········<td·class="paramname"><em>ar</em>,·</td> 
144 ········</tr> 
145 ········<tr> 
146 ··········<td·class="paramkey"></td> 
147 ··········<td></td> 
148 ··········<td·class="paramtype">const·Eigen::Matrix&lt;·Scalar_,·Rows_,·Cols_,·Ops_,·MaxRows_,·MaxCols_·&gt;·&amp;&#160;</td> 
149 ··········<td·class="paramname"><em>m</em>,·</td> 
150 ········</tr> 
151 ········<tr> 
152 ··········<td·class="paramkey"></td> 
153 ··········<td></td> 
154 ··········<td·class="paramtype">const·unsigned·int&#160;</td> 
155 ··········<td·class="paramname">&#160;</td> 
156 ········</tr> 
157 ········<tr> 
158 ··········<td></td> 
159 ··········<td>)</td> 
160 ··········<td></td><td></td> 
161 ········</tr> 
162 ······</table> 
163 </div><div·class="memdoc"> 
  
164 <p>Ref.·</p> 
165 <p><a·href="https://stackoverflow.com/questions/18382457/eigen-and-boostserialize/22903063#22903063">https://stackoverflow.com/questions/18382457/eigen-and-boostserialize/22903063#22903063</a></p> 
166 <p>Eigen·supports·calling·resize()·on·both·static·and·dynamic·matrices.·This·allows·for·a·uniform·API,·with·resize·having·no·effect·if·the·static·matrix·is·already·the·correct·size.·<a·href="https://eigen.tuxfamily.org/dox/group__TutorialMatrixClass.html#TutorialMatrixSizesResizing">https://eigen.tuxfamily.org/dox/group__TutorialMatrixClass.html#TutorialMatrixSizesResizing</a></p> 
167 <p>We·use·all·the·Matrix·template·parameters·to·ensure·wide·compatibility.</p> 
168 <p>eigen_typekit·in·ROS·uses·the·same·code·<a·href="http://docs.ros.org/lunar/api/eigen_typekit/html/eigen__mqueue_8cpp_source.html">http://docs.ros.org/lunar/api/eigen_typekit/html/eigen__mqueue_8cpp_source.html</a>·</p> 
  
169 </div> 
170 </div> 
171 </div><!--·contents·-->125 </div></div><!--·contents·-->
172 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
173 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
174 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
175 ··<ul>129 ··<ul>
176 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00116.html">MatrixSerialization.h</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00116.html">VerticalBlockMatrix.h</a></li>
177 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
178 ··</ul>132 ··</ul>
179 </div>133 </div>
180 </body>134 </body>
181 </html>135 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/MatrixSerialization.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/VerticalBlockMatrix.h·Source·File</title>
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99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">MatrixSerialization.h</div></div>104 ··<div·class="headertitle"><div·class="title">VerticalBlockMatrix.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00116.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00116.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">//·\callgraph</span></div> 
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div> 
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00092.html">gtsam/base/MatrixSerialization.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00134.html">gtsam/base/FastVector.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/serialization/array.hpp&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>··<span·class="comment">//·Forward·declarations</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/serialization/split_free.hpp&gt;</span></div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="keyword">class·</span>SymmetricBlockMatrix;</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span>boost·{</div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span>serialization·{</div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
131 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="comment">//·split·version·-·sends·sizes·ahead</span></div> 
132 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class·</span>Archive,·<span·class="keyword">typename</span>·Scalar_,·<span·class="keywordtype">int</span>·Rows_,·<span·class="keywordtype">int</span>·Cols_,·<span·class="keywordtype">int</span>·Ops_,</div> 
133 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··········<span·class="keywordtype">int</span>·MaxRows_,·<span·class="keywordtype">int</span>·MaxCols_&gt;</div> 
134 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="}">129 <div·class="foldopen"·id="foldopen00042"·data-start="{"·data-end="};">
135 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a00116.html#a068f1f8df2afd609744bc82386259e71">···50</a></span><span·class="keywordtype">void</span>·save(</div>130 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a02660.html">···42</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02660.html">VerticalBlockMatrix</a></div>
 131 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··{</div>
 132 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">public</span>:</div>
 133 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02660.html">VerticalBlockMatrix</a>·<a·class="code·hl_class"·href="a02660.html">This</a>;</div>
 134 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····<span·class="keyword">typedef</span>·Eigen::Block&lt;Matrix&gt;·Block;</div>
 135 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="keyword">typedef</span>·Eigen::Block&lt;const·Matrix&gt;·constBlock;</div>
 136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">protected</span>:</div>
 138 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a02660.html#aaac69a1919d004647db02fab5b0cb0eb">···50</a></span>····Matrix·<a·class="code·hl_variable"·href="a02660.html#aaac69a1919d004647db02fab5b0cb0eb">matrix_</a>;·</div>
 139 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02660.html#ae7ec144e787509009c3fb0f284b94a22">···51</a></span>····<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector&lt;DenseIndex&gt;</a>·<a·class="code·hl_variable"·href="a02660.html#ae7ec144e787509009c3fb0f284b94a22">variableColOffsets_</a>;·</div>
136 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····Archive&amp;·ar,</div>140 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a02660.html#ac17eb9545a5eb49245a4ed598c3cfbd1">···53</a></span>····<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·<a·class="code·hl_variable"·href="a02660.html#ac17eb9545a5eb49245a4ed598c3cfbd1">rowStart_</a>;·</div>
 142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a02660.html#a30f8297f16323a7471154f7eb9f2828a">···54</a></span>····<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·<a·class="code·hl_variable"·href="a02660.html#a30f8297f16323a7471154f7eb9f2828a">rowEnd_</a>;·</div>
 143 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a02660.html#ac6d96c30337e9378bcc7ac223b9d0d5c">···55</a></span>····<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·<a·class="code·hl_variable"·href="a02660.html#ac6d96c30337e9378bcc7ac223b9d0d5c">blockStart_</a>;·</div>
137 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">const</span>·Eigen::Matrix&lt;Scalar_,·Rows_,·Cols_,·Ops_,·MaxRows_,·MaxCols_&gt;&amp;·m,</div> 
138 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div> 
139 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·rows·=·m.rows(),·cols·=·m.cols();</div> 
140 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··ar·&lt;&lt;·BOOST_SERIALIZATION_NVP(rows);</div> 
141 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··ar·&lt;&lt;·BOOST_SERIALIZATION_NVP(cols);</div>144 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
142 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··ar·&lt;&lt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(m.data(),·m.size()));</div>145 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">public</span>:</div>
143 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>}</div>146 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
144 </div>147 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="}">
 148 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a02660.html#a04d12c23c8c6a3179416ca49da794c86">···60</a></span>····<a·class="code·hl_function"·href="a02660.html#a04d12c23c8c6a3179416ca49da794c86">VerticalBlockMatrix</a>()·:</div>
 149 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······rowStart_(0),·rowEnd_(0),·blockStart_(0)</div>
 150 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····{</div>
 151 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······variableColOffsets_.push_back(0);</div>
 152 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······assertInvariants();</div>
145 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>153 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····}</div>
 154 </div>
146 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class·</span>Archive,·<span·class="keyword">typename</span>·Scalar_,·<span·class="keywordtype">int</span>·Rows_,·<span·class="keywordtype">int</span>·Cols_,·<span·class="keywordtype">int</span>·Ops_,</div> 
147 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··········<span·class="keywordtype">int</span>·MaxRows_,·<span·class="keywordtype">int</span>·MaxCols_&gt;</div> 
148 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span><span·class="keywordtype">void</span>·load(Archive&amp;·ar,</div> 
149 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··········Eigen::Matrix&lt;Scalar_,·Rows_,·Cols_,·Ops_,·MaxRows_,·MaxCols_&gt;&amp;·m,</div> 
150 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··········<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div> 
151 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keywordtype">size_t</span>·rows,·cols;</div> 
152 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··ar·&gt;&gt;·BOOST_SERIALIZATION_NVP(rows);</div> 
153 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··ar·&gt;&gt;·BOOST_SERIALIZATION_NVP(cols);</div> 
154 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··m.resize(rows,·cols);</div>155 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
155 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··ar·&gt;&gt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(m.data(),·m.size()));</div>156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CONTAINER&gt;</div>
 157 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}">
 158 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a02660.html#a20f3454d88ad93367250ea900c84c53d">···69</a></span>····<a·class="code·hl_function"·href="a02660.html#a20f3454d88ad93367250ea900c84c53d">VerticalBlockMatrix</a>(<span·class="keyword">const</span>·CONTAINER&amp;·dimensions,·<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·height,</div>
 159 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>········<span·class="keywordtype">bool</span>·appendOneDimension·=·<span·class="keyword">false</span>)·:</div>
 160 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>········variableColOffsets_(dimensions.size()·+·(appendOneDimension·?·2·:·1)),</div>
 161 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>········rowStart_(0),·rowEnd_(height),·blockStart_(0)·{</div>
 162 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······fillOffsets(dimensions.begin(),·dimensions.end(),·appendOneDimension);</div>
 163 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······matrix_.resize(height,·variableColOffsets_.back());</div>
 164 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>······assertInvariants();</div>
156 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>}</div>165 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····}</div>
 166 </div>
157 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>167 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
158 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span><span·class="comment">//·templated·version·of·BOOST_SERIALIZATION_SPLIT_FREE(Eigen::Matrix);</span></div> 
159 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class·</span>Archive,·<span·class="keyword">typename</span>·Scalar_,·<span·class="keywordtype">int</span>·Rows_,·<span·class="keywordtype">int</span>·Cols_,·<span·class="keywordtype">int</span>·Ops_,</div> 
160 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··········<span·class="keywordtype">int</span>·MaxRows_,·<span·class="keywordtype">int</span>·MaxCols_&gt;</div>168 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CONTAINER,·<span·class="keyword">typename</span>·DERIVED&gt;</div>
 169 <div·class="foldopen"·id="foldopen00080"·data-start="{"·data-end="}">
 170 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a02660.html#ac3d367af21c05dca883a91cf5c24a243">···80</a></span>····<a·class="code·hl_function"·href="a02660.html#ac3d367af21c05dca883a91cf5c24a243">VerticalBlockMatrix</a>(<span·class="keyword">const</span>·CONTAINER&amp;·dimensions,</div>
 171 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>········<span·class="keyword">const</span>·Eigen::MatrixBase&lt;DERIVED&gt;&amp;·matrix,·<span·class="keywordtype">bool</span>·appendOneDimension·=·<span·class="keyword">false</span>)·:</div>
 172 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>········matrix_(matrix),·variableColOffsets_(dimensions.size()·+·(appendOneDimension·?·2·:·1)),</div>
 173 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>········rowStart_(0),·rowEnd_(matrix.rows()),·blockStart_(0)·{</div>
 174 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>······fillOffsets(dimensions.begin(),·dimensions.end(),·appendOneDimension);</div>
 175 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>······<span·class="keywordflow">if</span>·(variableColOffsets_.back()·!=·matrix_.cols())</div>
161 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span><span·class="keywordtype">void</span>·serialize(</div>176 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>········<span·class="keywordflow">throw</span>·std::invalid_argument(</div>
 177 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>············<span·class="stringliteral">&quot;Requested·to·create·a·VerticalBlockMatrix·with·dimensions·that·do·not·sum·to·the·total·columns·of·the·provided·matrix.&quot;</span>);</div>
 178 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>······assertInvariants();</div>
162 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····Archive&amp;·ar,</div>179 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>····}</div>
 180 </div>
163 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····Eigen::Matrix&lt;Scalar_,·Rows_,·Cols_,·Ops_,·MaxRows_,·MaxCols_&gt;&amp;·m,</div> 
164 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·version)·{</div> 
165 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··split_free(ar,·m,·version);</div> 
166 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>}</div>181 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>
 182 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·ITERATOR&gt;</div>
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99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
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103 <a·href="#func-members">Functions</a>·&#124;103 <a·href="#func-members">Functions</a>··</div>
104 <a·href="#var-members">Variables</a>··</div> 
105 ··<div·class="headertitle"><div·class="title">timing.h·File·Reference</div></div>104 ··<div·class="headertitle"><div·class="title">Manifold.h·File·Reference</div></div>
106 </div><!--header-->105 </div><!--header-->
107 <div·class="contents">106 <div·class="contents">
  
108 <p>Timing·utilities.··107 <p>Base·class·and·basic·functions·for·Manifold·types.··
109 <a·href="#details">More...</a></p>108 <a·href="#details">More...</a></p>
  
110 <p><a·href="a00119_source.html">Go·to·the·source·code·of·this·file.</a></p>109 <p><a·href="a00119_source.html">Go·to·the·source·code·of·this·file.</a></p>
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112 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>111 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
113 Classes</h2></td></tr>112 Classes</h2></td></tr>
114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02516.html">gtsam::internal::TimingOutline</a></td></tr>113 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02388.html">gtsam::manifold_tag</a></td></tr>
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117 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02520.html">gtsam::internal::AutoTicToc</a></td></tr>128 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02408.html">gtsam::internal::Manifold&lt;·Class·&gt;</a></td></tr>
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159 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>tictoc_reset</b>()&#160;&#160;&#160;((void)0)</td></tr>147 <tr·class="memitem:a5bc634a672a09f703802790292574815"·id="r_a5bc634a672a09f703802790292574815"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a5bc634a672a09f703802790292574815"·name="a5bc634a672a09f703802790292574815"></a>
 148 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>GTSAM_CONCEPT_MANIFOLD_TYPE</b>(T)&#160;&#160;&#160;using·_gtsam_IsManifold_##T·=·gtsam::IsManifold&lt;T&gt;;</td></tr>
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163 Functions</h2></td></tr>152 Functions</h2></td></tr>
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165 size_t&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::internal::getTicTocID</b>·(const·char·*descriptionC)</td></tr> 
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#namespaces">Namespaces</a>·&#124;100 <a·href="#namespaces">Namespaces</a>·&#124;
 101 <a·href="#define-members">Macros</a>·&#124;
101 <a·href="#func-members">Functions</a>··</div>102 <a·href="#func-members">Functions</a>··</div>
102 ··<div·class="headertitle"><div·class="title">Matrix.cpp·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">debug.h·File·Reference</div></div>
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104 <div·class="contents">105 <div·class="contents">
  
105 <p>matrix·class··106 <p>Global·debugging·flags.··
106 <a·href="#details">More...</a></p>107 <a·href="#details">More...</a></p>
  
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111 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>113 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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115 Functions</h2></td></tr>126 Functions</h2></td></tr>
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117 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::assert_equal</b>·(const·Matrix·&amp;A,·const·Matrix·&amp;B,·double·tol=1e-9)</td></tr> 
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121 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::assert_inequal</b>·(const·Matrix·&amp;A,·const·Matrix·&amp;B,·double·tol=1e-9)</td></tr> 
122 <tr·class="memdesc:a7a116d0643f123ef3b15d91056506492"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">inequals·with·an·tolerance,·prints·out·message·if·within·tolerance·<br·/></td></tr> 
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125 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::assert_equal</b>·(const·std::list&lt;·Matrix·&gt;·&amp;As,·const·std::list&lt;·Matrix·&gt;·&amp;Bs,·double·tol=1e-9)</td></tr> 
126 <tr·class="memdesc:abb0e19bbbeaca95843e8161b89a12fda"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">equals·with·an·tolerance,·prints·out·message·if·unequal·<br·/></td></tr> 
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129 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::linear_independent</b>·(const·Matrix·&amp;A,·const·Matrix·&amp;B,·double·tol=1e-9)</td></tr> 
130 <tr·class="memdesc:ad8f0349471464c1fb515819d9503849a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">check·whether·the·rows·of·two·matrices·are·linear·independent·<br·/></td></tr> 
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133 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::linear_dependent</b>·(const·Matrix·&amp;A,·const·Matrix·&amp;B,·double·tol=1e-9)</td></tr> 
134 <tr·class="memdesc:a4b81794af72954abafbb726fc712f5db"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">check·whether·the·rows·of·two·matrices·are·linear·dependent·<br·/></td></tr> 
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137 Vector&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::operator^</b>·(const·Matrix·&amp;A,·const·Vector·&amp;v)</td></tr> 
138 <tr·class="memdesc:a2218e53a2b99c449e70aa5b7805895fc"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">overload·^·for·trans(A)*v·We·transpose·the·vectors·for·speed.·<br·/></td></tr> 
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141 const·Eigen::IOFormat·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::matlabFormat</b>·()</td></tr> 
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144 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::print</b>·(const·Matrix·&amp;A,·const·std::string·&amp;s,·std::ostream·&amp;stream)</td></tr> 
145 <tr·class="memdesc:a54fa43c89c5334314c8c75939dd5c2d7"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">print·without·optional·string,·must·specify·cout·yourself·<br·/></td></tr> 
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148 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::print</b>·(const·Matrix·&amp;A,·const·std::string·&amp;s=&quot;&quot;)</td></tr> 
149 <tr·class="memdesc:a44ead03912d5dcf094d8421e1702ee71"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">print·with·optional·string·to·cout·<br·/></td></tr> 
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152 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::save</b>·(const·Matrix·&amp;A,·const·std::string·&amp;s,·const·std::string·&amp;filename)</td></tr> 
153 <tr·class="memdesc:a3eb7eed9019d3fda8fcf74fbf85b85c9"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">save·a·matrix·to·file,·which·can·be·loaded·by·matlab·<br·/></td></tr> 
154 <tr·class="separator:a3eb7eed9019d3fda8fcf74fbf85b85c9"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
155 <tr·class="memitem:a7d85957bab2d18cf56ab9aaf95a106de"·id="r_a7d85957bab2d18cf56ab9aaf95a106de"><td·class="memItemLeft"·align="right"·valign="top">istream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a7d85957bab2d18cf56ab9aaf95a106de">gtsam::operator&gt;&gt;</a>·(std::istream·&amp;inputStream,·Matrix·&amp;destinationMatrix)</td></tr> 
156 <tr·class="memdesc:a7d85957bab2d18cf56ab9aaf95a106de"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Read·a·matrix·from·an·input·stream,·such·as·a·file.··<br·/></td></tr> 
157 <tr·class="separator:a7d85957bab2d18cf56ab9aaf95a106de"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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159 Matrix&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::diag</b>·(const·std::vector&lt;·Matrix·&gt;·&amp;Hs)</td></tr> 
160 <tr·class="memdesc:af1c32907adce74cf9edd6ee5bba5a085"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Create·a·matrix·with·submatrices·along·its·diagonal.·<br·/></td></tr> 
161 <tr·class="separator:af1c32907adce74cf9edd6ee5bba5a085"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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163 Vector&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::columnNormSquare</b>·(const·Matrix·&amp;A)</td></tr> 
164 <tr·class="separator:ac7bb98c618c787686109e18a71e87463"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
165 <tr·class="memitem:ae32c295e2c40c1e85f146a8a6266eaa8"·id="r_ae32c295e2c40c1e85f146a8a6266eaa8"><td·class="memItemLeft"·align="right"·valign="top">pair&lt;·Matrix,·Matrix·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ae32c295e2c40c1e85f146a8a6266eaa8">gtsam::qr</a>·(const·Matrix·&amp;A)</td></tr> 
166 <tr·class="memdesc:ae32c295e2c40c1e85f146a8a6266eaa8"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Householder·QR·factorization,·Golub·&amp;·Van·Loan·p·224,·explicit·version·<br··/> 
167 ··<br·/></td></tr> 
168 <tr·class="separator:ae32c295e2c40c1e85f146a8a6266eaa8"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
169 <tr·class="memitem:a60019a03f26b92c6b2a08e43d153d4c0"·id="r_a60019a03f26b92c6b2a08e43d153d4c0"><td·class="memItemLeft"·align="right"·valign="top">list&lt;·boost::tuple&lt;·Vector,·double,·double·&gt;·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a60019a03f26b92c6b2a08e43d153d4c0">gtsam::weighted_eliminate</a>·(Matrix·&amp;A,·Vector·&amp;b,·const·Vector·&amp;sigmas)</td></tr> 
170 <tr·class="memdesc:a60019a03f26b92c6b2a08e43d153d4c0"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Imperative·algorithm·for·in-place·full·elimination·with·weights·and·constraint·handling.··<br·/></td></tr> 
171 <tr·class="separator:a60019a03f26b92c6b2a08e43d153d4c0"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
172 <tr·class="memitem:abdd1ab05e8ac90b340fbd8f3b322dc6d"·id="r_abdd1ab05e8ac90b340fbd8f3b322dc6d"><td·class="memItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#abdd1ab05e8ac90b340fbd8f3b322dc6d">gtsam::householder_</a>·(Matrix·&amp;A,·size_t·k,·bool·copy_vectors)</td></tr> 
173 <tr·class="memdesc:abdd1ab05e8ac90b340fbd8f3b322dc6d"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Imperative·version·of·Householder·QR·factorization,·Golub·&amp;·Van·Loan·p·224·version·with·Householder·vectors·below·diagonal,·as·in·GVL.··<br·/></td></tr> 
174 <tr·class="separator:abdd1ab05e8ac90b340fbd8f3b322dc6d"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
175 <tr·class="memitem:a7baa2f3184a444adce108633c0265e0c"·id="r_a7baa2f3184a444adce108633c0265e0c"><td·class="memItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a7baa2f3184a444adce108633c0265e0c">gtsam::householder</a>·(Matrix·&amp;A,·size_t·k)</td></tr> 
176 <tr·class="memdesc:a7baa2f3184a444adce108633c0265e0c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Householder·tranformation,·zeros·below·diagonal.··<br·/></td></tr> 
177 <tr·class="separator:a7baa2f3184a444adce108633c0265e0c"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
178 <tr·class="memitem:a0d998e1b770c9864946ddb031b1c4522"·id="r_a0d998e1b770c9864946ddb031b1c4522"><td·class="memItemLeft"·align="right"·valign="top">Vector&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a0d998e1b770c9864946ddb031b1c4522">gtsam::backSubstituteLower</a>·(const·Matrix·&amp;L,·const·Vector·&amp;b,·bool·unit=false)</td></tr> 
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105 </div><!--header-->103 </div><!--header-->
106 <div·class="contents">104 <div·class="contents">
  
107 <p>Base·class·and·basic·functions·for·Lie·types.··105 <p>Efficient·incomplete·Cholesky·on·rank-deficient·matrices,·todo:·constrained·Cholesky.··
108 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
109 <p><a·href="a00128_source.html">Go·to·the·source·code·of·this·file.</a></p> 
110 <table·class="memberdecls">107 <table·class="memberdecls">
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115 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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118 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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 120 <tr·class="memdesc:abe82fa6aceccfa2360cf314ab44f39ad"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Partial·Cholesky·computes·a·factor·[R·S·such·that·[R'·0·[R·S·=·[A·B·0·L]·S'·I]·0·L]·B'·C].··<br·/></td></tr>
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178 </table>122 </table>
179 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
180 <div·class="textblock"><p>Base·class·and·basic·functions·for·Lie·types.·</p>124 <div·class="textblock"><p>Efficient·incomplete·Cholesky·on·rank-deficient·matrices,·todo:·constrained·Cholesky.·</p>
181 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>125 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>
182 <dd>126 <dd>
183 Alex·Cunningham·</dd> 
184 <dd> 
185 Frank·Dellaert·</dd>127 Frank·Dellaert·</dd></dl>
 128 <dl·class="section·date"><dt>Date</dt><dd>Nov·5,·2010·</dd></dl>
186 <dd> 
187 Mike·Bosse·</dd> 
188 <dd> 
189 Duy·Nguyen·Ta·</dd> 
190 <dd> 
191 Yotam·Stern·</dd></dl> 
192 </div><h2·class="groupheader">Macro·Definition·Documentation</h2> 
193 <a·id="aeef5af7d583d275fbc0e6e5af8bf2afc"·name="aeef5af7d583d275fbc0e6e5af8bf2afc"></a> 
194 <h2·class="memtitle"><span·class="permalink"><a·href="#aeef5af7d583d275fbc0e6e5af8bf2afc">&#9670;&#160;</a></span>GTSAM_CONCEPT_LIE_INST</h2> 
  
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121 <div·class="textblock"><p>Fast·sampling·without·replacement.·</p>123 <div·class="textblock"><p>A·thin·wrapper·around·std::vector·that·uses·a·custom·allocator.·</p>
122 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>124 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>
 125 <dd>
 126 Frank·Dellaert·</dd></dl>
123 <dl·class="section·date"><dt>Date</dt><dd>May·2019·</dd></dl>127 <dl·class="section·date"><dt>Date</dt><dd>Feb·9,·2011·</dd></dl>
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103 <div·class="header">103 <div·class="header">
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106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00134.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00134.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
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119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;cmath&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;queue&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00005.html">gtsam/base/FastDefaultAllocator.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;random&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;stdexcept&gt;</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="comment">/*</span></div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">·*·Fast·sampling·without·replacement.</span></div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="comment">·*·Example·usage:</span></div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">·*···std::mt19937·rng(42);</span></div> 
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">·*···WeightedSampler&lt;std::mt19937&gt;·sampler(&amp;rng);</span></div> 
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">·*···auto·samples·=·sampler.sampleWithoutReplacement(5,·weights);</span></div> 
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="comment">·*/</span></div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Engine·=·std::mt19937&gt;</div> 
136 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};"> 
137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a02664.html">···37</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02664.html">WeightedSampler</a>·{</div> 
138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·<span·class="keyword">private</span>:</div> 
139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··Engine*·engine_;··<span·class="comment">//·random·number·generation·engine</span></div> 
140 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·<span·class="keyword">public</span>:</div> 
142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a02664.html#aa938b7f88f6efd2be5ee3b1cf12c85f7">···46</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02664.html#aa938b7f88f6efd2be5ee3b1cf12c85f7">WeightedSampler</a>(Engine*·engine)·:·engine_(engine)·{}</div> 
143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··std::vector&lt;size_t&gt;·sampleWithoutReplacement(</div> 
145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······<span·class="keywordtype">size_t</span>·numSamples,·<span·class="keyword">const</span>·std::vector&lt;double&gt;&amp;·weights)·{</div> 
146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····<span·class="comment">//·Implementation·adapted·from·code·accompanying·paper·at</span></div> 
147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="comment">//·https://www.ethz.ch/content/dam/ethz/special-interest/baug/ivt/ivt-dam/vpl/reports/1101-1200/ab1141.pdf</span></div> 
148 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·n·=·weights.size();</div> 
149 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keywordflow">if</span>·(n·&lt;·numSamples)·{</div> 
150 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······<span·class="keywordflow">throw</span>·std::runtime_error(</div> 
151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··········<span·class="stringliteral">&quot;numSamples·must·be·smaller·than·weights.size()&quot;</span>);</div> 
152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····}</div> 
153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div> 
154 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="comment">//·Return·empty·array·if·numSamples==0</span></div> 
155 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····std::vector&lt;size_t&gt;·result(numSamples);</div> 
156 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">if</span>·(numSamples·==·0)·<span·class="keywordflow">return</span>·result;</div> 
157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
158 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<span·class="comment">//·Step·1:·The·first·m·items·of·V·are·inserted·into·reservoir</span></div> 
159 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="comment">//·Step·2:·For·each·item·v_i·∈·reservoir:·Calculate·a·key·k_i·=·u_i^(1/w),</span></div> 
160 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="comment">//·where·u_i·=·random(0,·1)</span></div> 
161 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="comment">//·(Modification:·Calculate·and·store·-log·k_i·=·e_i·/·w·where·e_i·=·exp(1),</span></div> 
162 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="comment">//··reservoir·is·a·priority·queue·that·pops·the·*maximum*·elements)</span></div> 
163 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····std::priority_queue&lt;std::pair&lt;double,·size_t&gt;·&gt;·reservoir;</div> 
164 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div> 
165 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·kexp1·=·std::exp(1.0);</div> 
166 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordflow">for</span>·(<span·class="keyword">auto</span>·it·=·weights.begin();·it·!=·weights.begin()·+·numSamples;·++it)·{</div> 
167 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·k_i·=·kexp1·/·*it;</div>125 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;</div>
 126 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">···33</a></span><span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>·=</div>
 127 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>····std::vector&lt;T,·typename·internal::FastDefaultVectorAllocator&lt;T&gt;::type&gt;;</div>
168 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······reservoir.push(std::make_pair(k_i,·it·-·weights.begin()·+·1));</div> 
169 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····}</div> 
170 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div> 
171 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="comment">//·Step·4:·Repeat·Steps·5–10·until·the·population·is·exhausted</span></div> 
172 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····{</div> 
173 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>······<span·class="comment">//·Step·3:·The·threshold·T_w·is·the·minimum·key·of·reservoir</span></div> 
174 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>······<span·class="comment">//·(Modification:·This·is·now·the·logarithm)</span></div> 
175 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>······<span·class="comment">//·Step·10:·The·new·threshold·T·w·is·the·new·minimum·key·of·reservoir</span></div> 
176 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······<span·class="keyword">const</span>·std::pair&lt;double,·size_t&gt;&amp;·T_w·=·reservoir.top();</div> 
177 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div> 
178 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>······<span·class="comment">//·Incrementing·it·is·part·of·Step·7</span></div> 
179 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>······<span·class="keywordflow">for</span>·(<span·class="keyword">auto</span>·it·=·weights.begin()·+·numSamples;·it·!=·weights.end();·++it)·{</div> 
180 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>········<span·class="comment">//·Step·5:·Let·r·=·random(0,·1)·and·X_w·=·log(r)·/·log(T_w)</span></div> 
181 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>········<span·class="comment">//·(Modification:·Use·e·=·-exp(1)·instead·of·log(r))</span></div> 
182 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>········<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·X_w·=·kexp1·/·T_w.first;</div> 
183 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div> 
184 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>········<span·class="comment">//·Step·6:·From·the·current·item·v_c·skip·items·until·item·v_i,·such</span></div> 
185 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>········<span·class="comment">//·that:</span></div> 
186 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>········<span·class="keywordtype">double</span>·w·=·0.0;</div> 
187 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div> 
188 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>········<span·class="comment">//·Step·7:·w_c·+·w_{c+1}·+·····+·w_{i−1}·&lt;·X_w·&lt;=·w_c·+·w_{c+1}·+·····+</span></div> 
189 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>········<span·class="comment">//·w_{i−1}·+·w_i</span></div> 
190 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>········<span·class="keywordflow">for</span>·(;·it·!=·weights.end();·++it)·{</div> 
191 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>··········w·+=·*it;</div> 
192 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··········<span·class="keywordflow">if</span>·(X_w·&lt;=·w)·<span·class="keywordflow">break</span>;</div> 
193 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>········}</div> 
194 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>·</div> 
195 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>········<span·class="comment">//·Step·7:·No·such·item,·terminate</span></div> 
196 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>········<span·class="keywordflow">if</span>·(it·==·weights.end())·<span·class="keywordflow">break</span>;</div> 
197 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>·</div> 
198 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>········<span·class="comment">//·Step·9:·Let·t_w·=·T_w^{w_i},·r_2·=·random(t_w,·1)·and·v_i’s·key:·k_i</span></div> 
199 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>········<span·class="comment">//·=·(r_2)^{1/w_i}·(Mod:·Let·t_w·=·log(T_w)·*·{w_i},·e_2·=</span></div> 
200 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>········<span·class="comment">//·log(random(e^{t_w},·1))·and·v_i’s·key:·k_i·=·-e_2·/·w_i)</span></div> 
201 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>········<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·t_w·=·-T_w.first·*·*it;</div> 
202 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>········std::uniform_real_distribution&lt;double&gt;·randomAngle(std::exp(t_w),·1.0);</div> 
203 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>········<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·e_2·=·std::log(randomAngle(*engine_));</div> 
204 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>········<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·k_i·=·-e_2·/·*it;</div> 
205 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>·</div> 
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">DSFVector.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">FastMap.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>A·faster·implementation·for·DSF,·which·uses·vector·rather·than·btree.··105 <p>A·thin·wrapper·around·std::map·that·uses·boost's·fast_pool_allocator.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00137_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00137_source.html">Go·to·the·source·code·of·this·file.</a></p>
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110 Classes</h2></td></tr>110 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02296.html">gtsam::DSFBase</a></td></tr> 
112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·fast·implementation·of·disjoint·set·forests·that·uses·vector·as·underly·data·structure.··<a·href="a02296.html#details">More...</a><br·/></td></tr> 
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02300.html">gtsam::DSFVector</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02316.html">gtsam::FastMap&lt;·KEY,·VALUE·&gt;</a></td></tr>
115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a02300.html"·title="DSFVector·additionally·keeps·a·vector·of·keys·to·support·more·expensive·operations.">DSFVector</a>·additionally·keeps·a·vector·of·keys·to·support·more·expensive·operations.··<a·href="a02300.html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a02316.html"·title="FastMap·is·a·thin·wrapper·around·std::map·that·uses·the·boost·fast_pool_allocator·instead·of·the·defa...">FastMap</a>·is·a·thin·wrapper·around·std::map·that·uses·the·boost·fast_pool_allocator·instead·of·the·default·STL·allocator.··<a·href="[·...·truncated·by·diffoscope;·len:·6,·SHA:·27bbbbc0fc6a15f684d8e7f4432d31426248516951b221309cddcb66d9c6c865·...·].html#details">More...</a><br·/></td></tr>
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117 </table><table·class="memberdecls">114 </table><table·class="memberdecls">
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119 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
120 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
122 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
123 </table>120 </table>
124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
125 <div·class="textblock"><p>A·faster·implementation·for·DSF,·which·uses·vector·rather·than·btree.·</p>122 <div·class="textblock"><p>A·thin·wrapper·around·std::map·that·uses·boost's·fast_pool_allocator.·</p>
 123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
126 <dl·class="section·date"><dt>Date</dt><dd>Jun·25,·2010·</dd></dl>124 <dl·class="section·date"><dt>Date</dt><dd>Oct·17,·2010·</dd></dl>
127 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd></dl> 
128 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
129 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
130 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
131 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
132 ··<ul>129 ··<ul>
133 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00137.html">DSFVector.h</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00137.html">FastMap.h</a></li>
134 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
135 ··</ul>132 ··</ul>
136 </div>133 </div>
137 </body>134 </body>
138 </html>135 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/DSFVector.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/FastMap.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DSFVector.h</div></div>104 ··<div·class="headertitle"><div·class="title">FastMap.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00137.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00137.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
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115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
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124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
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126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div> 
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;set&gt;</span></div> 
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;map&gt;</span></div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
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 128 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·KEY,·<span·class="keyword">typename</span>·VALUE&gt;</div>
132 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">129 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};">
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134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>132 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">public</span>:</div>133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">public</span>:</div>
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a02296.html#aeecd94c025c092012570bb2f82f9d2c9">···41</a></span>··<span·class="keyword">typedef</span>·std::vector&lt;size_t&gt;·<a·class="code·hl_typedef"·href="a02296.html#aeecd94c025c092012570bb2f82f9d2c9">V</a>;·</div> 
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">private</span>:</div>135 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">typedef</span>·std::map&lt;KEY,·VALUE,·std::less&lt;KEY&gt;,</div>
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··boost::shared_ptr&lt;V&gt;·v_;</div>136 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keyword">typename</span>·<a·class="code·hl_struct"·href="a02304.html">internal::FastDefaultAllocator&lt;std::pair&lt;const·KEY,·VALUE&gt;</a>·&gt;::type·&gt;·Base;</div>
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
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141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">public</span>:</div> 
142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<a·class="code·hl_class"·href="a02296.html">DSFBase</a>(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·numNodes);</div> 
143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<a·class="code·hl_class"·href="a02296.html">DSFBase</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;V&gt;&amp;·v_in);</div>140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·INPUTITERATOR&gt;</div>
 141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a02316.html#a44f4df011d0ec4151435413fe4633a76">···50</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02316.html#a44f4df011d0ec4151435413fe4633a76">FastMap</a>(INPUTITERATOR·first,·INPUTITERATOR·last)·:·Base(first,·last)·{}</div>
145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">size_t</span>·find(<span·class="keywordtype">size_t</span>·key)·<span·class="keyword">const</span>;</div>143 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a02316.html#a882d34220cdc01fe4aa83ea2bbf29ce6">···53</a></span>··<a·class="code·hl_function"·href="a02316.html#a882d34220cdc01fe4aa83ea2bbf29ce6">FastMap</a>(<span·class="keyword">const</span>[·...·truncated·by·diffoscope;·len:·94,·SHA:·1b0c49f46d2d3159e63bc90925329634b13b0cfa588a43c14fcdd75203498131·...·]</div>
147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
148 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keywordtype">void</span>·merge(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>&amp;·i1,·<span·class="keyword">const</span>·<span·class="keywordtype">size_t</spa[·...·truncated·by·diffoscope;·len:·12,·SHA:·24bc7b292199f21f5c6127a1d4094ef5020f7750baa79976fc1f422cec7d87a6·...·]</div>145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a02316.html#a2e756b7ee7f04a4e9d890ce38d388d61">···56</a></span>··<a·class="code·hl_function"·href="a02316.html#a2e756b7ee7f04a4e9d890ce38d388d61">FastMap</a>(<span·class="keyword">const</span>[·...·truncated·by·diffoscope;·len:·26,·SHA:·69020c78cd7362d3cb9d064c773666504fd7f0479130ac56d52bc5250f56f3ae·...·]</div>
149 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>};</div>146 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 147 <div·class="foldopen"·id="foldopen00059"·data-start="{"·data-end="}">
 148 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a02316.html#a64addaed169f9a54a4cba54da5c9571d">···59</a></span>··<span·class="keyword">operator</span>·std::map&lt;KEY,VALUE&gt;()<span·class="keyword">·const·</span>{</div>
 149 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">return</span>·std::map&lt;KEY,VALUE&gt;(this-&gt;begin(),·this-&gt;end());</div>
 150 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div>
150 </div>151 </div>
151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>152 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 153 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a02316.html#a5c254b6b3b877e2987970bc08b2a6c89">···64</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a02316.html#a5c254b6b3b877e2987970bc08b2a6c89">insert2</a>(<span·class="keyword">const</span>·KEY&amp;·key,·<span·class="keyword">const</span>·VALUE&amp;·val)·{·<span·class="keywordflow">return</span>·Base::insert(std::make_pair(key,·val)).second;·}</div>
152 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="};"> 
153 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a02300.html">···64</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02300.html">DSFVector</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02296.html">DSFBase</a>·{</div> 
154 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>154 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 155 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a02316.html#ab2d8e8a8da5e66cffdbf553bf2ea7df0">···67</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a02316.html#ab2d8e8a8da5e66cffdbf553bf2ea7df0">exists</a>(<span·class="keyword">const</span>·KEY&amp;·e)<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·this-&gt;find(e)·!=·this-&gt;end();·}</div>
155 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span><span·class="keyword">private</span>:</div> 
156 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··std::vector&lt;size_t&gt;·keys_;·</div> 
157 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
158 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span><span·class="keyword">public</span>:</div>157 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span><span·class="keyword">private</span>:</div>
159 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<a·class="code·hl_class"·href="a02300.html">DSFVector</a>(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·numNodes);</div> 
160 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div> 
161 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<a·class="code·hl_class"·href="a02300.html">DSFVector</a>(<span·class="keyword">const</span>·std::vector&lt;size_t&gt;&amp;·keys);</div>158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno"><a·class="line"·href="a02316.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">···71</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a02316.html#ac98d07dd8f7[·...·truncated·by·diffoscope;·len:·55,·SHA:·bff1950f037f90d33b885cbf8b281475a27503a8fdc840136b0e847b067db444·...·];</div>
 159 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
 160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 161 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····ar·&amp;·BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);</div>
162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··}</div>
163 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<a·class="code·hl_class"·href="a02300.html">DSFVector</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;V&gt;&amp;·v_in,·<span·class="keyword">const</span>·std::vector&lt;size_t&gt;&amp;·keys);</div> 
164 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>163 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>};</div>
165 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="comment">//·All·operations·below·loop·over·all·keys·and·hence·are·*at·least*·O(n)</span></div> 
166 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div> 
167 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keywordtype">bool</span>·isSingleton(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>&amp;·label)·<span·class="keyword">const</span>;</div> 
168 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div> 
169 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··std::set&lt;size_t&gt;·set(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>&amp;·label)·<span·class="keyword">const</span>;</div> 
170 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div> 
171 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··std::map&lt;size_t,·std::set&lt;size_t&gt;·&gt;·sets()·<span·class="keyword">const</span>;</div> 
172 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div> 
173 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··std::map&lt;size_t,·std::vector&lt;size_t&gt;·&gt;·arrays()·<span·class="keyword">const</span>;</div> 
174 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>};</div> 
175 </div>164 </div>
176 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·</div>165 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
177 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>}</div>166 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>}</div>
178 <div·class="ttc"·id="aa01397_html"><div·class="ttname"><a·href="a01397.html">global_includes.h</a></div><div·class="ttdoc">Included·from·all·GTSAM·files.</div></div>167 <div·class="ttc"·id="aa00005_html"><div·class="ttname"><a·href="a00005.html">FastDefaultAllocator.h</a></div><div·class="ttdoc">An·easy·way·to·control·which·allocator·is·used·for·Fast*·collections.</div></div>
179 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>168 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
180 <div·class="ttc"·id="aa02296_html"><div·class="ttname"><a·href="a02296.html">gtsam::DSFBase</a></div><div·class="ttdoc">A·fast·implementation·of·disjoint·set·forests·that·uses·vector·as·underly·data·structure.</div><div·class="ttdef"><b>Definition</b>·DSFVector.h:38</div></div> 
181 <div·class="ttc"·id="aa02296_html_aeecd94c025c092012570bb2f82f9d2c9"><div·class="ttname"><a·href="a02296.html#aeecd94c025c092012570bb2f82f9d2c9">gtsam::DSFBase::V</a></div><div·class="ttdeci">std::vector&lt;·size_t·&gt;·V</div><div·class="ttdoc">Vector·of·ints.</div><div·class="ttdef"><b>Definition</b>·DSFVector.h:41</div></div> 
182 <div·class="ttc"·id="aa02300_html"><div·class="ttname"><a·href="a02300.html">gtsam::DSFVector</a></div><div·class="ttdoc">DSFVector·additionally·keeps·a·vector·of·keys·to·support·more·expensive·operations.</div><div·class="ttdef"><b>Definition</b>·DSFVector.h:64</div></div>169 <div·class="ttc"·id="aa02304_html"><div·class="ttname"><a·href="a02304.html">gtsam::internal::FastDefaultAllocator</a></div><div·class="ttdoc">Default·allocator·for·list,·map,·and·set·types.</div><div·class="ttdef"><b>Definition</b>·FastDefaultAllocator.h:50</div></div>
 170 <div·class="ttc"·id="aa02316_html"><div·class="ttname"><a·href="a02316.html">gtsam::FastMap</a></div><div·class="ttdoc">FastMap·is·a·thin·wrapper·around·std::map·that·uses·the·boost·fast_pool_allocator·instead·of·the·defa...</div><div·class="ttdef"><b>Definition</b>·FastMap.h:38</div></div>
 171 <div·class="ttc"·id="aa02316_html_a2e756b7ee7f04a4e9d890ce38d388d61"><div·class="ttname"><a·href="a02316.html#a2e756b7ee7f04a4e9d890ce38d388d61">gtsam::FastMap::FastMap</a></div><div·class="ttdeci">FastMap(const·Base·&amp;x)</div><div·class="ttdoc">Copy·constructor·from·the·base·map·class.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:56</div></div>
 172 <div·class="ttc"·id="aa02316_html_a44f4df011d0ec4151435413fe4633a76"><div·class="ttname"><a·href="a02316.html#a44f4df011d0ec4151435413fe4633a76">gtsam::FastMap::FastMap</a></div><div·class="ttdeci">FastMap(INPUTITERATOR·first,·INPUTITERATOR·last)</div><div·class="ttdoc">Constructor·from·a·range,·passes·through·to·base·class.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:50</div></div>
 173 <div·class="ttc"·id="aa02316_html_a5c254b6b3b877e2987970bc08b2a6c89"><div·class="ttname"><a·href="a02316.html#a5c254b6b3b877e2987970bc08b2a6c89">gtsam::FastMap::insert2</a></div><div·class="ttdeci">bool·insert2(const·KEY·&amp;key,·const·VALUE·&amp;val)</div><div·class="ttdoc">Handy·'insert'·function·for·Matlab·wrapper.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:64</div></div>
 174 <div·class="ttc"·id="aa02316_html_a882d34220cdc01fe4aa83ea2bbf29ce6"><div·class="ttname"><a·href="a02316.html#a882d34220cdc01fe4aa83ea2bbf29ce6">gtsam::FastMap::FastMap</a></div><div·class="ttdeci">FastMap(const·FastMap&lt;·KEY,·VALUE·&gt;·&amp;x)</div><div·class="ttdoc">Copy·constructor·from·another·FastMap.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:53</div></div>
 175 <div·class="ttc"·id="aa02316_html_aa2c7d3ae2440cc9e7f4cbbcd6cfdfbf5"><div·class="ttname"><a·href="a02316.html#aa2c7d3ae2440cc9e7f4cbbcd6cfdfbf5">gtsam::FastMap::FastMap</a></div><div·class="ttdeci">FastMap()</div><div·class="ttdoc">Default·constructor.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:46</div></div>
 176 <div·class="ttc"·id="aa02316_html_ab2d8e8a8da5e66cffdbf553bf2ea7df0"><div·class="ttname"><a·href="a02316.html#ab2d8e8a8da5e66cffdbf553bf2ea7df0">gtsam::FastMap::exists</a></div><div·class="ttdeci">bool·exists(const·KEY·&amp;e)·const</div><div·class="ttdoc">Handy·'exists'·function.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:67</div></div>
 177 <div·class="ttc"·id="aa02316_html_ac98d07dd8f7b70e16ccb9a01abf56b9c"><div·class="ttname"><a·href="a02316.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">gtsam::FastMap::access</a></div><div·class="ttdeci">friend·class·boost::serialization::access</div><div·class="ttdoc">Serialization·function.</div><div·class="ttdef"><b>Definition</b>·FastMap.h:71</div></div>
183 </div><!--·fragment·--></div><!--·contents·-->178 </div><!--·fragment·--></div><!--·contents·-->
184 </div><!--·doc-content·-->179 </div><!--·doc-content·-->
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186 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->181 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
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102 ··<div·class="headertitle"><div·class="title">timing.cpp·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">numericalDerivative.h·File·Reference</div></div>
103 </div><!--header-->104 </div><!--header-->
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 114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02444.html">gtsam::G_x1&lt;·X1,·X2·&gt;</a></td></tr>
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116 <tr·class="memitem:a5afe1a0ae8eefb72f2508bda95b57be8"·id="r_a5afe1a0ae8eefb72f2508bda95b57be8"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a5afe1a0ae8eefb72f2508bda95b57be8"·name="a5afe1a0ae8eefb72f2508bda95b57be8"></a> 
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 135 template&lt;class·Y·,·class·X·&gt;·</td></tr>
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 137 <tr·class="memdesc:a4c4c5744f0b348d4ec6c047f796e7924"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">use·a·raw·C++·function·pointer·<br·/></td></tr>
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 141 <tr·class="memdesc:a157eb3b44dd4e38bbd66f3cc68a20e43"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Compute·numerical·derivative·in·argument·1·of·binary·function.··<br·/></td></tr>
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 144 template&lt;class·Y·,·class·X1·,·class·X2·&gt;·</td></tr>
 145 <tr·class="memitem:afcc94e3b49906e824c01a3d56df62d33"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a02440.html">internal::FixedSizeMatrix</a>&lt;·Y,·X1·&gt;::type&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::numericalDerivative21</b>·(Y(*h)(const·X1·&amp;,·const·X2·&amp;),·const·X1·&amp;x1,·const·X2·&amp;x2,·double·delta=1e-5)</td></tr>
 146 <tr·class="memdesc:afcc94e3b49906e824c01a3d56df62d33"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">use·a·raw·C++·function·pointer·<br·/></td></tr>
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 150 <tr·class="memdesc:a5b0db4ac5f279b12fc91fab4cb40b1bf"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Compute·numerical·derivative·in·argument·2·of·binary·function.··<br·/></td></tr>
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 153 template&lt;class·Y·,·class·X1·,·class·X2·&gt;·</td></tr>
 154 <tr·class="memitem:a46d002a0529f1172aebb7e1d85d5c08c"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a02440.html">internal::FixedSizeMatrix</a>&lt;·Y,·X2·&gt;::type&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::numericalDerivative22</b>·(Y(*h)(const·X1·&amp;,·const·X2·&amp;),·const·X1·&amp;x1,·const·X2·&amp;x2,·double·delta=1e-5)</td></tr>
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 159 <tr·class="memdesc:aa8f0264edaf78d503809c1e3152340ee"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Compute·numerical·derivative·in·argument·1·of·ternary·function.··<br·/></td></tr>
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 167 <tr·class="memdesc:acfbadc0ab0cd9386205b2737c5d0b727"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Compute·numerical·derivative·in·argument·2·of·ternary·function.··<br·/></td></tr>
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 170 template&lt;class·Y·,·class·X1·,·class·X2·,·class·X3·&gt;·</td></tr>
 171 <tr·class="memitem:adb86acbba4db6e405fe7df42bff45056"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a02440.html">internal::FixedSizeMatrix</a>&lt;·Y,·X2·&gt;::type&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::numericalDerivative32</b>·(Y(*h)(const·X1·&amp;,·const·X2·&amp;,·const·X3·&amp;),·const·X1·&amp;x1,·const·X2·&amp;x2,·const·X3·&amp;x3,·double·delta=1e-5)</td></tr>
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 175 <tr·class="memdesc:a526a422ea611724345affed8b71d9bac"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Compute·numerical·derivative·in·argument·3·of·ternary·function.··<br·/></td></tr>
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 178 template&lt;class·Y·,·class·X1·,·class·X2·,·class·X3·&gt;·</td></tr>
 179 <tr·class="memitem:a19db1be6b58d9c3d396bd9a1d776a1fb"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a02440.html">internal::FixedSizeMatrix</a>&lt;·Y,·X3·&gt;::type&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::numericalDerivative33</b>·(Y(*h)(const·X1·&amp;,·const·X2·&amp;,·const·X3·&amp;),·const·X1·&amp;x1,·const·X2·&amp;x2,·const·X3·&amp;x3,·double·delta=1e-5)</td></tr>
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98 <div·class="header">98 <div·class="header">
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100 <a·href="#nested-classes">Classes</a>·&#124; 
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102 ··<div·class="headertitle"><div·class="title">VerticalBlockMatrix.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">VectorSerialization.h·File·Reference</div></div>
103 </div><!--header-->102 </div><!--header-->
104 <div·class="contents">103 <div·class="contents">
  
105 <p>A·matrix·with·column·blocks·of·pre-defined·sizes.··104 <p>serialization·for·Vectors··
106 <a·href="#details">More...</a></p>105 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00143_source.html">Go·to·the·source·code·of·this·file.</a></p>106 <p><a·href="a00143_source.html">Go·to·the·source·code·of·this·file.</a></p>
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120 </table>126 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>127 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>A·matrix·with·column·blocks·of·pre-defined·sizes.·</p> 
123 <p>Used·in·<a·class="el"·href="a05064.html"·title="In·Gaussian·factors,·the·error·function·returns·either·the·negative·log-likelihood,...">JacobianFactor</a>·and·<a·class="el"·href="a05068.html"·title="is·the·normalization·constant.">GaussianConditional</a>[·...·truncated·by·diffoscope;·len:·77,·SHA:·860789e76d008ef9d6dc8e4450cd0522e9359c9fd2bd2face0952b5d9a0da8a8·...·]>128 <div·class="textblock"><p>serialization·for·Vectors·</p>
 129 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
124 <dl·class="section·date"><dt>Date</dt><dd>Sep·18,·2010·</dd></dl>130 <dl·class="section·date"><dt>Date</dt><dd>February·2022·</dd></dl>
125 </div></div><!--·contents·-->131 </div></div><!--·contents·-->
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128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->134 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
129 ··<ul>135 ··<ul>
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102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">VerticalBlockMatrix.h</div></div>104 ··<div·class="headertitle"><div·class="title">VectorSerialization.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00143.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00143.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00116.html">gtsam/base/MatrixSerialization.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00074.html">gtsam/base/FastVector.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00104.html">gtsam/base/Vector.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/serialization/array.hpp&gt;</span></div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/serialization/split_free.hpp&gt;</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>··<span·class="comment">//·Forward·declarations</span></div> 
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="keyword">class·</span>SymmetricBlockMatrix;</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span>boost·{</div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span>serialization·{</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
129 <div·class="foldopen"·id="foldopen00042"·data-start="{"·data-end="};"> 
130 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a02660.html">···42</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02660.html">VerticalBlockMatrix</a></div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·split·version·-·copies·into·an·STL·vector·for·serialization</span></div>
 130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Archive&gt;</div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a3eb7eed9019d3fda8fcf74fbf85b85c9">save</a>(Archive&amp;·ar,·<span·class="keyword">const</span>·gtsam::Vector&amp;·v,·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·size·=·v.size();</div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··ar·&lt;&lt;·BOOST_SERIALIZATION_NVP(size);</div>
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··ar·&lt;&lt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(v.data(),·v.size()));</div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>}</div>
131 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··{</div>136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Archive&gt;</div>
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keywordtype">void</span>·load(Archive&amp;·ar,·gtsam::Vector&amp;·v,·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
132 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">public</span>:</div>139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keywordtype">size_t</span>·size;</div>
133 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02660.html">VerticalBlockMatrix</a>·<a·class="code·hl_class"·href="a02660.html">This</a>;</div> 
134 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····<span·class="keyword">typedef</span>·Eigen::Block&lt;Matrix&gt;·Block;</div> 
135 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="keyword">typedef</span>·Eigen::Block&lt;const·Matrix&gt;·constBlock;</div>140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··ar·&gt;&gt;·BOOST_SERIALIZATION_NVP(size);</div>
 141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··v.resize(size);</div>
 142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··ar·&gt;&gt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(v.data(),·v.size()));</div>
 143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>}</div>
136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="comment">//·split·version·-·copies·into·an·STL·vector·for·serialization</span></div>
 146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Archive,·<span·class="keywordtype">int</span>·D&gt;</div>
 147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a3eb7eed9019d3fda8fcf74fbf85b85c9">save</a>(Archive&amp;·ar,·<span·class="keyword">const</span>·Eigen::Matrix&lt;double,·D,·1&gt;&amp;·v,</div>
 148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··········<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··ar·&lt;&lt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(v.data(),·v.RowsAtCompileTime));</div>
137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">protected</span>:</div>150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>}</div>
138 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a02660.html#aaac69a1919d004647db02fab5b0cb0eb">···50</a></span>····Matrix·<a·class="code·hl_variable"·href="a02660.html#aaac69a1919d004647db02fab5b0cb0eb">matrix_</a>;·</div> 
139 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02660.html#ae7ec144e787509009c3fb0f284b94a22">···51</a></span>····<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector&lt;DenseIndex&gt;</a>·<a·class="code·hl_variable"·href="a02660.html#ae7ec144e787509009c3fb0f284b94a22">variableColOffsets_</a>;·</div> 
140 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a02660.html#ac17eb9545a5eb49245a4ed598c3cfbd1">···53</a></span>····<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·<a·class="code·hl_variable"·href="a02660.html#ac17eb9545a5eb49245a4ed598c3cfbd1">rowStart_</a>;·</div> 
142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a02660.html#a30f8297f16323a7471154f7eb9f2828a">···54</a></span>····<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·<a·class="code·hl_variable"·href="a02660.html#a30f8297f16323a7471154f7eb9f2828a">rowEnd_</a>;·</div> 
143 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a02660.html#ac6d96c30337e9378bcc7ac223b9d0d5c">···55</a></span>····<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·<a·class="code·hl_variable"·hr[·...·truncated·by·diffoscope;·len:·68,·SHA:·767ae22cfbdf1d64b44535774de5025bc36d09d075511aa9b1afa8a6c91a2c71·...·]</div>152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Archive,·<span·class="keywordtype">int</span>·D&gt;</div>
 153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keywordtype">void</span>·load(Archive&amp;·ar,·Eigen::Matrix&lt;double,·D,·1&gt;&amp;·v,</div>
 154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··········<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··ar·&gt;&gt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(v.data(),·v.RowsAtCompileTime));</div>
144 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>}</div>
145 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">public</span>:</div> 
146 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 158 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>}··<span·class="comment">//·namespace·serialization</span></div>
147 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="}"> 
148 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a02660.html#a04d12c23c8c6a3179416ca49da794c86">···60</a></span>····<a·class="code·hl_function"·href="a02660.html#a04d12c23c8c6a3179416ca49da794c86">VerticalBlockMatrix</a>()·:</div> 
149 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······rowStart_(0),·rowEnd_(0),·blockStart_(0)</div> 
150 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····{</div> 
151 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······variableColOffsets_.push_back(0);</div> 
152 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······assertInvariants();</div>159 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>}··<span·class="comment">//·namespace·boost</span></div>
153 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····}</div> 
154 </div> 
155 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CONTAINER&gt;</div> 
157 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}"> 
158 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a02660.html#a20f3454d88ad93367250ea900c84c53d">···69</a></span>····<a·class="code·hl_function"·href="a02660.html#a20f3454d88ad93367250ea900c84c53d">VerticalBlockMatrix</a>(<span·class="keyword">const</span>·CONTAINER&amp;·dimensions,·<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·height,</div> 
159 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>········<span·class="keywordtype">bool</span>·appendOneDimension·=·<span·class="keyword">false</span>)·:</div> 
160 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>········variableColOffsets_(dimensions.size()·+·(appendOneDimension·?·2·:·1)),</div> 
161 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>········rowStart_(0),·rowEnd_(height),·blockStart_(0)·{</div> 
162 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······fillOffsets(dimensions.begin(),·dimensions.end(),·appendOneDimension);</div> 
163 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······matrix_.resize(height,·variableColOffsets_.back());</div> 
164 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>······assertInvariants();</div> 
165 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····}</div> 
166 </div> 
167 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div> 
168 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CONTAINER,·<span·class="keyword">typename</span>·DERIVED&gt;</div> 
169 <div·class="foldopen"·id="foldopen00080"·data-start="{"·data-end="}"> 
170 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a02660.html#ac3d367af21c05dca883a91cf5c24a243">···80</a></span>····<a·class="code·hl_function"·href="a02660.html#ac3d367af21c05dca883a91cf5c24a243">VerticalBlockMatrix</a>(<span·class="keyword">const</span>·CONTAINER&amp;·dimensions,</div> 
171 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>········<span·class="keyword">const</span>·Eigen::MatrixBase&lt;DERIVED&gt;&amp;·matrix,·<span·class="keywordtype">bool</span>·appendOneDimension·=·<span·class="keyword">false</span>)·:</div> 
172 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>········matrix_(matrix),·variableColOffsets_(dimensions.size()·+·(appendOneDimension·?·2·:·1)),</div> 
173 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>········rowStart_(0),·rowEnd_(matrix.rows()),·blockStart_(0)·{</div> 
174 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>······fillOffsets(dimensions.begin(),·dimensions.end(),·appendOneDimension);</div> 
175 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>······<span·class="keywordflow">if</span>·(variableColOffsets_.back()·!=·matrix_.cols())</div> 
176 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>········<span·class="keywordflow">throw</span>·std::invalid_argument(</div> 
177 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>············<span·class="stringliteral">&quot;Requested·to·create·a·VerticalBlockMatrix·with·dimensions·that·do·not·sum·to·the·total·columns·of·the·provided·matrix.&quot;</span>);</div> 
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141 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
142 <div·class="textblock"><p>Provides·convenient·mappings·of·common·member·functions·for·testing.·</p>125 <div·class="textblock"><p>A·faster·implementation·for·DSF,·which·uses·vector·rather·than·btree.·</p>
 126 <dl·class="section·date"><dt>Date</dt><dd>Jun·25,·2010·</dd></dl>
143 <dl·class="section·author"><dt>Author</dt><dd>Alex·Cunningham·</dd></dl>127 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd></dl>
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114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01397.html">gtsam/global_includes.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01394.html">gtsam/global_includes.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;set&gt;</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
122 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
123 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span>testing·{</div> 
124 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
125 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div> 
126 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a00149.html#a72a7c561cc91f437a22023297fb7f658">···36</a></span>··T·<a·class="code·hl_function"·href="a00149.html#a72a7c561cc91f437a22023297fb7f658">between</a>(<span·class="k[·...·truncated·by·diffoscope;·len:·142,·SHA:·fe93148558e8586cd326d084ad5316eb17ba2ead1cb3cd02620c666f685dd4cc·...·]>131 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">
 132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a02296.html">···38</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02296.html">DSFBase</a>·{</div>
127 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
128 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div>134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">public</span>:</div>
129 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··T·compose(<span·class="keyword">const</span>·T&amp;·t1,·<span·class="keyword">const</span>·T&amp;·t2)·{·<span·class="keywordflow">return</span>·t1.compose(t2);·}</div>135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a02296.html#aeecd94c025c092012570bb2f82f9d2c9">···41</a></span>··<span·class="keyword">typedef</span>·std::vector&lt;size_t&gt;·<a·class="code·hl_typedef"·href="a02296.html#aeecd94c025c092012[·...·truncated·by·diffoscope;·len:·24,·SHA:·5b610ed95bb97dc66b9ce94512d89d1e52ae58f369e3f56ed27f633e3b5168d7·...·]</div>
130 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
131 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div>137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">private</span>:</div>
132 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a00149.html#aaa623dd059a67523b029af6ec20a38da">···43</a></span>··T·<a·class="code·hl_function"·href="a00149.html#aaa623dd059a67523b029af6ec20a38da">inverse</a>(<span·class="keyword">const</spa[·...·truncated·by·diffoscope;·len:·69,·SHA:·3024bec26e8ad6823344dc92abd3923fdde5f4a4b5322eeb36b5f93d5cf6079e·...·]</div>138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··boost::shared_ptr&lt;V&gt;·v_;</div>
133 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
134 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T,·<span·class="keyword">class</span>·P&gt;</div> 
135 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a00149.html#a644bbe6719d8dd756e11e8b3d2fd229a">···47</a></span>··P·<a·class="code·hl_function"·href="a00149.html#a644bbe6719d8dd756e11e8b3d2fd229a">rotate</a>(<span·class="keyword">const</span[·...·truncated·by·diffoscope;·len:·115,·SHA:·f389c9beeddc99fa9100df2f9680161dab6cadf0bd550307f7ddaa6ee9d3429f·...·]</div>140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">public</span>:</div>
 141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<a·class="code·hl_class"·href="a02296.html">DSFBase</a>(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·numNodes);</div>
136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<a·class="code·hl_class"·href="a02296.html">DSFBase</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;V&gt;&amp;·v_in);</div>
137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T,·<span·class="keyword">class</span>·P&gt;</div> 
138 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··P·unrotate(<span·class="keyword">const</span>·T&amp;·r,·<span·class="keyword">const</span>·P&amp;·pt)·{·<span·class="keywordflow">return</span>·r.unrotate(pt);·}</div> 
139 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 145 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">size_t</span>·find(<span·class="keywordtype">size_t</span>·key)·<span·class="keyword">const</span>;</div>
140 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>}·<span·class="comment">//·\namespace·testing</span></div> 
141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>}·<span·class="comment">//·\namespace·gtsam</span></div> 
142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div> 
143 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>146 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
144 <div·class="ttc"·id="aa00149_html_a644bbe6719d8dd756e11e8b3d2fd229a"><div·class="ttname"><a·href="a00149.html#a644bbe6719d8dd756e11e8b3d2fd229a">gtsam::testing::rotate</a></div><div·class="ttdeci">P·rotate(const·T·&amp;r,·const·P·&amp;pt)</div><div·class="ttdoc">rotation·functions</div><div·class="ttdef"><b>Definition</b>·lieProxies.h:47</div></div> 
145 <div·class="ttc"·id="aa00149_html_a72a7c561cc91f437a22023297fb7f658"><div·class="ttname"><a·href="a00149.html#a72a7c561cc91f437a22023297fb7f658">gtsam::testing::between</a></div><div·class="ttdeci">T·between(const·T·&amp;t1,·const·T·&amp;t2)</div><div·class="ttdoc">binary·functions</div><div·class="ttdef"><b>Definition</b>·lieProxies.h:36</div></div> 
146 <div·class="ttc"·id="aa00149_html_aaa623dd059a67523b029af6ec20a38da"><div·class="ttname"><a·href="a00149.html#aaa623dd059a67523b029af6ec20a38da">gtsam::testing::inverse</a></div><div·class="ttdeci">T·inverse(const·T·&amp;t)</div><div·class="ttdoc">unary·functions</div[·...·truncated·by·diffoscope;·len:·59,·SHA:·5fa077e403a837b00ead08219a029f9181000e9471158fbf46b2e26402db427c·...·]</div>147 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keywordtype">void</span>·merge(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>&amp;·i1,·<span·class="keyword">const</span>·<span·class="keywor[·...·truncated·by·diffoscope;·len:·30,·SHA:·69fd4ee15303a0543f627e9592eebe3228998b3756a118e311f4552382d45328·...·]</div>
 148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>};</div>
 149 </div>
 150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 151 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="};">
 152 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a02300.html">···64</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02300.html">DSFVector</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02296.html">DSFBase</a>·{</div>
 153 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 154 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span><span·class="keyword">private</span>:</div>
 155 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··std::vector&lt;size_t&gt;·keys_;·</div>
 156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 157 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span><span·class="keyword">public</span>:</div>
 158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<a·class="code·hl_class"·href="a02300.html">DSFVector</a>(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·numNodes);</div>
 159 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
 160 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<a·class="code·hl_class"·href="a02300.html">DSFVector</a>(<span·class="keyword">const</span>·std::vector&lt;size_t&gt;&amp;·keys);</div>
 161 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
 162 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<a·class="code·hl_class"·href="a02300.html">DSFVector</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;V&gt;&amp;·v_in,·<span·class="keyword">const</span>·std::vector&lt;size_t&gt;&amp;·keys);</div>
 163 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>
 164 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="comment">//·All·operations·below·loop·over·all·keys·and·hence·are·*at·least*·O(n)</span></div>
 165 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
 166 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keywordtype">bool</span>·isSingleton(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>&amp;·label)·<span·class="keyword">const</span>;</div>
 167 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
 168 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··std::set&lt;size_t&gt;·set(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>&amp;·label)·<span·class="keyword">const</span>;</div>
 169 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
 170 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··std::map&lt;size_t,·std::set&lt;size_t&gt;·&gt;·sets()·<span·class="keyword">const</span>;</div>
 171 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>
 172 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··std::map&lt;size_t,·std::vector&lt;size_t&gt;·&gt;·arrays()·<span·class="keyword">const</span>;</div>
 173 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>};</div>
 174 </div>
 175 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·</div>
 176 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>}</div>
147 <div·class="ttc"·id="aa01397_html"><div·class="ttname"><a·href="a01397.html">global_includes.h</a></div><div·class="ttdoc">Included·from·all·GTSAM·files.</div></div>177 <div·class="ttc"·id="aa01394_html"><div·class="ttname"><a·href="a01394.html">global_includes.h</a></div><div·class="ttdoc">Included·from·all·GTSAM·files.</div></div>
148 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>178 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
 179 <div·class="ttc"·id="aa02296_html"><div·class="ttname"><a·href="a02296.html">gtsam::DSFBase</a></div><div·class="ttdoc">A·fast·implementation·of·disjoint·set·forests·that·uses·vector·as·underly·data·structure.</div><div·class="ttdef"><b>Definition</b>·DSFVector.h:38</div></div>
 180 <div·class="ttc"·id="aa02296_html_aeecd94c025c092012570bb2f82f9d2c9"><div·class="ttname"><a·href="a02296.html#aeecd94c025c092012570bb2f82f9d2c9">gtsam::DSFBase::V</a></div><div·class="ttdeci">std::vector&lt;·size_t·&gt;·V</div><div·class="ttdoc">Vector·of·ints.</div><div·class="ttdef"><b>Definition</b>·DSFVector.h:41</div></div>
 181 <div·class="ttc"·id="aa02300_html"><div·class="ttname"><a·href="a02300.html">gtsam::DSFVector</a></div><div·class="ttdoc">DSFVector·additionally·keeps·a·vector·of·keys·to·support·more·expensive·operations.</div><div·class="ttdef"><b>Definition</b>·DSFVector.h:64</div></div>
149 </div><!--·fragment·--></div><!--·contents·-->182 </div><!--·fragment·--></div><!--·contents·-->
150 </div><!--·doc-content·-->183 </div><!--·doc-content·-->
151 <!--·start·footer·part·-->184 <!--·start·footer·part·-->
152 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->185 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
153 ··<ul>186 ··<ul>
154 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00149.html">lieProxies.h</a></li>187 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00149.html">DSFVector.h</a></li>
155 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>188 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
156 ··</ul>189 ··</ul>
157 </div>190 </div>
158 </body>191 </body>
159 </html>192 </html>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Chebyshev.h</div></div>104 ··<div·class="headertitle"><div·class="title">Fourier.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00155.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00155.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Manifold.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00164.html">gtsam/basis/Basis.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00158.html">gtsam/basis/Basis.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
125 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">124 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="};">
126 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a02732.html">···32</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a02732.html">Chebyshev1Basis</a>·:·<a·class="code·hl_class"·href="a02668.html">Basis</a>&lt;Chebyshev1Basis&gt;·{</div> 
127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">using·</span>Parameters·=·Eigen::Matrix&lt;double,·-1,·1·<span·class="comment">/*Nx1*/</span>&gt;;</div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a02748.html">···27</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02748.html">FourierBasis</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·hre[·...·truncated·by·diffoscope;·len:·47,·SHA:·bb3afecaa202f01210e94afd6ba7a9339501722c7376a24cbe6028ad26614b59·...·]</div>
 126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·<span·class="keyword">public</span>:</div>
 127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">using·</span>Parameters·=·Eigen::Matrix&lt;double,·<span·class="comment">/*Nx1*/</span>·-1,·1&gt;;</div>
 128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">using·</span>DiffMatrix·=·Eigen::Matrix&lt;double,·<span·class="comment">/*NxN*/</span>·-1,·-1&gt;;</div>
128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
 130 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="}">
 131 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">···40</a></span>··<span·class="keyword">static</span>·Weights·<a·class="code·hl_function"·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">CalculateWeights</a>(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x)·{</div>
129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··Parameters·parameters_;</div>132 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····Weights·b(N);</div>
 133 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····b[0]·=·1;</div>
 134 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·1,·n·=·1;·i·&lt;·N;·i++)·{</div>
 135 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<span·class="keywordflow">if</span>·(i·%·2·==·1)·{</div>
 136 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>········b[i]·=·cos(n·*·x);</div>
 137 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>······}·<span·class="keywordflow">else</span>·{</div>
 138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>········b[i]·=·sin(n·*·x);</div>
130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>········n++;</div>
131 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">static</span>·Weights·CalculateWeights(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a·=·-1,</div> 
132 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··································<span·class="keywordtype">double</span>·b·=·1);</div> 
133 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······}</div>
 141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····}</div>
134 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="keyword">static</span>·Weights·DerivativeWeights(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a·=·-1,</div> 
135 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>···································<span·class="keywordtype">double</span>·b·=·1);</div> 
136 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>};··<span·class="comment">//·Chebyshev1Basis</span></div>142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="keywordflow">return</span>·b;</div>
 143 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div>
137 </div>144 </div>
138 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div> 
139 <div·class="foldopen"·id="foldopen00080"·data-start="{"·data-end="};"> 
140 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a02736.html">···80</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a02736.html">Chebyshev2Basis</a>·:·<a·class="code·hl_class"·href="a02668.html">Basis</a>&lt;Chebyshev2Basis&gt;·{</div> 
141 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">using·</span>Parameters·=·Eigen::Matrix&lt;double,·-1,·1·<span·class="comment">/*Nx1*/</span>&gt;;</div> 
142 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div> 
143 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··<span·class="keyword">static</span>·Weights·CalculateWeights(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a·=·-1,</div> 
144 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··································<span·class="keywordtype">double</span>·b·=·1);</div> 
145 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·</div>145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
146 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>··<span·class="keyword">static</span>·Weights·DerivativeWeights(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a·=·-1,</div> 
147 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>···································<span·class="keywordtype">double</span>·b·=·1);</div>146 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">
 147 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a02748.html#ac3de8e2182f9a04ab5b56398d6f18914">···64</a></span>··<span·class="keyword">static</span>·Weights·<a·class="code·hl_function"·href="a02748.html#ac3de8e2182f9a04ab5b56398d6f18914">CalculateWeights</a>(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a,·<span·class="keywordtype">double</span>·b)·{</div>
148 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>};··<span·class="comment">//·Chebyshev2Basis</span></div>148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="comment">//·TODO(Varun)·How·do·we·enforce·an·interval·for·Fourier·series?</span></div>
 149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">CalculateWeights</a>(N,·x);</div>
 150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div>
149 </div>151 </div>
 152 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 153 <div·class="foldopen"·id="foldopen00073"·data-start="{"·data-end="}">
 154 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a02748.html#a494419be86419c6c9ced7630163adcdb">···73</a></span>··<span·class="keyword">static</span>·DiffMatrix·<a·class="code·hl_function"·href="a02748.html#a494419be86419c6c9ced7630163adcdb">DifferentiationMatrix</a>(<span·class="keywordtype">size_t</span>·N)·{</div>
 155 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····DiffMatrix·D·=·DiffMatrix::Zero(N,·N);</div>
 156 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="keywordtype">double</span>·k·=·1;</div>
 157 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·1;·i·&lt;·N;·i·+=·2)·{</div>
 158 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>······D(i,·i·+·1)·=·k;···<span·class="comment">//·sin&#39;(k*x)·=·k*cos(k*x)</span></div>
 159 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>······D(i·+·1,·i)·=·-k;··<span·class="comment">//·cos&#39;(k*x)·=·-k*sin(k*x)</span></div>
 160 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>······k·+=·1;</div>
 161 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····}</div>
 162 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
 163 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····<span·class="keywordflow">return</span>·D;</div>
 164 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··}</div>
 165 </div>
 166 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>
 167 <div·class="foldopen"·id="foldopen00092"·data-start="{"·data-end="}">
 168 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno"><a·class="line"·href="a02748.html#a4955a99e42eda2d5d6113bf192fb3e5e">···92</a></span>··<span·class="keyword">static</span>·Weights·<a·class="code·hl_function"·href="a02748.html#a4955a99e42eda2d5d6113bf192fb3e5e">DerivativeWeights</a>(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x)·{</div>
 169 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">CalculateWeights</a>(N,·x)·*·<a·class="code·hl_function"·href="a02748.html#a494419be86419c6c9ced7630163adcdb">DifferentiationMatrix</a>(N);</div>
 170 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··}</div>
 171 </div>
 172 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>
 173 <div·class="foldopen"·id="foldopen00106"·data-start="{"·data-end="}">
 174 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno"><a·class="line"·href="a02748.html#ac0f16df32079683be3138b37a1498167">··106</a></span>··<span·class="keyword">static</span>·Weights·<a·class="code·hl_function"·href="a02748.html#ac0f16df32079683be3138b37a1498167">DerivativeWeights</a>(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a,·<span·class="keywordtype">double</span>·b)·{</div>
 175 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">CalculateWeights</a>(N,·x,·a,·b)·*·<a·class="code·hl_function"·href="a02748.html#a494419be86419c6c9ced7630163adcdb">DifferentiationMatrix</a>(N);</div>
 176 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>··}</div>
 177 </div>
150 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>·</div>178 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>·</div>
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132 <div·class="textblock"><p>Define·ParameterMatrix·class·which·is·used·to·store·values·at·interpolation·points.·</p>161 <div·class="textblock"><p>Compute·an·interpolating·basis.·</p>
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134 <dl·class="section·date"><dt>Date</dt><dd>September·21,·2020·</dd></dl>163 <dl·class="section·date"><dt>Date</dt><dd>July·4,·2020·</dd></dl>
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135 <dl·class="section·date"><dt>Date</dt><dd>July·4,·2020·</dd></dl>142 <dl·class="section·date"><dt>Date</dt><dd>July·4,·2020·</dd></dl>
136 <dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal,·Frank·Dellaert·</dd></dl> 
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107 <p>Compute·an·interpolating·basis.··105 <p>Pseudo-spectral·parameterization·for·Chebyshev·polynomials·of·the·second·kind.··
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157 <tr·class="memdesc:ga2ce44d31cae1eda44c2a86d32d92b935"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Function·for·computing·the·kronecker·product·of·the·1*N·Weight·vector·<code>w</code>·with·the·MxM·identity·matrix·<code>I</code>·efficiently.··<br·/></td></tr> 
158 <tr·class="separator:ga2ce44d31cae1eda44c2a86d32d92b935"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
159 </table>120 </table>
160 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
161 <div·class="textblock"><p>Compute·an·interpolating·basis.·</p>122 <div·class="textblock"><p>Pseudo-spectral·parameterization·for·Chebyshev·polynomials·of·the·second·kind.·</p>
 123 <p>In·a·pseudo-spectral·case,·rather·than·the·parameters·acting·as·weights·for·the·bases·polynomials·(as·in·Chebyshev2Basis),·here·the·parameters·are·the·<em>values</em>·at·a·specific·set·of·points·in·the·interval,·the·"Chebyshev·points".·These·values·uniquely·determine·the·polynomial·that·interpolates·them·at·the·Chebyshev·points.</p>
 124 <p>This·is·different·from·<a·class="el"·href="a00167.html"·title="Chebyshev·basis·decompositions.">Chebyshev.h</a>·since·it·leverage·ideas·from·pseudo-spectral·optimization,·i.e.·we·don't·decompose·into·basis·functions,·rather·estimate·function·values·at·the·Chebyshev·points.</p>
 125 <p>Please·refer·to·Agrawal21icra·for·more·details.</p>
162 <dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal,·Jing·Dong,·Frank·Dellaert·</dd></dl>126 <dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal,·Jing·Dong,·Frank·Dellaert·</dd></dl>
163 <dl·class="section·date"><dt>Date</dt><dd>July·4,·2020·</dd></dl>127 <dl·class="section·date"><dt>Date</dt><dd>July·4,·2020·</dd></dl>
164 </div></div><!--·contents·-->128 </div></div><!--·contents·-->
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104 <div·class="contents">104 <div·class="contents">
  
105 <p>Fourier·decomposition,·see·e.g.··105 <p>Chebyshev·basis·decompositions.··
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Fourier·basis.··<a·href="a02748.html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a02668.html"·title="CRTP·Base·class·for·function·bases.">Basis</a>·of·Chebyshev·polynomials·of·the·first·kind·<a·href="https://en.wikipedia.org/wiki/Chebyshev_polynomials#First_kind">https://en.wikipedia.org/wiki/Chebyshev_polynomials#F[·...·truncated·by·diffoscope;·len:·102,·SHA:·008c4276ffe322e30e0e9446c307859d3d05fe452b3656cae030d7a7e0f1f9bf·...·].html#details">More...</a><br·/></td></tr>
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 114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02736.html">gtsam::Chebyshev2Basis</a></td></tr>
 115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a02668.html"·title="CRTP·Base·class·for·function·bases.">Basis</a>·of·Chebyshev·polynomials·of·the·second·kind.··<a·href="a02736.html#details">More...</a><br·/></td></tr>
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>116 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
114 </table><table·class="memberdecls">117 </table><table·class="memberdecls">
115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>118 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
116 Namespaces</h2></td></tr>119 Namespaces</h2></td></tr>
117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>120 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>122 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 </table>123 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>Fourier·decomposition,·see·e.g.·</p>125 <div·class="textblock"><p>Chebyshev·basis·decompositions.·</p>
123 <p><a·href="http://mathworld.wolfram.com/FourierSeries.html">http://mathworld.wolfram.com/FourierSeries.html</a>·</p><dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal,·Frank·Dellaert·</dd></dl>126 <dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal,·Jing·Dong,·Frank·Dellaert·</dd></dl>
124 <dl·class="section·date"><dt>Date</dt><dd>July·4,·2020·</dd></dl>127 <dl·class="section·date"><dt>Date</dt><dd>July·4,·2020·</dd></dl>
125 </div></div><!--·contents·-->128 </div></div><!--·contents·-->
126 </div><!--·doc-content·-->129 </div><!--·doc-content·-->
127 <!--·start·footer·part·-->130 <!--·start·footer·part·-->
128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->131 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
129 ··<ul>132 ··<ul>
130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_7c6fd4d23c35234f8f1271a66248b63b.html">basis</a></li><li·class="navelem"><a·class="el"·href="a00167.html">Fourier.h</a></li>133 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_7c6fd4d23c35234f8f1271a66248b63b.html">basis</a></li><li·class="navelem"><a·class="el"·href="a00167.html">Chebyshev.h</a></li>
131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>134 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
132 ··</ul>135 ··</ul>
133 </div>136 </div>
134 </body>137 </body>
135 </html>138 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/Fourier.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/Chebyshev.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Fourier.h</div></div>104 ··<div·class="headertitle"><div·class="title">Chebyshev.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00167.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00167.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/Manifold.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00164.html">gtsam/basis/Basis.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00158.html">gtsam/basis/Basis.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
124 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="};">125 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">
 126 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a02732.html">···32</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a02732.html">Chebyshev1Basis</a>·:·<a·class="code·hl_class"·href="a02668.html">Basis</a>&lt;Chebyshev1Basis&gt;·{</div>
 127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">using·</span>Parameters·=·Eigen::Matrix&lt;double,·-1,·1·<span·class="comment">/*Nx1*/</span>&gt;;</div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a02748.html">···27</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02748.html">FourierBasis</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02668.html">Basis</a>&lt;FourierBasis&gt;·{</div> 
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·<span·class="keyword">public</span>:</div> 
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">using·</span>Parameters·=·Eigen::Matrix&lt;double,·<span·class="comment">/*Nx1*/</span>·-1,·1&gt;;</div> 
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">using·</span>DiffMatrix·=·Eigen::Matrix&lt;double,·<span·class="comment">/*NxN*/</span>·-1,·-1&gt;;</div> 
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
130 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="}"> 
131 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">···40</a></span>··<span·class="keyword">static</span>·Weights·<a·class="code·hl_function"·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">CalculateWeights</a>(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x)·{</div> 
132 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····Weights·b(N);</div>129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··Parameters·parameters_;</div>
133 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····b[0]·=·1;</div> 
134 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·1,·n·=·1;·i·&lt;·N;·i++)·{</div> 
135 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<span·class="keywordflow">if</span>·(i·%·2·==·1)·{</div> 
136 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>········b[i]·=·cos(n·*·x);</div> 
137 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>······}·<span·class="keywordflow">else</span>·{</div> 
138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>········b[i]·=·sin(n·*·x);</div> 
139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>········n++;</div>130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 131 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">static</span>·Weights·CalculateWeights(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a·=·-1,</div>
 132 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··································<span·class="keywordtype">double</span>·b·=·1);</div>
140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······}</div>133 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····}</div>134 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="keyword">static</span>·Weights·DerivativeWeights(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a·=·-1,</div>
 135 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>···································<span·class="keywordtype">double</span>·b·=·1);</div>
142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="keywordflow">return</span>·b;</div>136 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>};··<span·class="comment">//·Chebyshev1Basis</span></div>
143 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div> 
144 </div>137 </div>
 138 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 139 <div·class="foldopen"·id="foldopen00080"·data-start="{"·data-end="};">
 140 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a02736.html">···80</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a02736.html">Chebyshev2Basis</a>·:·<a·class="code·hl_class"·href="a02668.html">Basis</a>&lt;Chebyshev2Basis&gt;·{</div>
 141 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">using·</span>Parameters·=·Eigen::Matrix&lt;double,·-1,·1·<span·class="comment">/*Nx1*/</span>&gt;;</div>
 142 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>
 143 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··<span·class="keyword">static</span>·Weights·CalculateWeights(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a·=·-1,</div>
 144 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··································<span·class="keywordtype">double</span>·b·=·1);</div>
145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>145 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·</div>
146 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}"> 
147 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a02748.html#ac3de8e2182f9a04ab5b56398d6f18914">···64</a></span>··<span·class="keyword">static</span>·Weights·<a·class="code·hl_function"·href="a02748.html#ac3de8e2182f9a04ab5b56398d6f18914">[·...·truncated·by·diffoscope;·len:·194,·SHA:·bf1cef7dfaf27868ccc41eb44d858bf29cde44721145bc15dfb357026515dd8f·...·]</div>146 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>··<span·class="keyword">static</span>·Weights·DerivativeWeights(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a·=·-1,</div>
 147 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>···································<span·class="keywordtype">double</span>·b·=·1);</div>
148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="comment">//·TODO(Varun)·How·do·we·enforce·an·interval·for·Fourier·series?</span></div>148 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>};··<span·class="comment">//·Chebyshev2Basis</span></div>
149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">CalculateWeights</a>(N,·x);</div> 
150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div> 
151 </div>149 </div>
152 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div> 
153 <div·class="foldopen"·id="foldopen00073"·data-start="{"·data-end="}"> 
154 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a02748.html#a494419be86419c6c9ced7630163adcdb">···73</a></span>··<span·class="keyword">static</span>·DiffMatrix·<a·class="code·hl_function"·href="a02748.html#a494419be86419c6c9ced7630163adcdb">DifferentiationMatrix</a>(<span·class="keywordtype">size_t</span>·N)·{</div> 
155 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····DiffMatrix·D·=·DiffMatrix::Zero(N,·N);</div> 
156 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="keywordtype">double</span>·k·=·1;</div> 
157 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·1;·i·&lt;·N;·i·+=·2)·{</div> 
158 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>······D(i,·i·+·1)·=·k;···<span·class="comment">//·sin&#39;(k*x)·=·k*cos(k*x)</span></div> 
159 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>······D(i·+·1,·i)·=·-k;··<span·class="comment">//·cos&#39;(k*x)·=·-k*sin(k*x)</span></div> 
160 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>······k·+=·1;</div> 
161 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····}</div> 
162 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div> 
163 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····<span·class="keywordflow">return</span>·D;</div> 
164 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··}</div> 
165 </div> 
166 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div> 
167 <div·class="foldopen"·id="foldopen00092"·data-start="{"·data-end="}"> 
168 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno"><a·class="line"·href="a02748.html#a4955a99e42eda2d5d6113bf192fb3e5e">···92</a></span>··<span·class="keyword">static</span>·Weights·<a·class="code·hl_function"·href="a02748.html#a4955a99e42eda2d5d6113bf192fb3e5e">DerivativeWeights</a>(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x)·{</div> 
169 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">CalculateWeights</a>(N,·x)·*·<a·class="code·hl_function"·href="a02748.html#a494419be86419c6c9ced7630163adcdb">DifferentiationMatrix</a>(N);</div> 
170 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··}</div> 
171 </div> 
172 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div> 
173 <div·class="foldopen"·id="foldopen00106"·data-start="{"·data-end="}"> 
174 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno"><a·class="line"·href="a02748.html#ac0f16df32079683be3138b37a1498167">··106</a></span>··<span·class="keyword">static</span>·Weights·<a·class="code·hl_function"·href="a02748.html#ac0f16df32079683be3138b37a1498167">DerivativeWeights</a>(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·a,·<span·class="keywordtype">double</span>·b)·{</div> 
175 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">CalculateWeights</a>(N,·x,·a,·b)·*·<a·class="code·hl_function"·href="a02748.html#a494419be86419c6c9ced7630163adcdb">DifferentiationMatrix</a>(N);</div> 
176 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>··}</div> 
177 </div> 
178 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>·</div>150 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>·</div>
179 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>};··<span·class="comment">//·FourierBasis</span></div> 
180 </div> 
181 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>·</div> 
182 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>}··<span·class="comment">//·namespace·gtsam</span></div>151 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>}··<span·class="comment">//·namespace·gtsam</span></div>
 152 <div·class="ttc"·id="aa00119_html"><div·class="ttname"><a·href="a00119.html">Manifold.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Manifold·types.</div></div>
183 <div·class="ttc"·id="aa00164_html"><div·class="ttname"><a·href="a00164.html">Basis.h</a></div><div·class="ttdoc">Compute·an·interpolating·basis.</div></div>153 <div·class="ttc"·id="aa00158_html"><div·class="ttname"><a·href="a00158.html">Basis.h</a></div><div·class="ttdoc">Compute·an·interpolating·basis.</div></div>
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185 <div·class="ttc"·id="aa02668_html"><div·class="ttname"><a·href="a02668.html">gtsam::Basis</a></div><div·class="ttdoc">CRTP·Base·class·for·function·bases.</div><div·class="ttdef"><b>Definition</b>·Basis.h:100</div></div>155 <div·class="ttc"·id="aa02668_html"><div·class="ttname"><a·href="a02668.html">gtsam::Basis</a></div><div·class="ttdoc">CRTP·Base·class·for·function·bases.</div><div·class="ttdef"><b>Definition</b>·Basis.h:100</div></div>
 156 <div·class="ttc"·id="aa02732_html"><div·class="ttname"><a·href="a02732.html">gtsam::Chebyshev1Basis</a></div><div·class="ttdoc">Basis·of·Chebyshev·polynomials·of·the·first·kind·https://en.wikipedia.org/wiki/Chebyshev_polynomials#...</div><div·class="ttdef"><b>Definition</b>·Chebyshev.h:32</div></div>
 157 <div·class="ttc"·id="aa02736_html"><div·class="ttname"><a·href="a02736.html">gtsam::Chebyshev2Basis</a></div><div·class="ttdoc">Basis·of·Chebyshev·polynomials·of·the·second·kind.</div><div·class="ttdef"><b>Definition</b>·Chebyshev.h:80</div></div>
186 <div·class="ttc"·id="aa02748_html"><div·class="ttname"><a·href="a02748.html">gtsam::FourierBasis</a></div><div·class="ttdoc">Fourier·basis.</div><div·class="ttdef"><b>Definition</b>·Fourier.h:27</div></div> 
187 <div·class="ttc"·id="aa02748_html_a494419be86419c6c9ced7630163adcdb"><div·class="ttname"><a·href="a02748.html#a494419be86419c6c9ced7630163adcdb">gtsam::FourierBasis::DifferentiationMatrix</a></div><div·class="ttdeci">static·DiffMatrix·DifferentiationMatrix(size_t·N)</div><div·class="ttdoc">Compute·D·=·differentiation·matrix.</div><div·class="ttdef"><b>Definition</b>·Fourier.h:73</div></div> 
188 <div·class="ttc"·id="aa02748_html_a4955a99e42eda2d5d6113bf192fb3e5e"><div·class="ttname"><a·href="a02748.html#a4955a99e42eda2d5d6113bf192fb3e5e">gtsam::FourierBasis::DerivativeWeights</a></div><div·class="ttdeci">static·Weights·DerivativeWeights(size_t·N,·double·x)</div><div·class="ttdoc">Get·weights·at·a·given·x·that·calculate·the·derivative.</div><div·class="ttdef"><b>Definition</b>·Fourier.h:92</div></div> 
189 <div·class="ttc"·id="aa02748_html_a64fecbc7c52f1de9019137a3c7321b02"><div·class="ttname"><a·href="a02748.html#a64fecbc7c52f1de9019137a3c7321b02">gtsam::FourierBasis::CalculateWeights</a></div><div·class="ttdeci">static·Weights·CalculateWeights(size_t·N,·double·x)</div><div·class="ttdoc">Evaluate·Real·Fourier·Weights·of·size·N·in·interval·[a,·b],·e.g.</div><div·class="ttdef"><b>Definition</b>·Fourier.h:40</div></div> 
190 <div·class="ttc"·id="aa02748_html_ac0f16df32079683be3138b37a1498167"><div·class="ttname"><a·href="a02748.html#ac0f16df32079683be3138b37a1498167">gtsam::FourierBasis::DerivativeWeights</a></div><div·class="ttdeci">static·Weights·DerivativeWeights(size_t·N,·double·x,·double·a,·double·b)</div><div·class="ttdoc">Get·derivative·weights·at·a·given·x·that·calculate·the·derivative,·in·the·interval·[a,...</div><div·class="ttdef"><b>Definition</b>·Fourier.h:106</div></div> 
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 114 <div·class="textblock"><p>Chebyshev·basis·decompositions.·</p>
122 <div·class="textblock"><p>Pseudo-spectral·parameterization·for·Chebyshev·polynomials·of·the·second·kind.·</p> 
123 <p>In·a·pseudo-spectral·case,·rather·than·the·parameters·acting·as·weights·for·the·bases·polynomials·(as·in·Chebyshev2Basis),·here·the·parameters·are·the·<em>values</em>·at·a·specific·set·of·points·in·the·interval,·the·"Chebyshev·points".·These·values·uniquely·determine·the·polynomial·that·interpolates·them·at·the·Chebyshev·points.</p> 
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125 <p>Please·refer·to·Agrawal21icra·for·more·details.</p> 
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00248.html">gtsam/discrete/DiscreteBayesNet.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00227.html">gtsam/discrete/DiscreteBayesNet.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00236.html">gtsam/discrete/DiscreteFactorGraph.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00254.html">gtsam/discrete/DiscreteFactorGraph.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00680.html">gtsam/inference/BayesTree.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00638.html">gtsam/inference/EliminationTree.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00605.html">gtsam/inference/Conditional.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00602.html">gtsam/inference/BayesTreeCliqueBase.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div> 
128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">//·Forward·declarations</span></div> 
131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">class·</span>DiscreteConditional;</div> 
132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div> 
133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div> 
134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">/*·*************************************************************************·*/</span></div> 
135 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};">
136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a02824.html">···39</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02824.html">DiscreteBayesTreeClique</a></div>127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a02848.html">···31</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02848.html">DiscreteEliminationTree</a>·:</div>
137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase</a>&lt;DiscreteBayesTreeClique,·DiscreteFactorGraph&gt;·{</div>128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree</a>&lt;DiscreteBayesNet,·DiscreteFactorGraph&gt;</div>
 129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··{</div>
138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·<span·class="keyword">public</span>:</div>130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">public</span>:</div>
 131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a02848.html#ae4e6afc353582183f3c881a3acad57ca">···35</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree&lt;DiscreteBayesNet,·DiscreteFactorGraph&gt;</a>·<a·class="code·hl_typedef"·href="a02848.html#ae4e6afc353582183f3c881a3acad57ca">Base</a>;·</div>
 132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a02848.html#a2b315837d2af900fce3ee59ef54a426f">···36</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02848.html">DiscreteEliminationTree</a>·<a·class="code·hl_typedef"·href="a02848.html#a2b315837d2af900fce3ee59ef54a426f">This</a>;·</div>
 133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a02848.html#a850bd2d0f3c1a7b51aebd75582d86b43">···37</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a02848.html#a850bd2d0f3c1a7b51aebd75582d86b43">shared_ptr</a>;·</div>
139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02824.html">DiscreteBayesTreeClique</a>·<a·class="code·hl_class"·href="a02824.html">This</a>;</div> 
140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase&lt;DiscreteBayesTreeClique,·DiscreteFactorGraph&gt;</a></div> 
141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<a·class="code·hl_class"·href="a03552.html">Base</a>;</div> 
142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div> 
143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">typedef</span>·boost::weak_ptr&lt;This&gt;·weak_ptr;</div> 
144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<a·class="code·hl_class"·href="a02824.html">DiscreteBayesTreeClique</a>()·{}</div> 
145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a02824.html">~DiscreteBayesTreeClique</a>()·{}</div> 
146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<a·class="code·hl_class"·href="a02824.html">DiscreteBayesTreeClique</a>(</div> 
147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······<span·class="keyword">const</span>·boost::shared_ptr&lt;DiscreteConditional&gt;&amp;·conditional)</div> 
148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······:·<a·class="code·hl_class"·href="a03552.html">Base</a>(conditional)·{}</div> 
149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
150 <div·class="foldopen"·id="foldopen00054"·data-start="{"·data-end="}"> 
151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a02824.html#a8ca6ff30a4175181ddd476e3d4d84c55">···54</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a02824.html#a8ca6ff30a4175181ddd476e3d4d84c55">printSignature</a>(</div> 
152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;Clique:·&quot;</span>,</div> 
153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)<span·class="keyword">·const·</span>{</div> 
154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····conditional_-&gt;printSignature(s,·formatter);</div> 
155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··}</div>134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
156 </div>135 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<a·class="code·hl_class"·href="a02848.html">DiscreteEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02864.html">DiscreteFactorGrap[·...·truncated·by·diffoscope;·len:·24,·SHA:·918e7924b100dff11de8caceb8ebabd628289c9c9ff2230055f188362776f160·...·]/div>
 136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03700.html">VariableIndex</a>&amp;·structure,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div>
157 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
158 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="comment">//**·evaluate·conditional·probability·of·subtree·for·given·DiscreteValues·*/</span></div> 
159 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keywordtype">double</span>·evaluate(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·values)·<span·class="keyword">const</span>;</div>138 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<a·class="code·hl_class"·href="a02848.html">DiscreteEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02864.html">DiscreteFactorGraph</a>&amp;·factorGraph,</div>
 139 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div>
 140 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 141 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02848.html">This</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div>
 142 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 143 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">private</span>:</div>
160 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>144 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
161 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="comment">//**·(Preferred)·sugar·for·the·above·for·given·DiscreteValues·*/</span></div> 
162 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keywordtype">double</span>·operator()(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·values)<span·class="keyword">·const·</span>{</div> 
163 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">return</span>·evaluate(values);</div>145 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="keyword">friend</span>·class·::EliminationTreeTester;</div>
 146 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
164 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div>147 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··};</div>
165 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>};</div> 
166 </div>148 </div>
167 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
168 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span><span·class="comment">/*·*************************************************************************·*/</span></div> 
169 <div·class="foldopen"·id="foldopen00074"·data-start="{"·data-end="};"> 
170 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno"><a·class="line"·href="a02828.html">···74</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02828.html">DiscreteBayesTree</a></div> 
171 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree</a>&lt;DiscreteBayesTreeClique&gt;·{</div> 
172 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·<span·class="keyword">private</span>:</div> 
173 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree&lt;DiscreteBayesTreeClique&gt;</a>·<a·class="code·hl_class"·href="a03540.html">Base</a>;</div> 
174 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div> 
175 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·<span·class="keyword">public</span>:</div> 
176 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02828.html">DiscreteBayesTree</a>·<a·class="code·hl_class"·href="a02828.html">This</a>;</div> 
177 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div> 
178 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div> 
179 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div> 
180 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno"><a·class="line"·href="a02828.html#a9ed89e4e8ddbb56919ab48642a1032c4">···86</a></span>··<a·class="code·hl_function"·href="a02828.html#a9ed89e4e8ddbb56919ab48642a1032c4">DiscreteBayesTree</a>()·{}</div> 
181 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div> 
182 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·This&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div> 
183 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div> 
184 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··<span·class="comment">//**·evaluate·probability·for·given·DiscreteValues·*/</span></div> 
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112 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·20,·2022·</dd></dl>138 <div·class="textblock"><p>signatures·for·conditional·densities·</p>
113 <dl·class="section·author"><dt>Author</dt><dd>Mike·Sheffler·</dd>139 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
 140 <dl·class="section·date"><dt>Date</dt><dd>Feb·27,·2011·</dd></dl>
114 <dd> 
115 Duy-Nguyen·Ta·</dd> 
116 <dd> 
117 Frank·Dellaert·</dd></dl> 
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122 <dl·class="section·date"><dt>Date</dt><dd>Feb·14,·2011·</dd></dl>112 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·14,·2011·</dd></dl>
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 141 <tr·class="memdesc:ae890a8919b441443ffdc0d8ab047838d"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Apply·binary·operator·<code>op</code>·to·<a·class="el"·href="a02796.html"·title="a·decision·tree·is·a·function·from·assignments·to·values.">DecisionTree</a>·<code>f</code>.·<br·/></td></tr>
 142 <tr·class="separator:ae890a8919b441443ffdc0d8ab047838d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 143 <tr·class="memitem:a1744c5e018220146e8df7a68a05d5c43"·id="r_a1744c5e018220146e8df7a68a05d5c43"><td·class="memTemplParams"·colspan="2">template&lt;typename·L·,·typename·T1·,·typename·T2·&gt;·</td></tr>
 144 <tr·class="memitem:a1744c5e018220146e8df7a68a05d5c43"><td·class="memTemplItemLeft"·align="right"·valign="top">std::pair&lt;·<a·class="el"·href="a02796.html">DecisionTree</a>&lt;·L,·T1·&gt;,·<a·class="el"·href="a02796.html">DecisionTree</a>&lt;·L,·T2·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a1744c5e018220146e8df7a68a05d5c43">gtsam::unzip</a>·(const·<a·class="el"·href="a02796.html">DecisionTree</a>&lt;·L,·std::pair&lt;·T1,·T2·&gt;·&gt;·&amp;input)</td></tr>
 145 <tr·class="memdesc:a1744c5e018220146e8df7a68a05d5c43"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">unzip·a·<a·class="el"·href="a02796.html"·title="a·decision·tree·is·a·function·from·assignments·to·values.">DecisionTree</a>·with·<code>std::pair</code>·values.··<br·/></td></tr>
 146 <tr·class="separator:a1744c5e018220146e8df7a68a05d5c43"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 </table>147 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>148 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>An·assignment·from·labels·to·a·discrete·value·index·(size_t)·</p>149 <div·class="textblock"><p>Decision·Tree·for·use·in·DiscreteFactors.·</p>
123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>150 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 151 <dd>
 152 Can·Erdogan·</dd></dl>
124 <dl·class="section·date"><dt>Date</dt><dd>Feb·5,·2012·</dd></dl>153 <dl·class="section·date"><dt>Date</dt><dd>Jan·30,·2012·</dd></dl>
125 </div></div><!--·contents·-->154 </div></div><!--·contents·-->
126 </div><!--·doc-content·-->155 </div><!--·doc-content·-->
127 <!--·start·footer·part·-->156 <!--·start·footer·part·-->
128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->157 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
129 ··<ul>158 ··<ul>
130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00194.html">Assignment.h</a></li>159 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00194.html">DecisionTree.h</a></li>
131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>160 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
132 ··</ul>161 ··</ul>
133 </div>162 </div>
134 </body>163 </body>
135 </html>164 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/DiscreteEliminationTree.h·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/DiscreteDistribution.cpp·File·Reference</title>
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94 </div>94 </div>
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124; 
101 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">DiscreteEliminationTree.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">DiscreteDistribution.cpp·File·Reference</div></div>
103 </div><!--header-->102 </div><!--header-->
104 <div·class="contents">103 <div·class="contents">
  
105 <p><a·href="a00200_source.html">Go·to·the·source·code·of·this·file.</a></p> 
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110 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Elimination·tree·for·discrete·factors.··<a·href="a02848.html#details">More...</a><br·/></td></tr> 
111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
112 </table><table·class="memberdecls"> 
113 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>105 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
114 Namespaces</h2></td></tr>106 Namespaces</h2></td></tr>
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116 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>108 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
117 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>109 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
118 </table>110 </table>
119 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
120 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·29,·2013·</dd></dl>112 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>December·2021·</dd></dl>
121 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>113 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
122 <dd> 
123 Richard·Roberts·</dd></dl> 
124 </div></div><!--·contents·-->114 </div></div><!--·contents·-->
125 </div><!--·doc-content·-->115 </div><!--·doc-content·-->
126 <!--·start·footer·part·-->116 <!--·start·footer·part·-->
127 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->117 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
128 ··<ul>118 ··<ul>
129 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00200.html">DiscreteEliminationTree.h</a></li>119 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00200.html">DiscreteDistribution.cpp</a></li>
130 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>120 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00236.html">gtsam/discrete/DiscreteFactorGraph.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00254.html">gtsam/discrete/DiscreteFactorGraph.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00182.html">gtsam/discrete/DiscreteBayesTree.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00242.html">gtsam/discrete/DiscreteBayesTree.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00692.html">gtsam/inference/JunctionTree.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00659.html">gtsam/inference/JunctionTree.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="comment">//·Forward·declarations</span></div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="comment">//·Forward·declarations</span></div>
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129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
130 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="};">130 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="};">
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137 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>137 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
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140 </div>140 </div>
141 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>141 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
142 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a01428.html#aa8c26fa5afbbfd23795d7d421e543a81">···70</a></span>··<span·class="keyword">using·</span><a·class="code·hl_struct"·href="a03568.html">DiscreteCluster</a>·=·<a·class="code·hl_struct"·href="a03568.html">DiscreteJunctionTree::Cluster</a>;</div>142 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a01428.html#aa8c26fa5afbbfd23795d7d421e543a81">···70</a></span>··<span·class="keyword">using·</span><a·class="code·hl_struct"·href="a03568.html">DiscreteCluster</a>·=·<a·class="code·hl_struct"·href="a03568.html">DiscreteJunctionTree::Cluster</a>;</div>
143 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>}</div>143 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>}</div>
144 <div·class="ttc"·id="aa00182_html"><div·class="ttname"><a·href="a00182.html">DiscreteBayesTree.h</a></div><div·class="ttdoc">Discrete·Bayes·Tree,·the·result·of·eliminating·a·DiscreteJunctionTree.</div></div>144 <div·class="ttc"·id="aa00242_html"><div·class="ttname"><a·href="a00242.html">DiscreteBayesTree.h</a></div><div·class="ttdoc">Discrete·Bayes·Tree,·the·result·of·eliminating·a·DiscreteJunctionTree.</div></div>
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138 <div·class="textblock"><p>signatures·for·conditional·densities·</p>125 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>January,·2022·</dd></dl>
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102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Signature.h</div></div>104 ··<div·class="headertitle"><div·class="title">DiscreteLookupDAG.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00206.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00206.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00263.html">gtsam/discrete/DiscreteDistribution.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00692.html">gtsam/inference/BayesNet.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00599.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00260.html">gtsam/discrete/DiscreteKey.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">class·</span>DiscreteBayesNet;</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
126 <div·class="foldopen"·id="foldopen00054"·data-start="{"·data-end="};">133 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a02912.html">···54</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02912.html">Signature</a>·{</div>134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a02884.html">···40</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02884.html">DiscreteLookupTable</a>·:·<span·class="keyword">public</span>·<a·class[·...·truncated·by·diffoscope;·len:·55,·SHA:·d08090f41bcf28960a29ee54aa21be53493ad8e6e0c85f8ab45e5e820a7d357a·...·]</a>·{</div>
 135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·<span·class="keyword">public</span>:</div>
 136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02884.html">This</a>·=·<a·class="code·hl_class"·href="a02884.html">DiscreteLookupTable</a>;</div>
 137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;This&gt;;</div>
 138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">using·</span>BaseConditional·=·<a·class="code·hl_class"·href="a03572.html">Conditional&lt;DecisionTreeFactor,·This&gt;</a>;</div>
128 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
129 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">public</span>:</div>140 <div·class="foldopen"·id="foldopen00053"·data-start="{"·data-end="}">
 141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a02884.html#a981d836a4c625af0a5e021fac9b2bdfa">···53</a></span>··<a·class="code·hl_function"·href="a02884.html#a981d836a4c625af0a5e021fac9b2bdfa">DiscreteLookupTable</a>(<span·class="keywordtype">size_t</span>·nFrontals,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·keys,</div>
 142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······················<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02760.html">ADT</a>&amp;·potentials)</div>
 143 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······:·<a·class="code·hl_class"·href="a02832.html">DiscreteConditional</a>(nFrontals,·keys,·potentials)·{}</div>
 144 </div>
130 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
131 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a02912.html#a058b129adfd1cdb887c88efedf2c8ca3">···59</a></span>····<span·class="keyword">typedef</span>·std::vector&lt;double&gt;·<a·class="code·hl_typedef"·href="a02912.html#a058b129adfd1cdb887c88efedf2c8ca3">Row</a>;</div> 
132 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keyword">typedef</span>·std::vector&lt;Row&gt;·Table;</div>146 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(</div>
 147 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;Discrete·Lookup·Table:·&quot;</span>,</div>
 148 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div>
133 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>149 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
134 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keyword">private</span>:</div>150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keywordtype">size_t</span>·argmax(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·parentsValues)·<span·class="keyword">const</span>;</div>
135 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>151 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 152 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="keywordtype">void</span>·argmaxInPlace(<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>*·parentsValues)·<span·class="keyword">const</span>;</div>
136 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>·key_;</div> 
137 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div> 
138 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·parents_;</div> 
139 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div> 
140 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="comment">//·the·given·CPT·specification·string</span></div> 
141 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····boost::optional&lt;std::string&gt;·spec_;</div> 
142 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>153 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>};</div>
 154 </div>
143 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="comment">//·the·CPT·as·parsed,·if·successful</span></div> 
144 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····boost::optional&lt;Table&gt;·table_;</div> 
145 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>155 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
 156 <div·class="foldopen"·id="foldopen00077"·data-start="{"·data-end="};">
 157 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno"><a·class="line"·href="a02888.html">···77</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02888.html">DiscreteLookupDAG</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03516.html">BayesNet</a>&lt;DiscreteLookupTable&gt;·{</div>
146 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="keyword">public</span>:</div>158 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·<span·class="keyword">public</span>:</div>
147 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>···<a·class="code·hl_class"·href="a02912.html">Signature</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key[·...·truncated·by·diffoscope;·len:·112,·SHA:·82e3fddd1ed9b21813993dd591a0885322c08ea6c802ffc49063fbb324c9dadd·...·]</div>159 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03516.html">Base</a>·=·<a·class="code·hl_class"·href="a03516.html">BayesNet&lt;DiscreteLookupTable&gt;</a>;</div>
 160 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02888.html">This</a>·=·<a·class="code·hl_class"·href="a02888.html">DiscreteLookupDAG</a>;</div>
148 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·············<span·class="keyword">const</span>·Table&amp;·table);</div>161 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;This&gt;;</div>
 162 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>
 163 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
 164 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a02888.html#a631d976900dcd37b1dc1267bde02dcd0">···87</a></span>··<a·class="code·hl_function"·href="a02888.html#a631d976900dcd37b1dc1267bde02dcd0">DiscreteLookupDAG</a>()·{}</div>
 165 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
 166 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a02888.html">DiscreteLookupDAG</a>·FromBayesNet(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02816.html">DiscreteBayesNet</a>&amp;·bayesNet);</div>
149 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>167 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>
150 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>···<a·class="code·hl_class"·href="a02912.html">Signature</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·parents,</div> 
151 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>·············<span·class="keyword">const</span>·std::string&amp;·spec);</div>168 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno"><a·class="line"·href="a02888.html#a8f504d319b70c7537bb2b7a05ca8320d">···93</a></span>··<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a02888.html#a8f504d319b70c7537bb2b7a05ca8320d">~Discre[·...·truncated·by·diffoscope;·len:·20,·SHA:·137728f7ad5ff3de0fc678253e4eaa2c3ff4533ff13924da9671c5d3532824bf·...·]</div>
 169 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>
 170 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·</div>
 171 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>·</div>
 172 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno"><a·class="line"·href="a02888.html#a1b9217223c74329b72c6585428100788">··101</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a02888.html#a1b9217223c74329b72c6585428100788">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02888.html">This</a>&amp;·bn,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div>
 173 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>·</div>
152 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>·</div>174 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>·</div>
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122 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>December·2021·</dd></dl>119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·14,·2011·</dd></dl>
123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>120 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd>
 121 <dd>
 122 Frank·Dellaert·</dd></dl>
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114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00233.html">gtsam/discrete/DiscreteValues.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;functional&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00587.html">gtsam/inference/Factor.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;sstream&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div> 
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">class·</span>DecisionTreeFactor;</div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">class·</span>DiscreteConditional;</div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05044.html">HybridValues</a>;</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·L&gt;</div>
132 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">131 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};">
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a02852.html">···38</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02852.html">DiscreteFactor</a>:·<span·class="keyword">public</span>·<a·class="code·[·...·truncated·by·diffoscope;·len:·39,·SHA:·42689eec456ef2c2e1b4b02ac063802cdcefeac6f7f2811d44d8e37d3a19ef60·...·]·{</div>132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a02772.html">···37</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02772.html">Assignment</a>·:·<span·class="keyword">public</span>·std::map&lt;L,·size_t&gt;·{</div>
 133 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">static</span>·std::string·DefaultFormatter(<span·class="keyword">const</span>·L&amp;·x)·{</div>
 134 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····std::stringstream·ss;</div>
 135 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····ss·&lt;&lt;·x;</div>
 136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keywordflow">return</span>·ss.str();</div>
134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··}</div>
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">public</span>:</div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div> 
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="comment">//·typedefs·needed·to·play·nice·with·gtsam</span></div> 
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a02852.html#ac3ef2648a55e80cefac3ce07b99a4236">···43</a></span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02852.html">DiscreteFactor</a>·<a·class="code·hl_typedef"·href="a02852.html#ac3ef2648a55e80cefac3ce07b99a4236">This</a>;·</div> 
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a02852.html#a7d274a86bec4b9e5339b465bf82b2c80">···44</a></span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;DiscreteFactor&gt;·<a·class="code·hl_typedef"·href="a02852.html#a7d274a86bec4b9e5339b465bf82b2c80">shared_ptr</a>;·</div> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a02852.html#a1fe887e0f0c0a7506db99e662f91aa29">···45</a></span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03592.html">Factor</a>·<a·class="code·hl_typedef"·href="a02852.html#a1fe887e0f0c0a7506db99e662f91aa29">Base</a>;·</div> 
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a02852.html#a5dbf05011b75348e3fdae2c4dd18b2f5">···47</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02900.html">Values</a>·=·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>;·</div> 
143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="keyword">public</span>:</div> 
145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>138 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 139 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·<span·class="keyword">public</span>:</div>
 140 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">using·</span>std::map&lt;L,·<span·class="keywordtype">size_t</span>&gt;::operator=;</div>
146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a02852.html#afadb0ff9285b8ef4c5efe5fb98167a60">···55</a></span>··<a·class="code·hl_function"·href="a02852.html#afadb0ff9285b8ef4c5efe5fb98167a60">DiscreteFactor</a>()·{}</div>142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="comment">//·Define·the·implicit·default·constructor.</span></div>
 143 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<a·class="code·hl_class"·href="a02772.html">Assignment</a>()·=·<span·class="keywordflow">default</span>;</div>
148 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>144 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CONTAINER&gt;</div> 
150 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a02852.html#af9f2d0ba3efda1bb35a2279c53c26b38">···60</a></span>··<a·class="code·hl_function"·href="a02852.html#af9f2d0ba3efda1bb35a2279c53c26b38">DiscreteFactor</a>(<span·class="keyword">cons[·...·truncated·by·diffoscope;·len:·93,·SHA:·39e86b4bc654e8a274903be0247a0b166852ef08304fa63fb8b3da12f34d1013·...·]</div>145 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="comment">//·Construct·from·initializer·list.</span></div>
 146 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<a·class="code·hl_class"·href="a02772.html">Assignment</a>(std::initializer_list&lt;std::pair&lt;const·L,·size_t&gt;&gt;·init)</div>
 147 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······:·std::map&lt;L,·size_t&gt;{init}·{}</div>
151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>148 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 149 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keywordtype">void</span>·print(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;Assignment:·&quot;</span>,</div>
 150 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·············<span·class="keyword">const</span>·std::function&lt;std::string(L)&gt;&amp;·labelFormatter·=</div>
 151 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·················&amp;DefaultFormatter)<span·class="keyword">·const·</span>{</div>
 152 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;:·&quot;</span>;</div>
 153 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">for</span>·(<span·class="keyword">const</span>·<span·class="keyword">typename</span>·Assignment::value_type&amp;·keyValue·:·*<span·class="keyword">this</span>)·{</div>
 154 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······std::cout·&lt;&lt;·<span·class="stringliteral">&quot;(&quot;</span>·&lt;&lt;·labelFormatter(keyValue.first)·&lt;&lt;·<span·class="stringliteral">&quot;,·&quot;</span></div>
 155 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>················&lt;&lt;·keyValue.second·&lt;&lt;·<span·class="stringliteral">&quot;)&quot;</span>;</div>
 156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····}</div>
 157 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····std::cout·&lt;&lt;·std::endl;</div>
 158 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··}</div>
 159 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 160 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02772.html">Assignment</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)<span·class="keyword">·const·</span>{</div>
 161 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="keywordflow">return</span>·(*<span·class="keyword">this</span>·==·other);</div>
 162 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··}</div>
 163 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
 164 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·Derived·=·Assignment&lt;L&gt;&gt;</div>
152 <div·class="foldopen"·id="foldopen00063"·data-start="{"·data-end="}">165 <div·class="foldopen"·id="foldopen00089"·data-start="{"·data-end="}">
153 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a02852.html#aa6b82f4425946dfe76026c6f52f48e6a">···63</a></span>··<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a02852.html#aa6b82f4425946dfe76026c6f52f48e6a">~Discret[·...·truncated·by·diffoscope;·len:·15,·SHA:·5a36841799844cb464d6d80fe9d3e42a94d46bfc4b1ed0ad492bf43d5e61f9fd·...·]</div>166 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno"><a·class="line"·href="a02772.html#aa6a86b71ed05d48c8b3c7e6a1c5a4fe1">···89</a></span>··<span·class="keyword">static</span>·std::vector&lt;Derived&gt;·<a·class="code·hl_function"·href="a02772.html#aa6a86b71ed05d48c[·...·truncated·by·diffoscope;·len:·39,·SHA:·86237b1ac6855e8c0df738d5c1f37928165a9e6373c4e8ca03f5068768135a89·...·]</div>
 167 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>······<span·class="keyword">const</span>·std::vector&lt;std::pair&lt;L,·size_t&gt;&gt;&amp;·keys)·{</div>
 168 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····std::vector&lt;Derived&gt;·allPossValues;</div>
 169 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····Derived·values;</div>
 170 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>····<span·class="keyword">typedef</span>·std::pair&lt;L,·size_t&gt;·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>;</div>
 171 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>····<span·class="keywordflow">for</span>·(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key·:·keys)</div>
 172 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>······values[key.first]·=·0;··<span·class="comment">//·Initialize·from·0</span></div>
 173 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>····<span·class="keywordflow">while</span>·(1)·{</div>
 174 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>······allPossValues.push_back(values);</div>
 175 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>······<span·class="keywordtype">size_t</span>·j·=·0;</div>
 176 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>······<span·class="keywordflow">for</span>·(j·=·0;·j·&lt;·keys.size();·j++)·{</div>
 177 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>········L·idx·=·keys[j].first;</div>
 178 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>········values[idx]++;</div>
 179 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>········<span·class="keywordflow">if</span>·(values[idx]·&lt;·keys[j].second)·<span·class="keywordflow">break</span>;</div>
 180 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>········<span·class="comment">//·Wrap·condition</span></div>
 181 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>········values[idx]·=·0;</div>
 182 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>······}</div>
 183 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>······<span·class="keywordflow">if</span>·(j·==·keys.size())·<span·class="keywordflow">break</span>;</div>
 184 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>····}</div>
 185 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>····<span·class="keywordflow">return</span>·allPossValues;</div>
154 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··}</div>186 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>··}</div>
155 </div>187 </div>
 188 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>};··<span·class="comment">//·Assignment</span></div>
156 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div> 
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121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>A·class·for·computing·marginals·in·a·DiscreteFactorGraph.·</p>122 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·14,·2011·</dd></dl>
123 <dl·class="section·author"><dt>Author</dt><dd>Abhijit·Kundu·</dd>123 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd>
124 <dd> 
125 Richard·Roberts·</dd> 
126 <dd>124 <dd>
127 Frank·Dellaert·</dd></dl>125 Frank·Dellaert·</dd></dl>
128 <dl·class="section·date"><dt>Date</dt><dd>June·4,·2012·</dd></dl> 
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105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00224.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00224.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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126 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};"> 
127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a02896.html">···33</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02896.html">DiscreteMarginals</a>·{</div> 
128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">protected</span>:</div>135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">class·</span>DiscreteConditional;</div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a05044.html">HybridValues</a>;</div>
130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div> 
131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····DiscreteBayesTree::shared_ptr·bayesTree_;</div> 
132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">public</span>:</div> 
134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<a·class="code·hl_class"·href="a02896.html">DiscreteMarginals</a>()·{}</div> 
136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
137 <div·class="foldopen"·id="foldopen00046"·data-start="{"·data-end="}">138 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="};">
138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a02896.html#a989e365c2191c5db801307e50778a706">···46</a></span>··<a·class="code·hl_function"·href="a02896.html#a989e365c2191c5db801307e50778a706">DiscreteMarginals</a>(<span·class="keyword">co[·...·truncated·by·diffoscope;·len:·92,·SHA:·cc2da6b1bf32f8477fb4ce0b27897ef8075eae48aa0e4fa74b77192d1b1857ea·...·]</div>139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a02808.html">···44</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02808.html">DecisionTreeFactor</a>·:·<span·class="keyword">public</span>·<a·class[·...·truncated·by·diffoscope;·len:·55,·SHA:·d45f4c8fa658e22327414091150933d8374822979715968a074d4dbb57d64421·...·]</div>
 140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··········································<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02760.html">AlgebraicDecisionTree</a>&lt;Key&gt;·{</div>
 141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>···<span·class="keyword">public</span>:</div>
 142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="comment">//·typedefs·needed·to·play·nice·with·gtsam</span></div>
 143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02808.html">DecisionTreeFactor</a>·<a·class="code·hl_class"·href="a02808.html">This</a>;</div>
 144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a02808.html#a96e20fc5f4cc476df586d28dab2da00c">···49</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02852.html">DiscreteFactor</a>·<a·class="code·hl_typedef"·href="a02808.html#a96e20fc5f4cc476df586d28dab2da00c">Base</a>;··</div>
 145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;DecisionTreeFactor&gt;·shared_ptr;</div>
 146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02760.html">AlgebraicDecisionTree&lt;Key&gt;</a>·<a·class="code·hl_class"·href="a02760.html">ADT</a>;</div>
 147 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>···<span·class="keyword">protected</span>:</div>
139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····bayesTree_·=·graph.eliminateMultifrontal();</div>149 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····std::map&lt;Key,·size_t&gt;·cardinalities_;</div>
 150 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 151 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>···<span·class="keyword">public</span>:</div>
 152 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 153 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<a·class="code·hl_class"·href="a02808.html">DecisionTreeFactor</a>();</div>
 154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 155 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<a·class="code·hl_class"·href="a02808.html">DecisionTreeFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·keys,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02760.html">ADT</a>&amp;·potentials);</div>
 156 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 157 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<a·class="code·hl_class"·href="a02808.html">DecisionTreeFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·keys,</div>
 158 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·······················<span·class="keyword">const</span>·std::vector&lt;double&gt;&amp;·table);</div>
140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··}</div>159 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>
 160 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>····<a·class="code·hl_class"·href="a02808.html">DecisionTreeFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·keys,·<span·class="keyword">const</span>·std::string&amp;·table);</div>
 161 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>·</div>
 162 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·SOURCE&gt;</div>
 163 <div·class="foldopen"·id="foldopen00110"·data-start="{"·data-end="}">
 164 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno"><a·class="line"·href="a02808.html#ac3619f52469989d3b09537d4a8e1e124">··110</a></span>····<a·class="code·hl_function"·href="a02808.html#ac3619f52469989d3b09537d4a8e1e124">DecisionTreeFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key,·SOURCE·table)</div>
 165 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>········:·<a·class="code·hl_class"·href="a02808.html">DecisionTreeFactor</a>(<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>{key},·table)·{}</div>
141 </div>166 </div>
142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>167 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>·</div>
143 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="}">168 <div·class="foldopen"·id="foldopen00114"·data-start="{"·data-end="}">
 169 <div·class="line"><a·id="l00114"·name="l00114"></a><span·class="lineno"><a·class="line"·href="a02808.html#aeba9d3ebc7094a8dbe6246c1c8fdc921">··114</a></span>····<a·class="code·hl_function"·href="a02808.html#aeba9d3ebc7094a8dbe6246c1c8fdc921">DecisionTreeFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key,·<span·class="keyword">const</span>·std::vector&lt;double&gt;&amp;·row)</div>
 170 <div·class="line"><a·id="l00115"·name="l00115"></a><span·class="lineno">··115</span>········:·<a·class="code·hl_class"·href="a02808.html">DecisionTreeFactor</a>(<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>{key},·<a·class="code·hl_function"·href="a01428.html#a2754f325c8600303d627d9e8cf1f9949">row</a>)·{}</div>
144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02896.html#ab7e034af37152b81e3bc9e461d6c8271">···51</a></span>··<a·class="code·hl_typedef"·href="a02852.html#a7d274a86bec4b9e5339b465bf82b2c80">DiscreteFactor::shared_ptr</a>·<a·class="code·hl_function"·href="a02896.html#ab7e034af37152b81e3bc9e461d6c8271">operator()</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·variable)<span·class="keyword">·const·</span>{</div> 
145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="comment">//·Compute·marginal</span></div> 
146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<a·class="code·hl_typedef"·href="a02852.html#a7d274a86bec4b9e5339b465bf82b2c80">DiscreteFactor::shared_ptr</a>·marginalFactor;</div> 
147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····marginalFactor·=·bayesTree_-&gt;marginalFactor(variable,·&amp;<a·class="code·hl_function"·href="a01415.html#ga6996e9c84467350b071645649231223a">EliminateDiscrete</a>);</div> 
148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<span·class="keywordflow">return</span>·marginalFactor;</div> 
149 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··}</div> 
150 </div>171 </div>
 172 <div·class="line"><a·id="l00116"·name="l00116"></a><span·class="lineno">··116</span>·</div>
 173 <div·class="line"><a·id="l00118"·name="l00118"></a><span·class="lineno">··118</span>····<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a02808.html">DecisionTreeFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02832.html">DiscreteConditional</a>&amp;·c);</div>
 174 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>·</div>
 175 <div·class="line"><a·id="l00123"·name="l00123"></a><span·class="lineno">··123</span>·</div>
 176 <div·class="line"><a·id="l00125"·name="l00125"></a><span·class="lineno">··125</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02852.html">DiscreteFactor</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const·override</span>;</div>
 177 <div·class="line"><a·id="l00126"·name="l00126"></a><span·class="lineno">··126</span>·</div>
 178 <div·class="line"><a·id="l00127"·name="l00127"></a><span·class="lineno">··127</span>····<span·class="comment">//·print</span></div>
 179 <div·class="line"><a·id="l00128"·name="l00128"></a><span·class="lineno">··128</span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(</div>
 180 <div·class="line"><a·id="l00129"·name="l00129"></a><span·class="lineno">··129</span>········<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;DecisionTreeFactor:\n&quot;</span>,</div>
 181 <div·class="line"><a·id="l00130"·name="l00130"></a><span·class="lineno">··130</span>········<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div>
 182 <div·class="line"><a·id="l00131"·name="l00131"></a><span·class="lineno">··131</span>·</div>
151 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>183 <div·class="line"><a·id="l00135"·name="l00135"></a><span·class="lineno">··135</span>·</div>
152 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="}">184 <div·class="foldopen"·id="foldopen00138"·data-start="{"·data-end="}">
153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a02896.html#a467d0ef89ee86bafe691130be9a2b4ac">···62</a></span>··Vector·<a·class="code·hl_function"·href="a02896.html#a467d0ef89ee86bafe691130be9a2b4ac">marginalProbabilities</a>(<span·class[·...·truncated·by·diffoscope;·len:·158,·SHA:·7e9ea396f8c70c48d2d0ea3a65bf63b99bedbe51b5a6cbde8a6674594c368ff3·...·]·</span>{</div>185 <div·class="line"><a·id="l00138"·name="l00138"></a><span·class="lineno"><a·class="line"·href="a02808.html#a5deb2ac7b0c2380be7f23e3b187ffb22">··138</a></span>····<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a02808.html#a5deb2ac7b0c2380be7f23e3b187ffb22">ev[·...·truncated·by·diffoscope;·len:·150,·SHA:·8ba047d13dc8566ee4ba88264fb3986726efa0a4961f1b777135ab27ac6c74ab·...·]·</span>{</div>
154 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="comment">//·Compute·marginal</span></div>186 <div·class="line"><a·id="l00139"·name="l00139"></a><span·class="lineno">··139</span>······<span·class="keywordflow">return</span>·ADT::operator()(values);</div>
155 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<a·class="code·hl_typedef"·href="a02852.html#a7d274a86bec4b9e5339b465bf82b2c80">DiscreteFactor::shared_ptr</a>·marginalFactor;</div> 
156 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····marginalFactor·=·bayesTree_-&gt;marginalFactor(key.first,·&amp;<a·class="code·hl_function"·href="a01415.html#ga6996e9c84467350b071645649231223a">EliminateDiscrete</a>);</div> 
157 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div> 
158 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····<span·class="comment">//Create·result</span></div> 
159 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····Vector·vResult(key.second);</div> 
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99 ··<div·class="summary">99 ··<div·class="summary">
 100 <a·href="#nested-classes">Classes</a>·&#124;
100 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
101 ··<div·class="headertitle"><div·class="title">DiscreteBayesNet.cpp·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">DiscreteBayesNet.h·File·Reference</div></div>
102 </div><!--header-->103 </div><!--header-->
103 <div·class="contents">104 <div·class="contents">
  
 105 <p><a·href="a00227_source.html">Go·to·the·source·code·of·this·file.</a></p>
104 <table·class="memberdecls">106 <table·class="memberdecls">
 107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
 108 Classes</h2></td></tr>
 109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02816.html">gtsam::DiscreteBayesNet</a></td></tr>
 110 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·Bayes·net·made·from·discrete·conditional·distributions.··<a·href="a02816.html#details">More...</a><br·/></td></tr>
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113 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd>123 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd>
114 <dd>124 <dd>
115 Frank·Dellaert·</dd></dl>125 Frank·dellaert·</dd></dl>
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 139 <div·class="textblock"><p>specialized·key·for·discrete·variables·</p>
 140 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
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123 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd> 
124 <dd> 
125 Frank·Dellaert·</dd></dl> 
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 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·class·for·computing·marginals·of·variables·in·a·<a·class="el"·href="a02864.html"·title="A·Discrete·Factor·Graph·is·a·factor·graph·where·all·factors·are·Discrete,·i.e.">DiscreteFactorGraph</a>.··<a·href="a02896.html#details">More...</a><br·/></td></tr>
111 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·map·from·keys·to·values.··<a·href="a02900.html#details">More...</a><br·/></td></tr> 
112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
113 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02904.html">gtsam::traits&lt;·DiscreteValues·&gt;</a></td></tr> 
114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
115 </table><table·class="memberdecls">114 </table><table·class="memberdecls">
116 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
117 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
119 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
120 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
121 </table><table·class="memberdecls"> 
122 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a> 
123 Functions</h2></td></tr> 
124 <tr·class="memitem:a55a86a4657d82f6ff048a10d058c529f"·id="r_a55a86a4657d82f6ff048a10d058c529f"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a55a86a4657d82f6ff048a10d058c529f"·name="a55a86a4657d82f6ff048a10d058c529f"></a> 
125 std::vector&lt;·<a·class="el"·href="a02900.html">DiscreteValues</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::cartesianProduct</b>·(const·<a·class="el"·href="a02876.html">DiscreteKeys</a>·&amp;keys)</td></tr> 
126 <tr·class="memdesc:a55a86a4657d82f6ff048a10d058c529f"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Free·version·of·CartesianProduct.·<br·/></td></tr> 
127 <tr·class="separator:a55a86a4657d82f6ff048a10d058c529f"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
128 <tr·class="memitem:a2b6707b04064df79d26d1016dfa2a013"·id="r_a2b6707b04064df79d26d1016dfa2a013"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a2b6707b04064df79d26d1016dfa2a013"·name="a2b6707b04064df79d26d1016dfa2a013"></a> 
129 string&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::markdown</b>·(const·<a·class="el"·href="a02900.html">DiscreteValues</a>·&amp;values,·const·<a·class="el"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter=DefaultKeyFormatter,·const·<a·class="el"·href="a02900.html#a00d2b61090cdf7e15612b8ebe0d55752">DiscreteValues::Names</a>·&amp;names={})</td></tr> 
130 <tr·class="memdesc:a2b6707b04064df79d26d1016dfa2a013"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Free·version·of·markdown.·<br·/></td></tr> 
131 <tr·class="separator:a2b6707b04064df79d26d1016dfa2a013"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
132 <tr·class="memitem:a147114735037c2260d4810a8820e72f6"·id="r_a147114735037c2260d4810a8820e72f6"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a147114735037c2260d4810a8820e72f6"·name="a147114735037c2260d4810a8820e72f6"></a> 
133 string&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::html</b>·(const·<a·class="el"·href="a02900.html">DiscreteValues</a>·&amp;values,·const·<a·class="el"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter=DefaultKeyFormatter,·const·<a·class="el"·href="a02900.html#a00d2b61090cdf7e15612b8ebe0d55752">DiscreteValues::Names</a>·&amp;names={})</td></tr> 
134 <tr·class="memdesc:a147114735037c2260d4810a8820e72f6"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Free·version·of·html.·<br·/></td></tr> 
135 <tr·class="separator:a147114735037c2260d4810a8820e72f6"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
136 </table>120 </table>
137 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 122 <div·class="textblock"><p>A·class·for·computing·marginals·in·a·DiscreteFactorGraph.·</p>
 123 <dl·class="section·author"><dt>Author</dt><dd>Abhijit·Kundu·</dd>
 124 <dd>
 125 Richard·Roberts·</dd>
 126 <dd>
 127 Frank·Dellaert·</dd></dl>
138 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Dec·13,·2021·</dd></dl>128 <dl·class="section·date"><dt>Date</dt><dd>June·4,·2012·</dd></dl>
139 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl> 
140 </div></div><!--·contents·-->129 </div></div><!--·contents·-->
141 </div><!--·doc-content·-->130 </div><!--·doc-content·-->
142 <!--·start·footer·part·-->131 <!--·start·footer·part·-->
143 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->132 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
144 ··<ul>133 ··<ul>
145 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00233.html">DiscreteValues.h</a></li>134 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00233.html">DiscreteMarginals.h</a></li>
146 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>135 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
147 ··</ul>136 ··</ul>
148 </div>137 </div>
149 </body>138 </body>
150 </html>139 </html>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DiscreteValues.h</div></div>104 ··<div·class="headertitle"><div·class="title">DiscreteMarginals.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00233.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00233.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00194.html">gtsam/discrete/Assignment.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00260.html">gtsam/discrete/DiscreteKey.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00254.html">gtsam/discrete/DiscreteFactorGraph.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00242.html">gtsam/discrete/DiscreteBayesTree.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00104.html">gtsam/base/Vector.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div> 
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
130 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">
131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a02900.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>·:·<span·class="keyword">public</span>·<a·class="code[·...·truncated·by·diffoscope;·len:·55,·SHA:·7f3c668d7f36c17c946ec73de9aec4a35e168b0966f2318b0701f357632b27b6·...·]·{</div>127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a02896.html">···33</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02896.html">DiscreteMarginals</a>·{</div>
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 129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">protected</span>:</div>
 130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····DiscreteBayesTree::shared_ptr·bayesTree_;</div>
 132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·<span·class="keyword">public</span>:</div>133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">public</span>:</div>
133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02772.html">Base</a>·=·<a·class="code·hl_class"·href="a02772.html">Assignment&lt;Key&gt;</a>;··<span·class="comment">//·base·class</span></div> 
134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div> 
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">using·</span>Assignment::Assignment;··<span·class="comment">//·all·constructors</span></div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="comment">//·Define·the·implicit·default·constructor.</span></div> 
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>()·=·<span·class="keywordflow">default</span>;</div>135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<a·class="code·hl_class"·href="a02896.html">DiscreteMarginals</a>()·{}</div>
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="comment">//·Construct·from·assignment.</span></div> 
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02772.html">Ba[·...·truncated·by·diffoscope;·len:·80,·SHA:·4bf082b8273c8778c02189714964aad87d02bdacaea48efab0efc4d9f297b965·...·]>137 <div·class="foldopen"·id="foldopen00046"·data-start="{"·data-end="}">
 138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a02896.html#a989e365c2191c5db801307e50778a706">···46</a></span>··<a·class="code·hl_function"·href="a02896.html#a989e365c2191c5db801307e50778a706">DiscreteMarginals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02864.html">DiscreteFactorGraph</a>&amp;·graph)·{</div>
 139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····bayesTree_·=·graph.eliminateMultifrontal();</div>
 140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··}</div>
 141 </div>
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 143 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="}">
 144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02896.html#ab7e034af37152b81e3bc9e461d6c8271">···51</a></span>··<a·class="code·hl_typedef"·href="a02852.html#a7d274a86bec4b9e5339b465bf82b2c80">DiscreteFactor::shared_ptr</a>·<a·class="code·hl_function"·href="a02896.html#ab7e034af37152b81e3bc9e461d6c8271">operator()</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·variable)<span·class="keyword">·const·</span>{</div>
143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="comment">//·Construct·from·initializer·list.</span></div>145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="comment">//·Compute·marginal</span></div>
144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>(std::initializer_list&lt;std::pair&lt;const·Key,·size_t&gt;&gt;·init)</div> 
145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······:·<a·class="code·hl_class"·href="a02772.html">Assignment&lt;Key&gt;</a>{init}·{}</div>146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<a·class="code·hl_typedef"·href="a02852.html#a7d274a86bec4b9e5339b465bf82b2c80">DiscreteFactor::shared_ptr</a>·marginalFactor;</div>
 147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····marginalFactor·=·bayesTree_-&gt;marginalFactor(variable,·&amp;<a·class="code·hl_function"·href="a01415.html#ga6996e9c84467350b071645649231223a">EliminateDiscrete</a>);</div>
 148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<span·class="keywordflow">return</span>·marginalFactor;</div>
 149 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··}</div>
 150 </div>
146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>151 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 152 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="}">
 153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a02896.html#a467d0ef89ee86bafe691130be9a2b4ac">···62</a></span>··Vector·<a·class="code·hl_function"·href="a02896.html#a467d0ef89ee86bafe691130be9a2b4ac">marginalProbabilities</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key)<span·class="keyword">·const·</span>{</div>
147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
148 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,</div> 
149 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·············<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const</span>;</div> 
150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·x,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div> 
152 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>154 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="comment">//·Compute·marginal</span></div>
 155 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<a·class="code·hl_typedef"·href="a02852.html#a7d274a86bec4b9e5339b465bf82b2c80">DiscreteFactor::shared_ptr</a>·marginalFactor;</div>
 156 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····marginalFactor·=·bayesTree_-&gt;marginalFactor(key.first,·&amp;<a·class="code·hl_function"·href="a01415.html#ga6996e9c84467350b071645649231223a">EliminateDiscrete</a>);</div>
153 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>157 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
154 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="comment">//·insert·in·base·class;</span></div>158 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····<span·class="comment">//Create·result</span></div>
155 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··std::pair&lt;iterator,·bool&gt;·insert(·<span·class="keyword">const</span>·value_type&amp;·value·){</div> 
156 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="keywordflow">return</span>·Base::insert(value);</div>159 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····Vector·vResult(key.second);</div>
 160 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·state·=·0;·state·&lt;·key.second·;·++·state)·{</div>
 161 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>·values;</div>
 162 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······values[key.first]·=·state;</div>
 163 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······vResult(state)·=·(*marginalFactor)(values);</div>
157 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··}</div>164 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····}</div>
158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>165 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="keywordflow">return</span>·vResult;</div>
159 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·insert(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·values);</div> 
160 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>166 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··}</div>
161 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·update(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·values);</div> 
162 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div> 
163 <div·class="foldopen"·id="foldopen00085"·data-start="{"·data-end="}"> 
164 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno"><a·class="line"·href="a02900.html#ab2691bc3106665bf6a5b7ccf58b8d097">···85</a></span>··<span·class="keyword">static</span>·std::vector&lt;DiscreteValues&gt;·<a·class="code·hl_function"·href="a02900.html#ab2691bc3106665bf6a5b7ccf58b8d097">CartesianProduct</a>(</div> 
165 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>······<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·keys)·{</div> 
166 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>····<span·class="keywordflow">return</span>·Base::CartesianProduct&lt;DiscreteValues&gt;(keys);</div> 
167 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··}</div> 
168 </div>167 </div>
169 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div> 
170 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·</div> 
171 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno"><a·class="line"·href="a02900.html#a00d2b61090cdf7e15612b8ebe0d55752">···95</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a02900.html#a00d2b61090cdf7e15612b8ebe0d55752">Names</a>·=·std::map&lt;Key,·std::vector&lt;std::string&gt;&gt;;</div> 
172 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·</div>168 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
173 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··<span·class="keyword">static</span>·std::string·Translate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a02900.html#a00d2b61090cdf7e15612b8ebe0d55752">Names</a>&amp;·names,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keywordtype">size_t</span>·index);</div> 
174 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>·</div>169 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··};</div>
175 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>··std::string·<a·class="code·hl_function"·href="a01428.html#a2b6707b04064df79d26d1016dfa2a013">markdown</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter,</div> 
176 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>·······················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a02900.html#a00d2b61090cdf7e15612b8ebe0d55752">Names</a>&amp;·names·=·{})·<span·class="keyword">const</span>;</div> 
177 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>·</div> 
178 <div·class="line"><a·id="l00117"·name="l00117"></a><span·class="lineno">··117</span>··std::string·<a·class="code·hl_function"·href="a01428.html#a147114735037c2260d4810a8820e72f6">html</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter,</div> 
179 <div·class="line"><a·id="l00118"·name="l00118"></a><span·class="lineno">··118</span>···················<span·class="keyword">const</span>·Names&amp;·names·=·{})·<span·class="keyword">const</span>;</div> 
180 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>·</div> 
181 <div·class="line"><a·id="l00121"·name="l00121"></a><span·class="lineno">··121</span>};</div> 
182 </div>170 </div>
183 <div·class="line"><a·id="l00122"·name="l00122"></a><span·class="lineno">··122</span>·</div> 
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99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>·&#124;101 <a·href="#namespaces">Namespaces</a>·&#124;
102 <a·href="#func-members">Functions</a>··</div>102 <a·href="#func-members">Functions</a>··</div>
103 ··<div·class="headertitle"><div·class="title">DiscreteFactorGraph.h·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">DiscreteFactor.h·File·Reference</div></div>
104 </div><!--header-->104 </div><!--header-->
105 <div·class="contents">105 <div·class="contents">
  
106 <p><a·href="a00236_source.html">Go·to·the·source·code·of·this·file.</a></p>106 <p><a·href="a00236_source.html">Go·to·the·source·code·of·this·file.</a></p>
107 <table·class="memberdecls">107 <table·class="memberdecls">
108 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>108 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
109 Classes</h2></td></tr>109 Classes</h2></td></tr>
110 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02860.html">gtsam::EliminationTraits&lt;·DiscreteFactorGraph·&gt;</a></td></tr>110 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02852.html">gtsam::DiscreteFactor</a></td></tr>
 111 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Base·class·for·discrete·probabilistic·factors·The·most·general·one·is·the·derived·<a·class="el"·href="a02808.html"·title="A·discrete·probabilistic·factor.">DecisionTreeFactor</a>.··<a·href="a02852.html#details">More...</a><br·/></td></tr>
111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
112 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02864.html">gtsam::DiscreteFactorGraph</a></td></tr> 
113 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·Discrete·<a·class="el"·href="a03592.html">Factor</a>·Graph·is·a·factor·graph·where·all·factors·are·Discrete,·i.e.··<a·href="a02864.html#details">More...</a><br·/></td></tr> 
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135 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·14,·2011·</dd></dl>129 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·14,·2011·</dd></dl>
136 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd>130 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd>
137 <dd>131 <dd>
138 Frank·Dellaert·</dd></dl>132 Frank·Dellaert·</dd></dl>
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162 <div·class="textblock"><p>signatures·for·conditional·densities·</p> 
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164 <dl·class="section·date"><dt>Date</dt><dd>Feb·27,·2011·</dd></dl>122 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·14,·2011·</dd></dl>
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00227.html">gtsam/discrete/DiscreteBayesNet.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00254.html">gtsam/discrete/DiscreteFactorGraph.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00668.html">gtsam/inference/BayesTree.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/discrete/DecisionTree-inl.h&gt;</span></div>123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00686.html">gtsam/inference/Conditional.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00587.html">gtsam/inference/BayesTreeCliqueBase.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;algorithm&gt;</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;map&gt;</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
 130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">//·Forward·declarations</span></div>
129 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·L&gt;</div>131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">class·</span>DiscreteConditional;</div>
 132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div>
 133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">/*·*************************************************************************·*/</span></div>
130 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">135 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};">
 136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a02824.html">···39</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02824.html">DiscreteBayesTreeClique</a></div>
 137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase</a>&lt;DiscreteBayesTreeClique,·DiscreteFactorGraph&gt;·{</div>
131 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a02760.html">···38</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02760.html">AlgebraicDecisionTree</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02796.html">DecisionTree</a>&lt;L,·double&gt;·{</div> 
132 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····<span·class="keyword">static</span>·std::string·DefaultFormatter(<span·class="keyword">const</span>·L&amp;·x)·{</div> 
133 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······std::stringstream·ss;</div> 
134 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······ss·&lt;&lt;·x;</div> 
135 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······<span·class="keywordflow">return</span>·ss.str();</div>138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·<span·class="keyword">public</span>:</div>
136 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····}</div>139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02824.html">DiscreteBayesTreeClique</a>·<a·class="code·hl_class"·href="a02824.html">This</a>;</div>
 140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase&lt;DiscreteBayesTreeClique,·DiscreteFactorGraph&gt;</a></div>
 141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<a·class="code·hl_class"·href="a03552.html">Base</a>;</div>
 142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
 143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">typedef</span>·boost::weak_ptr&lt;This&gt;·weak_ptr;</div>
 144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<a·class="code·hl_class"·href="a02824.html">DiscreteBayesTreeClique</a>()·{}</div>
 145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a02824.html">~DiscreteBayesTreeClique</a>()·{}</div>
 146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<a·class="code·hl_class"·href="a02824.html">DiscreteBayesTreeClique</a>(</div>
 147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······<span·class="keyword">const</span>·boost::shared_ptr&lt;DiscreteConditional&gt;&amp;·conditional)</div>
 148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······:·<a·class="code·hl_class"·href="a03552.html">Base</a>(conditional)·{}</div>
137 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
138 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>···<span·class="keyword">public</span>:</div> 
139 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02796.html">Base</a>·=·<a·class="code·hl_class"·href="a02796.html">DecisionTree&lt;L,·double&gt;</a>;</div> 
140 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div> 
141 <div·class="foldopen"·id="foldopen00056"·data-start="{"·data-end="};">150 <div·class="foldopen"·id="foldopen00054"·data-start="{"·data-end="}">
 151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a02824.html#a8ca6ff30a4175181ddd476e3d4d84c55">···54</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a02824.html#a8ca6ff30a4175181ddd476e3d4d84c55">printSignature</a>(</div>
 152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;Clique:·&quot;</span>,</div>
 153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)<span·class="keyword">·const·</span>{</div>
142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a02764.html">···56</a></span>····<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02764.html">Ring</a>·{</div> 
143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<span·class="keyword">static</span>·<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·zero()·{·<span·class="keywordflow">return</span>·0.0;·}</div> 
144 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······<span·class="keyword">static</span>·<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·one()·{·<span·class="keywordflow">return</span>·1.0;·}</div> 
145 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······<span·class="keyword">static</span>·<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·add(<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·a,·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·b)·{</div> 
146 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>········<span·class="keywordflow">return</span>·a·+·b;</div> 
147 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······}</div> 
148 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······<span·class="keyword">static</span>·<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·max(<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·a,·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·b)·{</div> 
149 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>········<span·class="keywordflow">return</span>·std::max(a,·b);</div> 
150 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······}</div> 
151 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="keyword">static</span>·<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·mul(<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·a,·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·b)·{</div> 
152 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········<span·class="keywordflow">return</span>·a·*·b;</div> 
153 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······}</div>154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····conditional_-&gt;printSignature(s,·formatter);</div>
154 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<span·class="keyword">static</span>·<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·div(<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·a,·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·b)·{</div> 
155 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>········<span·class="keywordflow">return</span>·a·/·b;</div> 
156 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······}</div> 
157 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······<span·class="keyword">static</span>·<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·id(<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·x)·{·<span·class="keywordflow">return</span>·x;·}</div> 
158 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····};</div>155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··}</div>
159 </div>156 </div>
160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div> 
161 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<a·class="code·hl_class"·href="a02760.html">AlgebraicDecisionTree</a>(<span·class="keywordtype">double</span>·leaf·=·1.0)·:·<a·class="code·hl_class"·href="a02796.html">Base</a>(leaf)·{}</div> 
162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>157 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 158 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="comment">//**·evaluate·conditional·probability·of·subtree·for·given·DiscreteValues·*/</span></div>
 159 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keywordtype">double</span>·evaluate(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·values)·<span·class="keyword">const</span>;</div>
 160 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 161 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="comment">//**·(Preferred)·sugar·for·the·above·for·given·DiscreteValues·*/</span></div>
 162 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keywordtype">double</span>·operator()(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·values)<span·class="keyword">·const·</span>{</div>
 163 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">return</span>·evaluate(values);</div>
 164 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div>
 165 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>};</div>
 166 </div>
 167 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 168 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span><span·class="comment">/*·*************************************************************************·*/</span></div>
 169 <div·class="foldopen"·id="foldopen00074"·data-start="{"·data-end="};">
 170 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno"><a·class="line"·href="a02828.html">···74</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02828.html">DiscreteBayesTree</a></div>
 171 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree</a>&lt;DiscreteBayesTreeClique&gt;·{</div>
163 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="comment">//·Explicitly·non-explicit·constructor</span></div>172 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·<span·class="keyword">private</span>:</div>
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125 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>January,·2022·</dd></dl>112 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·29,·2013·</dd></dl>
126 <dl·class="section·author"><dt>Author</dt><dd>Frank·dellaert·</dd></dl>113 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 114 <dd>
 115 Richard·Roberts·</dd></dl>
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122 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·15,·2011·</dd></dl>138 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Dec·13,·2021·</dd></dl>
123 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd>139 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
124 <dd> 
125 Frank·dellaert·</dd></dl> 
126 </div></div><!--·contents·-->140 </div></div><!--·contents·-->
127 </div><!--·doc-content·-->141 </div><!--·doc-content·-->
128 <!--·start·footer·part·-->142 <!--·start·footer·part·-->
129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->143 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
130 ··<ul>144 ··<ul>
131 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00248.html">DiscreteBayesNet.h</a></li>145 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00248.html">DiscreteValues.h</a></li>
132 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>146 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
133 ··</ul>147 ··</ul>
134 </div>148 </div>
135 </body>149 </body>
136 </html>150 </html>
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/DiscreteBayesNet.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/DiscreteValues.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DiscreteBayesNet.h</div></div>104 ··<div·class="headertitle"><div·class="title">DiscreteValues.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00248.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00248.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00221.html">gtsam/discrete/Assignment.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00230.html">gtsam/discrete/DiscreteKey.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00272.html">gtsam/discrete/DiscreteConditional.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00209.html">gtsam/discrete/DiscreteDistribution.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00686.html">gtsam/inference/BayesNet.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00656.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
133 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">130 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a02816.html">···38</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02816.html">DiscreteBayesNet</a>:·<span·class="keyword">public</span>·<a·class="cod[·...·truncated·by·diffoscope;·len:·66,·SHA:·370cbd7ca2efa85810cc1288f99e5d6415d8bcd141cf34c5047bf7c525811944·...·]&gt;·{</div>131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a02900.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>·:·<span·class="keyword">public</span>·<a·class="code[·...·truncated·by·diffoscope;·len:·51,·SHA:·21729b01b8e404e0d8426fe2401c2569f1d9ba58175daeef105b226ceee12453·...·]&gt;·{</div>
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·<span·class="keyword">public</span>:</div>132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·<span·class="keyword">public</span>:</div>
 133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02772.html">Base</a>·=·<a·class="code·hl_class"·href="a02772.html">Assignment&lt;Key&gt;</a>;··<span·class="comment">//·base·class</span></div>
 134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
 135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">using·</span>Assignment::Assignment;··<span·class="comment">//·all·constructors</span></div>
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03516.html">BayesNet&lt;DiscreteConditional&gt;</a>·<a·class="code·hl_class"·href="a03516.html">Base</a>;</div> 
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02816.html">DiscreteBayesNet</a>·<a·class="code·hl_class"·href="a02816.html">This</a>;</div> 
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02832.html">DiscreteConditional</a>·<a·class="code·hl_class"·href="a02832.html">ConditionalType</a>;</div> 
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div> 
140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;ConditionalType&gt;·sharedConditional;</div> 
141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="comment">//·Define·the·implicit·default·constructor.</span></div>
 138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>()·=·<span·class="keywordflow">default</span>;</div>
142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a02816.html#a7d2ca3113fe78e4f6788d120b62f9004">···50</a></span>····<a·class="code·hl_function"·href="a02816.html#a7d2ca3113fe78e4f6788d120b62f9004">DiscreteBayesNet</a>()·{}</div>140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="comment">//·Construct·from·assignment.</span></div>
 141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02772.html">Base</a>&amp;·a)·:·<a·class="code·hl_class"·href="a02772.html">Base</a>(a)·{}</div>
 142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="comment">//·Construct·from·initializer·list.</span></div>
 144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>(std::initializer_list&lt;std::pair&lt;const·Key,·size_t&gt;&gt;·init)</div>
 145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······:·<a·class="code·hl_class"·href="a02772.html">Assignment&lt;Key&gt;</a>{init}·{}</div>
144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·ITERATOR&gt;</div> 
146 <div·class="foldopen"·id="foldopen00054"·data-start="{"·data-end="}"> 
147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a02816.html#a1caa6732f0bf990da980f5154c499755">···54</a></span>····<a·class="code·hl_function"·href="a02816.html#a1caa6732f0bf990da980f5154c499755">DiscreteBayesNet</a>(ITERATOR·firstConditional,·ITERATOR·lastConditional)</div> 
148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(firstConditional,·lastConditional)·{}</div> 
149 </div> 
150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 148 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,</div>
 149 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·············<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const</span>;</div>
 150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·x,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div>
151 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CONTAINER&gt;</div> 
152 <div·class="foldopen"·id="foldopen00059"·data-start="{"·data-end="}"> 
153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a02816.html#a73b6d262d031217311515968c7f90f70">···59</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02816.html#a73b6d262d031217311515968c7f90f70">DiscreteBayesNet</a>(<span·class="keyword">const</span>·CONTAINER&amp;·conditionals)</div> 
154 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(conditionals)·{}</div> 
155 </div> 
156 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>152 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
157 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·DERIVEDCONDITIONAL&gt;</div> 
158 <div·class="foldopen"·id="foldopen00065"·data-start="{"·data-end="}"> 
159 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a02816.html#a578876c094461271ac57f31f8f5212c4">···65</a></span>····<a·class="code·hl_function"·href="a02816.html#a578876c094461271ac57f31f8f5212c4">DiscreteBayesNet</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03524.html">FactorGraph&lt;DERIVEDCONDITIONAL&gt;</a>&amp;·graph)</div> 
160 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(graph)·{}</div> 
161 </div> 
162 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>153 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
163 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a02816.html#a941beab50bc4b4670e228cc35d9d1fb4">···69</a></span>····<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a02816.html#a941beab50bc4b4670e228cc35d9d1fb4">~Discre[·...·truncated·by·diffoscope;·len:·19,·SHA:·091db7d615dd1586fe841dca1797bfdd655a0a8248b3621e5c2f1b56d8ef74a6·...·]</div>154 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="comment">//·insert·in·base·class;</span></div>
 155 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··std::pair&lt;iterator,·bool&gt;·insert(·<span·class="keyword">const</span>·value_type&amp;·value·){</div>
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164 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>157 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··}</div>
165 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 159 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·insert(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·values);</div>
166 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>160 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
 161 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·update(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·values);</div>
167 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·This&amp;·bn,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div> 
168 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div> 
169 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>162 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
170 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div> 
171 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····<span·class="comment">//·Add·inherited·versions·of·add.</span></div> 
172 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="keyword">using·</span>Base::add;</div> 
173 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div> 
174 <div·class="foldopen"·id="foldopen00088"·data-start="{"·data-end="}">163 <div·class="foldopen"·id="foldopen00085"·data-start="{"·data-end="}">
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176 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>······emplace_shared&lt;DiscreteDistribution&gt;(key,·spec);</div>164 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno"><a·class="line"·href="a02900.html#ab2691bc3106665bf6a5b7ccf58b8d097">···85</a></span>··<span·class="keyword">static</span>·std::vector&lt;DiscreteValues&gt;·<a·class="code·hl_function"·href="a02900.html#ab2691bc310[·...·truncated·by·diffoscope;·len:·45,·SHA:·c8613a0fc26845b9aee395f6f2d496d7dc71459fe89a3f8355d9293a674d2d40·...·]</div>
 165 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>······<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·keys)·{</div>
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178 </div>168 </div>
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180 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>...·Args&gt;</div> 
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/DiscreteValues.cpp·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/DiscreteFactorGraph.cpp·File·Reference</title>
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99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#namespaces">Namespaces</a>·&#124;100 <a·href="#namespaces">Namespaces</a>·&#124;
101 <a·href="#func-members">Functions</a>··</div>101 <a·href="#func-members">Functions</a>··</div>
102 ··<div·class="headertitle"><div·class="title">DiscreteValues.cpp·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">DiscreteFactorGraph.cpp·File·Reference</div></div>
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109 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>109 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
110 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>110 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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113 Functions</h2></td></tr>113 Functions</h2></td></tr>
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115 string&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::markdown</b>·(const·<a·class="el"·href="a02900.html">DiscreteValues</a>·&amp;values,·const·<a·class="el"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter=DefaultKeyFormatter,·const·<a·class="el"·href="a02900.html#a00d2b61090cdf7e15612b8ebe0d55752">DiscreteValues::Names</a>·&amp;names={})</td></tr> 
116 <tr·class="memdesc:a2b6707b04064df79d26d1016dfa2a013"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Free·version·of·markdown.·<br·/></td></tr>114 <tr·class="memitem:ga9bd0b2859a7513198a369f5de3c8cde3"·id="r_ga9bd0b2859a7513198a369f5de3c8cde3"><td·class="memItemLeft"·align="right"·valign="top">std::pair&lt;·<a·class="el"·href="a02832.html#a4d8b3999aa607019946cbcfd255c09dd">DiscreteConditional::shared_ptr</a>,·Deci[·...·truncated·by·diffoscope;·len:·325,·SHA:·8f23fed01ec0acd560587300ddaa1495ff0be2f78ce8869db4a12a0b085552f0·...·]</td></tr>
 115 <tr·class="memdesc:ga9bd0b2859a7513198a369f5de3c8cde3"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Alternate·elimination·function·for·that·creates·non-normalized·lookup·tables.··<br·/></td></tr>
 116 <tr·class="separator:ga9bd0b2859a7513198a369f5de3c8cde3"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 118 <tr·class="memdesc:ga6996e9c84467350b071645649231223a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Main·elimination·function·for·<a·class="el"·href="a02864.html"·title="A·Discrete·Factor·Graph·is·a·factor·graph·where·all·factors·are·Discrete,·i.e.">DiscreteFactorGraph</a>.··<br·/></td></tr>
117 <tr·class="separator:a2b6707b04064df79d26d1016dfa2a013"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:ga6996e9c84467350b071645649231223a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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119 string&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::html</b>·(const·<a·class="el"·href="a02900.html">DiscreteValues</a>·&amp;values,·const·<a·class="el"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter=DefaultKeyFormatter,·const·<a·class="el"·href="a02900.html#a00d2b61090cdf7e15612b8ebe0d55752">DiscreteValues::Names</a>·&amp;names={})</td></tr> 
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122 </table>120 </table>
123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
124 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>January,·2022·</dd></dl>122 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·14,·2011·</dd></dl>
125 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>123 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd>
 124 <dd>
 125 Frank·Dellaert·</dd></dl>
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106 <p>Decision·Tree·for·use·in·DiscreteFactors.··105 <p>Algebraic·Decision·Trees.··
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147 </table>125 </table>
148 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>126 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
149 <div·class="textblock"><p>Decision·Tree·for·use·in·DiscreteFactors.·</p>127 <div·class="textblock"><p>Algebraic·Decision·Trees.·</p>
150 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>128 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
151 <dd> 
152 Can·Erdogan·</dd></dl> 
153 <dl·class="section·date"><dt>Date</dt><dd>Jan·30,·2012·</dd></dl>129 <dl·class="section·date"><dt>Date</dt><dd>Mar·14,·2011·</dd></dl>
154 </div></div><!--·contents·-->130 </div></div><!--·contents·-->
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138 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>161 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
139 <div·class="textblock"><p>specialized·key·for·discrete·variables·</p>162 <div·class="textblock"><p>signatures·for·conditional·densities·</p>
140 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>163 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
141 <dl·class="section·date"><dt>Date</dt><dd>Feb·28,·2011·</dd></dl>164 <dl·class="section·date"><dt>Date</dt><dd>Feb·27,·2011·</dd></dl>
142 </div></div><!--·contents·-->165 </div></div><!--·contents·-->
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142 <div·class="textblock"><p>2D·Point·</p>105 <div·class="textblock"><p>Rotation·(internal:·quaternion·representation*)·</p>
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152 <div·class="textblock"><p>3D·rotation·represented·as·a·rotation·matrix·or·quaternion·</p>119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Jan·26,·2010·</dd></dl>
153 <dl·class="section·author"><dt>Author</dt><dd>Alireza·Fathi·</dd>120 <dl·class="section·author"><dt>Author</dt><dd>dellaert·</dd></dl>
154 <dd> 
155 Christian·Potthast·</dd> 
156 <dd> 
157 Frank·Dellaert·</dd> 
158 <dd> 
159 Richard·Roberts·</dd> 
160 <dd> 
161 Luca·Carlone·</dd> 
162 <dd> 
163 Varun·Agrawal·</dd></dl> 
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99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124; 
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102 <a·href="#typedef-members">Typedefs</a>·&#124; 
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104 ··<div·class="headertitle"><div·class="title">Point2.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">CalibratedCamera.cpp·File·Reference</div></div>
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107 <p>2D·Point··104 <p>Calibrated·camera·for·which·only·pose·is·unknown.··
108 <a·href="#details">More...</a></p>105 <a·href="#details">More...</a></p>
  
109 <p><a·href="a00284_source.html">Go·to·the·source·code·of·this·file.</a></p> 
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139 Functions</h2></td></tr> 
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148 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::distance2</b>·(const·<a·class="el"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·&amp;p1,·const·<a·class="el"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·&amp;q,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·1,·2·&gt;·H1=boost::none,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·1,·2·&gt;·H2=boost::none)</td></tr> 
149 <tr·class="memdesc:afd1282dfb080cb393ae60188b4582cb2"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">distance·between·two·points·<br·/></td></tr> 
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153 <tr·class="memdesc:a63d86e99c211c6daeac2b7b4dd9d928e"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">multiply·with·scalar·<br·/></td></tr> 
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166 <tr·class="memdesc:a93d4e38a582b6f32fc4f301df10721d5"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Intersect·2·circles.··<br·/></td></tr> 
167 <tr·class="separator:a93d4e38a582b6f32fc4f301df10721d5"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
168 </table>112 </table>
169 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
170 <div·class="textblock"><p>2D·Point·</p>114 <div·class="textblock"><p>Calibrated·camera·for·which·only·pose·is·unknown.·</p>
 115 <dl·class="section·date"><dt>Date</dt><dd>Aug·17,·2009·</dd></dl>
171 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>116 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
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 127 <dd>
 128 Luca·Carlone·</dd></dl>
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126 <div·class="textblock"><p>Calibration·of·a·camera·with·radial·distortion,·calculations·in·base·class·Cal3DS2_Base.·</p> 
127 <p>Calibration·of·a·camera·with·radial·distortion.</p> 
128 <dl·class="section·date"><dt>Date</dt><dd>Feb·28,·2010·</dd></dl> 
129 <dl·class="section·author"><dt>Author</dt><dd>ydjian·@autho·Varun·Agrawal</dd></dl> 
130 <dl·class="section·date"><dt>Date</dt><dd>Feb·28,·2010·</dd></dl> 
131 <dl·class="section·author"><dt>Author</dt><dd>ydjian·</dd>126 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
132 <dd>127 <dd>
133 Varun·Agrawal·</dd></dl>128 Luca·Carlone·</dd>
 129 <dd>
 130 Duy·Nguyen·Ta·</dd></dl>
 131 <dl·class="section·date"><dt>Date</dt><dd>December·2014·</dd></dl>
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 163 <p>Compose·general·matrix·with·an·SO(3)·element.·</p>
 164 <p>We·only·provide·the·9*9·derivative·in·the·first·argument·M.·</p>
  
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125 <div·class="textblock"><p>4*4·matrix·representation·of·SO(4)·</p>152 <div·class="textblock"><p>3*3·matrix·representation·of·SO(3)·</p>
126 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>153 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
127 <dd>154 <dd>
128 Luca·Carlone·</dd></dl>155 Luca·Carlone·</dd>
 156 <dd>
 157 Duy·Nguyen·Ta·</dd></dl>
 158 <dl·class="section·date"><dt>Date</dt><dd>December·2014·</dd></dl>
 159 </div><h2·class="groupheader">Function·Documentation</h2>
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 190 <p>Compose·general·matrix·with·an·SO(3)·element.·</p>
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114 <div·class="textblock"><p>A·simple·camera·class·with·a·Cal3_S2·calibration.·</p> 
115 <dl·class="section·date"><dt>Date</dt><dd>June·30,·2012·</dd></dl> 
116 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>134 <dl·class="section·author"><dt>Author</dt><dd>Akshay·Krishnan·</dd>
 135 <dd>
 136 Frank·Dellaert·</dd></dl>
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130 <div·class="textblock"><p>Common·code·for·all·Calibration·models.·</p>128 <div·class="textblock"><p>Bearing-Range·product.·</p>
 129 <dl·class="section·date"><dt>Date</dt><dd>July,·2015·</dd></dl>
131 <dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal·</dd></dl>130 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
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102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Cal3.h</div></div>104 ··<div·class="headertitle"><div·class="title">BearingRange.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00314.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00314.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/Manifold.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div> 
122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00035.html">gtsam/base/OptionalJacobian.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/concept/assert.hpp&gt;</span></div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>
123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·Cal,·<span·class="keywordtype">size_t</span>·Dim&gt;</div> 
125 <div·class="foldopen"·id="foldopen00047"·data-start="{"·data-end="}"> 
126 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a01428.html#a9ac814fcc4484bce32e4616d69afb225">···47</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a9ac814fcc4484bce32e4616d69afb225">calibrateJacobians</a>(<span·class="keyword">const</span>·Cal&amp;·calibration,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·pn,</div> 
127 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>························<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·Dim&gt;</a>·Dcal·=·boost::none,</div> 
128 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>························<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·{</div> 
129 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keywordflow">if</span>·(Dcal·||·Dp)·{</div> 
130 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····Eigen::Matrix&lt;double,·2,·Dim&gt;·H_uncal_K;</div> 
131 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····Matrix22·H_uncal_pn,·H_uncal_pn_inv;</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·Forward·declaration·of·Bearing·functor·which·should·be·of·A1*A2·-&gt;·return_type</span></div>
 130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="comment">//·For·example·Bearing&lt;Pose3,Point3&gt;(pose,point),·defined·in·Pose3.h·will·return·Unit3</span></div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">//·At·time·of·writing·only·Pose2·and·Pose3·specialize·this·functor.</span></div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·A1,·<span·class="keyword">typename</span>·A2&gt;</div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a02916.html">···34</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02916.html">Bearing</a>;</div>
132 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="comment">//·Forward·declaration·of·Range·functor·which·should·be·of·A1*A2·-&gt;·return_type</span></div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">//·For·example·Range&lt;Pose2,Pose2&gt;(T1,T2),·defined·in·Pose2.h··will·return·double</span></div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="comment">//·At·time·of·writing·Pose2,·Pose3,·and·several·Camera·variants·specialize·this·for·several·types</span></div>
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·A1,·<span·class="keyword">typename</span>·A2&gt;</div>
 139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a02920.html">···40</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02920.html">Range</a>;</div>
 140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·A1,·<span·class="keyword">typename</span>·A2,</div>
 142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··········<span·class="keyword">typename</span>·B·=·<span·class="keyword">typename</span>·<a·class="code·hl_struct"·href="a02916.html">Bearing&lt;A1,·A2&gt;::result_type</a>,</div>
 143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··········<span·class="keyword">typename</span>·R·=·<span·class="keyword">typename</span>·<a·class="code·hl_struct"·href="a02920.html">Range&lt;A1,·A2&gt;::result_type</a>&gt;</div>
 144 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="};">
 145 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02924.html">···51</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02924.html">BearingRange</a>·{</div>
133 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="comment">//·Compute·uncalibrate·Jacobians</span></div>146 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="keyword">private</span>:</div>
134 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····calibration.uncalibrate(pn,·Dcal·?·&amp;H_uncal_K·:·<span·class="keyword">nullptr</span>,·H_uncal_pn);</div>147 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··B·bearing_;</div>
 148 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··R·range_;</div>
135 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
136 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····H_uncal_pn_inv·=·H_uncal_pn.inverse();</div> 
137 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div> 
138 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keywordflow">if</span>·(Dp)·*Dp·=·H_uncal_pn_inv;</div>150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span><span·class="keyword">public</span>:</div>
 151 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">enum</span>·{·dimB·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;B&gt;::dimension</a>·};</div>
 152 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keyword">enum</span>·{·dimR·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;R&gt;::dimension</a>·};</div>
139 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">if</span>·(Dcal)·*Dcal·=·-H_uncal_pn_inv·*·H_uncal_K;</div>153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">enum</span>·{·dimension·=·dimB·+·dimR·};</div>
140 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div>154 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
141 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>}</div> 
142 </div> 
143 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>155 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
144 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="};"> 
145 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a02940.html">···69</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02940.html">Cal3</a>·{</div>156 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<a·class="code·hl_struct"·href="a02924.html">BearingRange</a>()·{}</div>
 157 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<a·class="code·hl_struct"·href="a02924.html">BearingRange</a>(<span·class="keyword">const</span>·B&amp;·b,·<span·class="keyword">const</span>·R&amp;·r)·:·bearing_(b),·range_(r)·{}</div>
146 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·<span·class="keyword">protected</span>:</div>158 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
147 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno"><a·class="line"·href="a02940.html#a33811231ccb2620ac12a9f741044190d">···71</a></span>··<span·class="keywordtype">double</span>·fx_·=·1.0f,·fy_·=·1.0f;··</div> 
148 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno"><a·class="line"·href="a02940.html#a53228e7ead3f7153f98140486e99b8a6">···72</a></span>··<span·class="keywordtype">double</span>·s_·=·0.0f;···············</div> 
149 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a02940.html#ae52d5f4130f18069a281f7e4dbaa6ced">···73</a></span>··<span·class="keywordtype">double</span>·u0_·=·0.0f,·v0_·=·0.0f;··</div> 
150 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>159 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
 160 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno"><a·class="line"·href="a02924.html#a42ac60525c624cfe026c9b5dec721fb3">···72</a></span>··<span·class="keyword">const</span>·B&amp;·<a·class="code·hl_function"·href="a02924.html#a42ac60525c624cfe026c9b5dec721fb3">bearing</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·bearing_;·}</div>
151 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·<span·class="keyword">public</span>:</div> 
152 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="keyword">enum</span>·{·dimension·=·5·};</div> 
153 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3&gt;;</div> 
154 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>161 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
 162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a02924.html#ac29962d29fdc8ec1cfde6449b95ad2af">···75</a></span>··<span·class="keyword">const</span>·R&amp;·<a·class="code·hl_function"·href="a02924.html#ac29962d29fdc8ec1cfde6449b95ad2af">range</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·range_;·}</div>
155 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>163 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
156 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a02940.html#a217dac62e79c531d68a6c7674d326b55">···84</a></span>··<a·class="code·hl_function"·href="a02940.html#a217dac62e79c531d68a6c7674d326b55">Cal3</a>()·=·<span·class="keywordflow">default</span>;</div> 
157 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div> 
158 <div·class="foldopen"·id="foldopen00087"·data-start="{"·data-end="}">164 <div·class="foldopen"·id="foldopen00078"·data-start="{"·data-end="}">
159 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a02940.html#a00140a3bcdfc1d1aef72c445bf563962">···87</a></span>··<a·class="code·hl_function"·href="a02940.html#a00140a3bcdfc1d1aef72c445bf563962">Cal3</a>(<span·class="keywordtype">double</sp[·...·truncated·by·diffoscope;·len:·182,·SHA:·b972afe6cae1f5ce74ab575cb9b4b0eb1792faf26fe12bc53ec84c0a46c07dbd·...·]</div>165 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a02924.html#a2796ba4e92d9eca80cb3a3b73439debc">···78</a></span>··<span·class="keyword">static</span>·<a·class="code·hl_struct"·href="a02924.html">BearingRange</a>·<a·class="code·hl_function"·[·...·truncated·by·diffoscope;·len:·65,·SHA:·8c7a46cf0c7e593d04307dce5dbc2151fc5dd70b8c0fc39c93c048be4f7208f2·...·]</div>
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160 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>······:·fx_(fx),·fy_(fy),·s_(s),·u0_(u0),·v0_(v0)·{}</div>173 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
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165 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>······:·fx_(d(0)),·fy_(d(1)),·s_(d(2)),·u0_(d(3)),·v0_(d(4))·{}</div>177 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>····<span·class="keywordflow">if</span>·(H1)·*H1·&lt;&lt;·HB1,·HR1;</div>
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106 <div·class="contents">106 <div·class="contents">
  
107 <p>4*4·matrix·representation·of·SO(4)··107 <p>Functions·for·triangulation.··
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131 Functions</h2></td></tr>153 Functions</h2></td></tr>
132 <tr·class="memitem:a8d21728e3da4cf1a96e1b6f87a97da47"·id="r_a8d21728e3da4cf1a96e1b6f87a97da47"><td·class="memItemLeft"·align="right"·valign="top">GTSAM_EXPORT·Matrix3&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a8d21728e3da4cf1a96e1b6f87a97da47">gtsam::topLeft</a>·(const·<a·class="el"·href="a03304.html">SO4</a>·&amp;Q,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·9,·6·&gt;·H=boost::none)</td></tr> 
133 <tr·class="memdesc:a8d21728e3da4cf1a96e1b6f87a97da47"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Project·to·top-left·3*3·matrix.··<br·/></td></tr>154 <tr·class="memitem:af378e231b519e8bb1f09f4aa13a38dca"·id="r_af378e231b519e8bb1f09f4aa13a38dca"><td·class="memItemLeft"·align="right"·valign="top">Vector4&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#af378e231b519e8bb1f09f4aa13a38dca[·...·truncated·by·diffoscope;·len:·205,·SHA:·add96d3e5a790a81e82f9cadb25792bfc86169c316c8c2961a2bf88b64a07db1·...·]</td></tr>
 155 <tr·class="memdesc:af378e231b519e8bb1f09f4aa13a38dca"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">DLT·triangulation:·See·Hartley·and·Zisserman,·2nd·Ed.,·page·312.··<br·/></td></tr>
 156 <tr·class="separator:af378e231b519e8bb1f09f4aa13a38dca"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 157 <tr·class="memitem:a8d16887f8890aaf7ceb5e3cbb181a191"·id="r_a8d16887f8890aaf7ceb5e3cbb181a191"><td·class="memItemLeft"·align="right"·valign="top">Vector4&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a8d16887f8890aaf7ceb5e3cbb181a191">gtsam::triangulateHomogeneousDLT</a>·(const·std::vector&lt;·Matrix34,·Eigen::aligned_allocator&lt;·Matrix34·&gt;·&gt;·&amp;projection_matrices,·const·std::vector&lt;·<a·class="el"·href="a03380.html">Unit3</a>·&gt;·&amp;measurements,·double·rank_tol=1e-9)</td></tr>
 158 <tr·class="memdesc:a8d16887f8890aaf7ceb5e3cbb181a191"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Same·math·as·Hartley·and·Zisserman,·2nd·Ed.,·page·312,·but·with·unit-norm·bearing·vectors·(contrarily·to·pinhole·projection,·the·z·entry·is·not·assumed·to·be·1·as·in·Hartley·and·Zisserman)··<br·/></td></tr>
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135 <tr·class="memitem:a3e57e4771f13855a495ec2c6454c9121"·id="r_a3e57e4771f13855a495ec2c6454c9121"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a3e57e4771f13855a495ec2c6454c9121"·name="a3e57e4771f13855a495ec2c6454c9121"></a> 
136 GTSAM_EXPORT·Matrix43&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::stiefel</b>·(const·<a·class="el"·href="a03304.html">SO4</a>·&amp;Q,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·12,·6·&gt;·H=boost::none)</td></tr> 
137 <tr·class="memdesc:a3e57e4771f13855a495ec2c6454c9121"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Project·to·Stiefel·manifold·of·4*3·orthonormal·3-frames·in·R^4,·i.e.,·pi(Q)·-&gt;·\(·S·\in·St(3,4)·\).·<br·/></td></tr>160 <tr·class="memitem:aed2918ac0049316bf09f96879efca3b6"·id="r_aed2918ac0049316bf09f96879efca3b6"><td·class="memItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memItemRight"·valign="bot[·...·truncated·by·diffoscope;·len:·264,·SHA:·57634524201bc64ddf06870b4708bc29b1ac52d4ccb1382b8e2607aff84e191f·...·]</td></tr>
 161 <tr·class="memdesc:aed2918ac0049316bf09f96879efca3b6"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">DLT·triangulation:·See·Hartley·and·Zisserman,·2nd·Ed.,·page·312.··<br·/></td></tr>
 162 <tr·class="separator:aed2918ac0049316bf09f96879efca3b6"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 163 <tr·class="memitem:a523a0528f883f1c569a8a4c9a0e514a0"·id="r_a523a0528f883f1c569a8a4c9a0e514a0"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a523a0528f883f1c569a8a4c9a0e514a0"·name="a523a0528f883f1c569a8a4c9a0e514a0"></a>
 164 <a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::triangulateDLT</b>·(const·std::vector&lt;·Matrix34,·Eigen::aligned_allocator&lt;·Matrix34·&gt;·&gt;·&amp;projection_matrices,·const·std::vector&lt;·<a·class="el"·href="a03380.html">Unit3</a>·&gt;·&amp;measurements,·double·rank_tol=1e-9)</td></tr>
 165 <tr·class="memdesc:a523a0528f883f1c569a8a4c9a0e514a0"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">overload·of·previous·function·to·work·with·<a·class="el"·href="a03380.html"·title="Represents·a·3D·point·on·a·unit·sphere.">Unit3</a>·(projected·to·canonical·camera)·<br·/></td></tr>
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 167 <tr·class="memitem:a0f9e5111ffc481b34f0123418b0ecd13"·id="r_a0f9e5111ffc481b34f0123418b0ecd13"><td·class="memItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a0f9e5111ffc481b34f0123418b0ecd13">gtsam::triangulateLOST</a>·(const·std::vector&lt;·<a·class="el"·href="a03180.html">Pose3</a>·&gt;·&amp;poses,·const·Point3Vector·&amp;calibratedMeasurements,·const·SharedIsotropic·&amp;measurementNoise)</td></tr>
 168 <tr·class="memdesc:a0f9e5111ffc481b34f0123418b0ecd13"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Triangulation·using·the·LOST·(Linear·Optimal·Sine·Triangulation)·algorithm·proposed·in·<a·href="https://arxiv.org/pdf/2205.12197.pdf">https://arxiv.org/pdf/2205.12197.pdf</a>·by·Sebastien·Henry·and·John·Christian.··<br·/></td></tr>
 169 <tr·class="separator:a0f9e5111ffc481b34f0123418b0ecd13"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 170 <tr·class="memitem:ad167fac94fa72c0d3b8db36e5fa2becb"·id="r_ad167fac94fa72c0d3b8db36e5fa2becb"><td·class="memTemplParams"·colspan="2">template&lt;class·CALIBRATION·&gt;·</td></tr>
 171 <tr·class="memitem:ad167fac94fa72c0d3b8db36e5fa2becb"><td·class="memTemplItemLeft"·align="right"·valign="top">std::pair&lt;·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>,·<a·class="el"·href="a04612.html">Values</a>·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ad167fac94fa72c0d3b8db36e5fa2becb">gtsam::triangulationGraph</a>·(const·std::vector&lt;·<a·class="el"·href="a03180.html">Pose3</a>·&gt;·&amp;poses,·boost::shared_ptr&lt;·CALIBRATION·&gt;·sharedCal,·const·Point2Vector·&amp;measurements,·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·landmarkKey,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;initialEstimate,·const·<a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model=<a·class="el"·href="a03940.html#a61fda7a7390d3fc40f5618185e801bfe">noiseModel::Unit::Create</a>(2))</td></tr>
 172 <tr·class="memdesc:ad167fac94fa72c0d3b8db36e5fa2becb"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Create·a·factor·graph·with·projection·factors·from·poses·and·one·calibration.··<br·/></td></tr>
 173 <tr·class="separator:ad167fac94fa72c0d3b8db36e5fa2becb"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 174 <tr·class="memitem:a2b96bc32f3c5c436db3fe60e5139319e"·id="r_a2b96bc32f3c5c436db3fe60e5139319e"><td·class="memTemplParams"·colspan="2">template&lt;class·CAMERA·&gt;·</td></tr>
 175 <tr·class="memitem:a2b96bc32f3c5c436db3fe60e5139319e"><td·class="memTemplItemLeft"·align="right"·valign="top">std::pair&lt;·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>,·<a·class="el"·href="a04612.html">Values</a>·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a2b96bc32f3c5c436db3fe60e5139319e">gtsam::triangulationGraph</a>·(const·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·CAMERA·&gt;·&amp;cameras,·const·typename·CAMERA::MeasurementVector·&amp;measurements,·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·landmarkKey,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;initialEstimate,·const·<a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model=nullptr)</td></tr>
 176 <tr·class="memdesc:a2b96bc32f3c5c436db3fe60e5139319e"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Create·a·factor·graph·with·projection·factors·from·pinhole·cameras·(each·camera·has·a·pose·and·calibration)··<br·/></td></tr>
 177 <tr·class="separator:a2b96bc32f3c5c436db3fe60e5139319e"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 178 <tr·class="memitem:a4b0057879b0c5f323185452b0d1a4232"·id="r_a4b0057879b0c5f323185452b0d1a4232"><td·class="memItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a4b0057879b0c5f323185452b0d1a4232">gtsam::optimize</a>·(const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;graph,·const·<a·class="el"·href="a04612.html">Values</a>·&amp;values,·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·landmarkKey)</td></tr>
 179 <tr·class="memdesc:a4b0057879b0c5f323185452b0d1a4232"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Optimize·for·triangulation.··<br·/></td></tr>
138 <tr·class="separator:a3e57e4771f13855a495ec2c6454c9121"><td·class="memSeparator"·colspan="2">&#160;</td></tr>180 <tr·class="separator:a4b0057879b0c5f323185452b0d1a4232"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
139 <tr·class="memitem:a76855a1214bf05a8704ee3deaece6339"·id="r_a76855a1214bf05a8704ee3deaece6339"><td·class="memTemplParams"·colspan="2"><a·id="a76855a1214bf05a8704ee3deaece6339"·name="a76855a1214bf05a8704ee3deaece6339"></a>181 <tr·class="memitem:a9dab6b5829b51511735b6b841bb36a36"·id="r_a9dab6b5829b51511735b6b841bb36a36"><td·class="memTemplParams"·colspan="2">template&lt;class·CALIBRATION·&gt;·</td></tr>
 182 <tr·class="memitem:a9dab6b5829b51511735b6b841bb36a36"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a9dab6b5829b51511735b6b841bb36a36">gtsam::triangulateNonlinear</a>·(const·std::vector&lt;·<a·class="el"·href="a03180.html">Pose3</a>·&gt;·&amp;poses,·boost::shared_ptr&lt;·CALIBRATION·&gt;·sharedCal,·const·Point2Vector·&amp;measurements,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;initialEstimate,·const·<a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model=nullptr)</td></tr>
 183 <tr·class="memdesc:a9dab6b5829b51511735b6b841bb36a36"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Given·an·initial·estimate·,·refine·a·point·using·measurements·in·several·cameras.··<br·/></td></tr>
 184 <tr·class="separator:a9dab6b5829b51511735b6b841bb36a36"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 185 <tr·class="memitem:a13ac0858b6f6600f5a4242aeb797692f"·id="r_a13ac0858b6f6600f5a4242aeb797692f"><td·class="memTemplParams"·colspan="2">template&lt;class·CAMERA·&gt;·</td></tr>
 186 <tr·class="memitem:a13ac0858b6f6600f5a4242aeb797692f"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a13ac0858b6f6600f5a4242aeb797692f">gtsam::triangulateNonlinear</a>·(const·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·CAMERA·&gt;·&amp;cameras,·const·typename·CAMERA::MeasurementVector·&amp;measurements,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;initialEstimate,·const·<a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model=nullptr)</td></tr>
 187 <tr·class="memdesc:a13ac0858b6f6600f5a4242aeb797692f"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Given·an·initial·estimate·,·refine·a·point·using·measurements·in·several·cameras.··<br·/></td></tr>
 188 <tr·class="separator:a13ac0858b6f6600f5a4242aeb797692f"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 189 <tr·class="memitem:a5aa5890f454a0a5d56ac9596bdbeddc1"·id="r_a5aa5890f454a0a5d56ac9596bdbeddc1"><td·class="memTemplParams"·colspan="2"><a·id="a5aa5890f454a0a5d56ac9596bdbeddc1"·name="a5aa5890f454a0a5d56ac9596bdbeddc1"></a>
140 template&lt;class·Archive·&gt;·</td></tr>190 template&lt;class·CAMERA·&gt;·</td></tr>
141 <tr·class="memitem:a76855a1214bf05a8704ee3deaece6339"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::serialize</b>·(Archive·&amp;ar,·<a·class="el"·href="a03304.html">SO4</a>·&amp;Q,·const·unsigned·int)</td></tr> 
142 <tr·class="memdesc:a76855a1214bf05a8704ee3deaece6339"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Serialization·function.·<br·/></td></tr>191 <tr·class="memitem:a5aa5890f454a0a5d56ac9596bdbeddc1"><td·class="memTemplItemLeft"·align="right"·valign="top">std::vector&lt;·Matrix34,·Eigen::aligned_allocator&lt;·Matrix34·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::projectionMatricesFr[·...·truncated·by·diffoscope;·len:·97,·SHA:·40b35c19c3c005301e9f463b51821269829f2ed31b3fbdf197b62828cb16bfcb·...·]</td></tr>
 192 <tr·class="separator:a5aa5890f454a0a5d56ac9596bdbeddc1"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 193 <tr·class="memitem:a67a3a17b558f25b6fc4497db68da32fd"·id="r_a67a3a17b558f25b6fc4497db68da32fd"><td·class="memTemplParams"·colspan="2"><a·id="a67a3a17b558f25b6fc4497db68da32fd"·name="a67a3a17b558f25b6fc4497db68da32fd"></a>
 194 template&lt;class·CALIBRATION·&gt;·</td></tr>
 195 <tr·class="memitem:a67a3a17b558f25b6fc4497db68da32fd"><td·class="memTemplItemLeft"·align="right"·valign="top">std::vector&lt;·Matrix34,·Eigen::aligned_allocator&lt;·Matrix34·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::projectionMatricesFromPoses</b>·(const·std::vector&lt;·<a·class="el"·href="a03180.html">Pose3</a>·&gt;·&amp;poses,·boost::shared_ptr&lt;·CALIBRATION·&gt;·sharedCal)</td></tr>
 196 <tr·class="separator:a67a3a17b558f25b6fc4497db68da32fd"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 197 <tr·class="memitem:a3d070e707c4b2d69d0f024a30501f06c"·id="r_a3d070e707c4b2d69d0f024a30501f06c"><td·class="memTemplParams"·colspan="2">template&lt;class·CALIBRATION·&gt;·</td></tr>
 198 <tr·class="memitem:a3d070e707c4b2d69d0f024a30501f06c"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a02944.html">Cal3_S2</a>&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a3d070e707c4b2d69d0f024a30501f06c">gtsam::createPinholeCalibration</a>·(const·CALIBRATION·&amp;cal)</td></tr>
 199 <tr·class="memdesc:a3d070e707c4b2d69d0f024a30501f06c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Create·a·pinhole·calibration·from·a·different·<a·class="el"·href="a02940.html"·title="Common·base·class·for·all·calibration·models.">Cal3</a>·object,·removing·distortion.··<br·/></td></tr>
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121 <div·class="textblock"><p>The·most·common·5DOF·3D-&gt;2D·calibration.·</p>154 <div·class="textblock"><p>N*N·matrix·representation·of·SO(N).·</p>
122 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>155 <p>N·can·be·Eigen::Dynamic·</p><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
 156 <dl·class="section·date"><dt>Date</dt><dd>March·2019·</dd></dl>
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134 <dl·class="section·date"><dt>Date</dt><dd>Jan·26,·2010·</dd></dl>128 <dl·class="section·date"><dt>Date</dt><dd>Feb·28,·2010·</dd></dl>
 129 <dl·class="section·author"><dt>Author</dt><dd>ydjian·@autho·Varun·Agrawal</dd></dl>
 130 <dl·class="section·date"><dt>Date</dt><dd>Feb·28,·2010·</dd></dl>
135 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>131 <dl·class="section·author"><dt>Author</dt><dd>ydjian·</dd>
 132 <dd>
 133 Varun·Agrawal·</dd></dl>
136 </div></div><!--·contents·-->134 </div></div><!--·contents·-->
137 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>138 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00326.html">StereoPoint2.h</a></li>139 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00326.html">Cal3DS2.h</a></li>
142 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>140 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
143 ··</ul>141 ··</ul>
144 </div>142 </div>
145 </body>143 </body>
146 </html>144 </html>
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2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/StereoPoint2.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/Cal3DS2.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
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15 <script·type="text/javascript"·src="navtree.js"></script>15 <script·type="text/javascript"·src="navtree.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">StereoPoint2.h</div></div>104 ··<div·class="headertitle"><div·class="title">Cal3DS2.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00326.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00326.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/base/VectorSpace.h&gt;</span></div>120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Cal3DS2_Base.h&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
126 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">125 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a03352.html">···32</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03352.html">StereoPoint2</a>·{</div>126 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a02980.html">···35</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02980.html">Cal3DS2</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_cla[·...·truncated·by·diffoscope;·len:·35,·SHA:·b13e6edb3ec3cf43a6e89afe57f0fa01ff8631befd599a1b015c38f5e1429075·...·]</a>·{</div>
128 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">private</span>:</div>127 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02992.html">Base</a>·=·<a·class="code·hl_class"·href="a02992.html">Cal3DS2_Base</a>;</div>
129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>128 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keywordtype">double</span>·uL_,·uR_,·v_;</div> 
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div> 
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">public</span>:</div>129 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·<span·class="keyword">public</span>:</div>
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">enum</span>·{·dimension·=·3·};</div>130 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">enum</span>·{·dimension·=·9·};</div>
134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>131 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
 132 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3DS2&gt;;</div>
135 <div·class="foldopen"·id="foldopen00043"·data-start="{"·data-end="}"> 
136 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a03352.html#af91933798181ce1bb4759a7f78900ed8">···43</a></span>··<a·class="code·hl_function"·href="a03352.html#af91933798181ce1bb4759a7f78900ed8">StereoPoint2</a>()·:</div> 
137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······uL_(0),·uR_(0),·v_(0)·{</div> 
138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··}</div>133 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
139 </div> 
140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>134 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 135 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a02980.html#afb959a59bb324eef4fd6578feb9eca8f">···48</a></span>··<a·class="code·hl_function"·href="a02980.html#afb959a59bb324eef4fd6578feb9eca8f">Cal3DS2</a>()·=·<span·class="keywordflow">default</span>;</div>
141 <div·class="foldopen"·id="foldopen00048"·data-start="{"·data-end="}"> 
142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a03352.html#a6e78d04be7be5824277957b807f29a67">···48</a></span>··<a·class="code·hl_function"·href="a03352.html#a6e78d04be7be5824277957b807f29a67">StereoPoint2</a>(<span·class="keywordtype">double</span>·uL,·<span·class="keywordtype">double</span>·uR,·<span·class="keywordtype">double</span>·v)·:</div> 
143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······uL_(uL),·uR_(uR),·v_(v)·{</div> 
144 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··}</div>136 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
145 </div>137 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<a·class="code·hl_class"·href="a02980.html">Cal3DS2</a>(<span·class="keywordtype">double</span>·fx,·<span·class="keywordtype">double</span>·fy,·<span·class="keywordtype">d[·...·truncated·by·diffoscope;·len:·148,·SHA:·b3995523aababcbfcbe960521f2172b578b0d23cf868c5e4f43d7bd2332cd770·...·]/div>
 138 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··········<span·class="keywordtype">double</span>·k2,·<span·class="keywordtype">double</span>·p1·=·0.0,·<span·class="keywordtype">double</span>·p2·=·0.0,·<span·class="keywordtype">double</span>·tol·=·1e-5)</div>
 139 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······:·<a·class="code·hl_class"·href="a02992.html">Base</a>(fx,·fy,·s,·u0,·v0,·k1,·k2,·p1,·p2,·tol)·{}</div>
146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 141 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<a·class="code·hl_class"·href="a02980.html">~Cal3DS2</a>()<span·class="keyword">·override·</span>{}</div>
147 <div·class="foldopen"·id="foldopen00053"·data-start="{"·data-end="}"> 
148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a03352.html#a127f5a9bc07d0f81dc30f67d4eb6e3bd">···53</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03352.html#a127f5a9bc07d0f81dc30f67d4eb6e3bd">StereoPoint2</a>(<span·class="keyword">const</span>·Vector3&amp;·v)·:</div> 
149 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····uL_(v(0)),·uR_(v(1)),·v_(v(2))·{}</div> 
150 </div> 
151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>142 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
152 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>143 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
153 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="st[·...·truncated·by·diffoscope;·len:·69,·SHA:·85e226885efea8b1d30e60d30e9f2c34cf4f03cb30fc134757a908012bf2a6ad·...·]</div>144 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··Cal3DS2(<span·class="keyword">const</span>·Vector9&amp;·v)·:·Base(v)·{}</div>
154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>145 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
155 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}"> 
156 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03352.html#a74e0c6868b8d058dc7d49f12da34e483">···64</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a03352.html#a74e0c6868b8d058dc7d49f12da34e483">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03352.html">StereoPoint2</a>&amp;·q,·<span·class="keywordtype">double</span>·tol·=·1e-9)<span·class="keyword">·const·</span>{</div> 
157 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">return</span>·(std::abs(uL_·-·q.uL_)·&lt;·tol·&amp;&amp;·std::abs(uR_·-·q.uR_)·&lt;·tol</div> 
158 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········&amp;&amp;·std::abs(v_·-·q.v_)·&lt;·tol);</div> 
159 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div> 
160 </div> 
161 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>146 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
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163 <div·class="foldopen"·id="foldopen00074"·data-start="{"·data-end="}"> 
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171 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_class"·href="a03352.html">StereoPoint2</a>(-uL_,·-uR_,·-v_);</div> 
172 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··}</div>154 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
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153 <dd> 
154 :·Richard·Roberts·</dd></dl> 
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128 <dd> 
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 132 Frank·Dellaert·</dd></dl>
 133 <dl·class="section·date"><dt>Date</dt><dd>Feb·20,·2015·</dd></dl>
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 150 <dl·class="section·date"><dt>Date</dt><dd>March·2019·</dd></dl>
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139 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>157 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
140 ··</ul>158 ··</ul>
141 </div>159 </div>
142 </body>160 </body>
143 </html>161 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/Rot2.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/SO4.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Rot2.h</div></div>104 ··<div·class="headertitle"><div·class="title">SO4.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00371.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00371.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00323.html">gtsam/geometry/SOn.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Group.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00128.html">gtsam/base/Lie.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00002.html">gtsam/base/Lie.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/Manifold.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div> 
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;random&gt;</span></div>126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div> 
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
128 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};"> 
129 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03212.html">···36</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03212.html">Rot2</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02364.html">LieGroup</a>&lt;Rot2,·1&gt;·{</div> 
130 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
 130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
131 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keywordtype">double</span>·c_,·s_;</div> 
132 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
133 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<a·class="code·hl_class"·href="a03212.html">Rot2</a>&amp;·<a·class="code·hl_function"·href="a01428.html#abb52bb00c68909fc1147e5d112e8c2ae">normalize</a>();</div> 
134 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
135 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····<span·class="keyword">inline</span>·<a·class="code·hl_class"·href="a03212.html">Rot2</a>(<span·class="keywordtype">double</span>·c,·<span·class="keywordtype">double</span>·s)·:·c_(c),·s_(s)·{}</div> 
136 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
137 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">public</span>:</div>132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">using·</span>SO4·=·SO&lt;4&gt;;</div>
138 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
139 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a03212.html#ae1383d61756e94cd2cbb837a00078ee2">···53</a></span>····<a·class="code·hl_function"·href="a03212.html#ae1383d61756e94cd2cbb837a00078ee2">Rot2</a>()·:·c_(1.0),·s_(0.0)·{}</div>134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="comment">//·///·Random·SO(4)·element·(no·big·claims·about·uniformity)</span></div>
 135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">//·static·SO4·Random(std::mt19937·&amp;rng);</span></div>
 136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
 137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="comment">//·Below·are·all·declarations·of·SO&lt;4&gt;·specializations.</span></div>
 138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="comment">//·They·are·*defined*·in·SO4.cpp.</span></div>
141 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····</div>139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a03212.html#aec86a74ee72b1d982db5023f4add4fc3">···56</a></span>····<a·class="code·hl_function"·href="a03212.html#aec86a74ee72b1d982db5023f4add4fc3">Rot2</a>(<span·class="keyword">const</span>[·...·truncated·by·diffoscope;·len:·131,·SHA:·13465a8d56286031532ae1de77255cfb9bc4f106923a59a6ccef66be66045758·...·]</div>140 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="keyword">template</span>·&lt;&gt;</div>
 141 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>GTSAM_EXPORT</div>
 142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>Matrix4·<a·class="code·hl_function"·href="a03304.html#a813e60e77bd1e2b7ade8c7076b37579a">SO4::Hat</a>(<span·class="keyword">const</span>·TangentVector·&amp;xi);</div>
 143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">template</span>·&lt;&gt;</div>
 145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>GTSAM_EXPORT</div>
 146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>Vector6·<a·class="code·hl_function"·href="a03304.html#a43f11eb2cba2be51ba3fa6ee8d46f823">SO4::Vee</a>(<span·class="keyword">const</span>·Matrix4·&amp;X);</div>
 147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 148 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="keyword">template</span>·&lt;&gt;</div>
 149 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>GTSAM_EXPORT</div>
 150 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>SO4·<a·class="code·hl_function"·href="a03304.html#a092627ec38ae01d168ae308c80bc6ff7">SO4::Expmap</a>(<span·class="keyword">const</span>·Vector6·&amp;xi,·ChartJacobian·H);</div>
 151 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 152 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keyword">template</span>·&lt;&gt;</div>
 153 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>GTSAM_EXPORT</div>
 154 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>Matrix6·<a·class="code·hl_function"·href="a03304.html#a658ad6a8dff83c79e252914de423348b">SO4::AdjointMap</a>()·<span·class="keyword">const</span>;</div>
143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>155 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
144 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a03212.html#acda969716a9ad7e96bc817a22eefe83d">···59</a></span>····<a·class="code·hl_function"·href="a03212.html#acda969716a9ad7e96bc817a22eefe83d">Rot2</a>(<span·class="keywordtype">double</s[·...·truncated·by·diffoscope;·len:·47,·SHA:·cf278eb24155326224a3bfbc3ef08f435681cb7aafa289e0c8dcedf739de519c·...·]</div>156 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><span·class="keyword">template</span>·&lt;&gt;</div>
 157 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>GTSAM_EXPORT</div>
 158 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>SO4::VectorN2·<a·class="code·hl_function"·href="a03304.html#a273e28ab114f7dd46add665171d2d441">SO4::vec</a>(OptionalJacobian&lt;16,·6&gt;·H)·<span·class="keyword">const</span>;</div>
145 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>159 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 160 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span><span·class="keyword">template</span>·&lt;&gt;</div>
146 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="}"> 
147 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a03212.html#afb35e14b4b02f27820711c8bcc37367a">···62</a></span>····<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03212.html">Rot2</a>·<a·class="code·hl_function"·href="a03212.html#afb35e14b4b02f27820711c8bcc37367a">fromAngle</a>(<span·class="keywordtype">double</span>·theta)·{</div> 
148 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<span·class="keywordflow">return</span>·<a·class="code·hl_class"·href="a03212.html">Rot2</a>(theta);</div> 
149 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····}</div>161 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>GTSAM_EXPORT</div>
150 </div>162 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>SO4·<a·class="code·hl_function"·href="a02364.html#af0dab5bebe52a8ccebe8ea8a1dbafd21">SO4::ChartAtOrigin::Retract</a>(<span·class="keyword">const</span>·Vector6·&amp;omega,·C[·...·truncated·by·diffoscope;·len:·17,·SHA:·2d114945bdb368c4694ff07c71dd21900867245807e9e548155fcbfd49faa152·...·]/div>
151 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>163 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
152 <div·class="foldopen"·id="foldopen00067"·data-start="{"·data-end="}"> 
153 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a03212.html#ad5570449789e34060ee8117a35fc6904">···67</a></span>····<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03212.html">Rot2</a>·<a·class="code·hl_function"·href="a03212.html#ad5570449789e34060ee8117a35fc6904">fromDegrees</a>(<span·class="keywordtype">double</span>·theta)·{</div> 
154 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·degree·=·M_PI·/·180;</div> 
155 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······<span·class="keywordflow">return</span>·fromAngle(theta·*·degree);</div>164 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span><span·class="keyword">template</span>·&lt;&gt;</div>
156 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····}</div>165 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>GTSAM_EXPORT</div>
157 </div>166 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>Vector6·SO4::ChartAtOrigin::Local(<span·class="keyword">const</span>·SO4·&amp;Q,·ChartJacobian·H);</div>
158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>167 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
159 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03212.html">Rot2</a>·fromCosSin(<span·class="keywordtype">double</span>·c,·<span·class="keywordtype">double</span>·s);</div>168 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>GTSAM_EXPORT·Matrix3·<a·class="code·hl_function"·href="a01428.html#a8d21728e3da4cf1a96e1b6f87a97da47">topLeft</a>(<span·class="keyword">const</span>·SO4·&amp;Q,·OptionalJacobian&lt;9,·6&gt;·H·=·boost::none);</div>
160 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>169 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 170 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>GTSAM_EXPORT·Matrix43·<a·class="code·hl_function"·href="a01428.html#a3e57e4771f13855a495ec2c6454c9121">stiefel</a>(<span·class="keyword">const</span>·SO4·&amp;Q,·OptionalJacobian&lt;12,·6&gt;·H·=·boost::none);</div>
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162 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>········boost::none);</div> 
163 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>171 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
164 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03212.html">Rot2</a>·atan2(<span·class="keywordtype">double</span>·y,·<span·class="keywordtype">double</span>·x);</div>172 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Archive&gt;</div>
 173 <div·class="foldopen"·id="foldopen00083"·data-start="{"·data-end="}">
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165 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>180 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>
166 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>····<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03212.html">Rot2</a>·Random(std::mt19937·&amp;·rng);</div>181 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··ar·&amp;boost::serialization::make_nvp(<span·class="stringliteral">&quot;Q21&quot;</span>,·M(1,·0));</div>
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 184 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>··ar·&amp;boost::serialization::make_nvp(<span·class="stringliteral">&quot;Q24&quot;</span>,·M(1,·3));</div>
167 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>185 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>
 186 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>··ar·&amp;boost::serialization::make_nvp(<span·class="stringliteral">&quot;Q31&quot;</span>,·M(2,·0));</div>
 187 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··ar·&amp;boost::serialization::make_nvp(<span·class="stringliteral">&quot;Q32&quot;</span>,·M(2,·1));</div>
 188 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··ar·&amp;boost::serialization::make_nvp(<span·class="stringliteral">&quot;Q33&quot;</span>,·M(2,·2));</div>
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103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>The·most·common·5DOF·3D-&gt;2D·calibration·+·Stereo·baseline.·· 
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·most·common·5DOF·3D-&gt;2D·calibration,·stereo·version.··<a·href="a02956.html#details">More...</a><br·/></td></tr> 
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 113 Functions</h2></td></tr>
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 115 std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::operator&lt;&lt;</b>·(std::ostream·&amp;os,·const·<a·class="el"·href="a02968.html">Cal3Bundler</a>·&amp;cal)</td></tr>
 116 <tr·class="separator:a4da01ca3c91c699ba3b315a6d0ae9bc2"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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125 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>118 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
126 <div·class="textblock"><p>The·most·common·5DOF·3D-&gt;2D·calibration·+·Stereo·baseline.·</p>119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Sep·25,·2010·</dd></dl>
127 <dl·class="section·author"><dt>Author</dt><dd>Chris·Beall·</dd></dl>120 <dl·class="section·author"><dt>Author</dt><dd>ydjian·</dd></dl>
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134 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>127 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00446.html">gtsam/geometry/Cal3_S2.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00314.html">gtsam/geometry/Cal3.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div> 
125 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">125 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">
126 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a02968.html">···32</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02968.html">Cal3Bundler</a>·:·<span·class="keyword">public</span>·<a·class="code·hl[·...·truncated·by·diffoscope;·len:·31,·SHA:·f6b6dbcd7f454e5cfc9fd4482eeea1ca5bfa8c4b11850ac3a779b828d4a0b437·...·]</a>·{</div>126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a02956.html">···30</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02956.html">Cal3_S2Stereo</a>·:·<span·class="keyword">public</span>·<a·class="code·[·...·truncated·by·diffoscope;·len:·36,·SHA:·180a36aede8b44bc74d3a5ce7bd50aa517cc0fe1b2445d3c036f175c8f34b984·...·]</a>·{</div>
127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·<span·class="keyword">private</span>:</div>127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·<span·class="keyword">private</span>:</div>
128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keywordtype">double</span>·k1_·=·0.0f,·k2_·=·0.0f;··</div>128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keywordtype">double</span>·b_·=·1.0f;··</div>
 129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
 130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·<span·class="keyword">public</span>:</div>
129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keywordtype">double</span>·tol_·=·1e-5;·············</div>131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">enum</span>·{·dimension·=·6·};</div>
130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="comment">//·NOTE:·We·use·the·base·class·fx·to·represent·the·common·focal·length.</span></div> 
132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="comment">//·Also,·image·center·parameters·(u0,·v0)·are·not·optimized</span></div> 
133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="comment">//·but·are·treated·as·constants.</span></div> 
134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·<span·class="keyword">public</span>:</div>133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3_S2Stereo&gt;;</div>
136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">enum</span>·{·dimension·=·3·};</div> 
137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3Bundler&gt;;</div> 
139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>135 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 136 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a02956.html#ab65f2ccdc932731fb59f6781f775135f">···44</a></span>··<a·class="code·hl_function"·href="a02956.html#ab65f2ccdc932731fb59f6781f775135f">Cal3_S2Stereo</a>()·=·<span·class="keywordflow">default</span>;</div>
 137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 138 <div·class="foldopen"·id="foldopen00047"·data-start="{"·data-end="}">
 139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a02956.html#a2ca55987f036f43be6bed31b7766ab27">···47</a></span>··<a·class="code·hl_function"·href="a02956.html#a2ca55987f036f43be6bed31b7766ab27">Cal3_S2Stereo</a>(<span·class="keywordtype">double</span>·fx,·<span·class="keywordtype">double</span>·fy,·<span·class="keywordtype">double</span>·s,·<span·class="keywordtype">double</span>·u0,·<span·class="keywordtype">double</span>·v0,·<span·class="keywordtype">double</span>·b)</div>
 140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······:·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>(fx,·fy,·s,·u0,·v0),·b_(b)·{}</div>
 141 </div>
140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
141 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02968.html#a1774c3bd09b74440caa6056e7e8ad264">···51</a></span>··<a·class="code·hl_function"·href="a02968.html#a1774c3bd09b74440caa6056e7e8ad264">Cal3Bundler</a>()·=·<span·class="keywordflow">default</span>;</div> 
142 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
143 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="}">143 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="}">
 144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02956.html#aa48a7b399986d48da55d6b8a954606f4">···51</a></span>··<a·class="code·hl_function"·href="a02956.html#aa48a7b399986d48da55d6b8a954606f4">Cal3_S2Stereo</a>(<span·class="keyword">const</span>·Vector6&amp;·d)</div>
144 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a02968.html#a32366d4d57d94b3e78f4d1cf1f264084">···62</a></span>··<a·class="code·hl_function"·href="a02968.html#a32366d4d57d94b3e78f4d1cf1f264084">Cal3Bundler</a>(<span·class="keywordtype">double</span>·f,·<span·class="keywordtype">double</span>·k1,·<span·class="keywordtype">double</span>·k2,·<span·class="keywordtype">double</span>·u0·=·0,·<span·class="keywordtype">double</span>·v0·=·0,</div> 
145 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··············<span·class="keywordtype">double</span>·tol·=·1e-5)</div> 
146 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······:·<a·class="code·hl_class"·href="a02940.html">Cal3</a>(f,·f,·0,·u0,·v0),·k1_(k1),·k2_(k2),·tol_(tol)·{}</div>145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······:·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>(d(0),·d(1),·d(2),·d(3),·d(4)),·b_(d(5))·{}</div>
147 </div>146 </div>
148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>147 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 148 <div·class="foldopen"·id="foldopen00055"·data-start="{"·data-end="}">
 149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a02956.html#a7f1fe1eea1342b36c190c66bad4476ef">···55</a></span>··<a·class="code·hl_function"·href="a02956.html#a7f1fe1eea1342b36c190c66bad4476ef">Cal3_S2Stereo</a>(<span·class="keywordtype">double</span>·fov,·<span·class="keywordtype">int</span>·w,·<span·class="keywordtype">int</span>·h,·<span·class="keywordtype">double</span>·b)</div>
149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<a·class="code·hl_class"·href="a02968.html">~Cal3Bundler</a>()<span·class="keyword">·override·</span>{}</div>150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······:·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>(fov,·w,·h),·b_(b)·{}</div>
 151 </div>
150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>152 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 154 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·uncalibrate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·6&gt;</a>·Dcal·=·boost::none,</div>
 155 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·····················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·<span·class="keyword">const</span>;</div>
 156 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 157 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·calibrate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·6&gt;</a>·Dcal·=·boost::none,</div>
 158 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>···················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·<span·class="keyword">const</span>;</div>
151 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>159 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
 160 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno"><a·class="line"·href="a02956.html#a6225ac9a389433f4bedc1d3b41725264">···85</a></span>··Vector3·<a·class="code·hl_function"·href="a02956.html#a6225ac9a389433f4bedc1d3b41725264">calibrate</a>(<span·class="keyword">const</span>·Vector3&amp;·p)<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·Cal3_S2::calibrate(p);·}</div>
 161 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
 162 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>
152 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··GTSAM_EXPORT·<span·class="keyword">friend</span>·std::ostream&amp;·operator&lt;&lt;(std::ostream&amp;·os,</div>163 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··GTSAM_EXPORT·<span·class="keyword">friend</span>·std::ostream&amp;·operator&lt;&lt;(std::ostream&amp;·os,</div>
 164 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>···············································<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02956.html">Cal3_S2Stereo</a>&amp;·cal);</div>
153 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>···············································<span·class="keyword">const</span>·Cal3Bundler&amp;·cal);</div> 
154 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div> 
155 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="keywordtype">void</span>·print(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const·override</span>;</div> 
156 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div> 
157 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·Cal3Bundler&amp;·K,·<span·class="keywordtype">double</span>·tol·=·10e-9)·<span·class="keyword">const</span>;</div> 
158 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div> 
159 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div> 
160 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a02968.html#a000d35943600b9bf81818b9ae65c1e53">···87</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a02968.html#a000d35943600b9bf81818b9ae65c1e53">k1</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·k1_;·}</div> 
161 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div> 
162 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno"><a·class="line"·href="a02968.html#a0162ada34d8b64e4371db3b093f18d1e">···90</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a02968.html#a0162ada34d8b64e4371db3b093f18d1e">k2</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·k2_;·}</div> 
163 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>165 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·</div>
164 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno"><a·class="line"·href="a02968.html#a8604eededcae0c8223d368e16abb72dc">···93</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a02968.html#a8604[·...·truncated·by·diffoscope;·len:·122,·SHA:·8125188e710313168eb2da6ff0366b516edfe0e9fc1e5c8cfabac4e2d3365dea·...·]</div>166 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="st[·...·truncated·by·diffoscope;·len:·78,·SHA:·8f246a34143e1cc57f3d2a355d50b22213d73b08aad9e4e71094d7dbbadbe338·...·]</div>
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102 ··<div·class="headertitle"><div·class="title">Point3.cpp·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">Cal3Unified.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>3D·Point··105 <p>Unified·Calibration·Model,·see·Mei07icra·for·details.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
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107 <table·class="memberdecls">108 <table·class="memberdecls">
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115 Functions</h2></td></tr> 
116 <tr·class="memitem:aa42f7ec660b7353de39f9c86a26711cc"·id="r_aa42f7ec660b7353de39f9c86a26711cc"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aa42f7ec660b7353de39f9c86a26711cc"·name="aa42f7ec660b7353de39f9c86a26711cc"></a> 
117 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::distance3</b>·(const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;p1,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;q,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·1,·3·&gt;·H1=boost::none,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·1,·3·&gt;·H2=boost::none)</td></tr> 
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121 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::norm3</b>·(const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;p,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·1,·3·&gt;·H=boost::none)</td></tr> 
122 <tr·class="memdesc:ac37b6f807985ffd25217e33f6136fe58"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Distance·of·the·point·from·the·origin,·with·Jacobian.·<br·/></td></tr> 
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125 <a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::normalize</b>·(const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;p,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·3,·3·&gt;·H=boost::none)</td></tr> 
126 <tr·class="memdesc:abb52bb00c68909fc1147e5d112e8c2ae"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">normalize,·with·optional·Jacobian·<br·/></td></tr> 
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129 <tr·class="memdesc:a86bf6ed2ffb0ecc42a7deb8922f4ca4f"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">cross·product··<br·/></td></tr> 
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132 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::dot</b>·(const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;p,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;q,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·1,·3·&gt;·H_p=boost::none,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·1,·3·&gt;·H_q=boost::none)</td></tr> 
133 <tr·class="memdesc:a7dc820e4e47218768f104b43a184a1bd"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">dot·product·<br·/></td></tr> 
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136 Point3Pair&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::means</b>·(const·std::vector&lt;·Point3Pair·&gt;·&amp;abPointPairs)</td></tr> 
137 <tr·class="memdesc:a57f778b84bc6106471006421d289b832"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Calculate·the·two·means·of·a·set·of·Point3·pairs.·<br·/></td></tr> 
138 <tr·class="separator:a57f778b84bc6106471006421d289b832"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
139 <tr·class="memitem:aa0cf4b44adc94a39066254a3ea63fbef"·id="r_aa0cf4b44adc94a39066254a3ea63fbef"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aa0cf4b44adc94a39066254a3ea63fbef"·name="aa0cf4b44adc94a39066254a3ea63fbef"></a> 
140 ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::operator&lt;&lt;</b>·(ostream·&amp;os,·const·gtsam::Point3Pair·&amp;p)</td></tr> 
141 <tr·class="separator:aa0cf4b44adc94a39066254a3ea63fbef"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
142 </table>124 </table>
143 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>125 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
144 <div·class="textblock"><p>3D·Point·</p>126 <div·class="textblock"><p>Unified·Calibration·Model,·see·Mei07icra·for·details.·</p>
 127 <dl·class="section·date"><dt>Date</dt><dd>Mar·8,·2014·</dd></dl>
 128 <dl·class="section·author"><dt>Author</dt><dd>Jing·Dong·</dd>
 129 <dd>
 130 Varun·Agrawal·</dd></dl>
145 </div></div><!--·contents·-->131 </div></div><!--·contents·-->
146 </div><!--·doc-content·-->132 </div><!--·doc-content·-->
147 <!--·start·footer·part·-->133 <!--·start·footer·part·-->
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149 ··<ul>135 ··<ul>
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94 </div>94 </div>
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97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
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100 <a·href="#namespaces">Namespaces</a>·&#124;101 <a·href="#namespaces">Namespaces</a>·&#124;
101 <a·href="#func-members">Functions</a>··</div>102 <a·href="#func-members">Functions</a>··</div>
102 ··<div·class="headertitle"><div·class="title">SO3.cpp·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">Cal3.h·File·Reference</div></div>
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104 <div·class="contents">105 <div·class="contents">
  
105 <p>3*3·matrix·representation·of·SO(3)··106 <p>Common·code·for·all·Calibration·models.··
106 <a·href="#details">More...</a></p>107 <a·href="#details">More...</a></p>
  
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117 GTSAM_EXPORT·Matrix99&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::so3::Dcompose</b>·(const·<a·class="el"·href="a03304.html">SO3</a>·&amp;R)</td></tr> 
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121 <tr·class="memdesc:a72fc8b10f24d82aa8a4c99f99403fe5e"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Compose·general·matrix·with·an·SO(3)·element.··<br·/></td></tr> 
122 <tr·class="separator:a72fc8b10f24d82aa8a4c99f99403fe5e"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
123 </table>128 </table>
124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>129 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
125 <div·class="textblock"><p>3*3·matrix·representation·of·SO(3)·</p>130 <div·class="textblock"><p>Common·code·for·all·Calibration·models.·</p>
126 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>131 <dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal·</dd></dl>
127 <dd> 
128 Luca·Carlone·</dd> 
129 <dd> 
130 Duy·Nguyen·Ta·</dd></dl> 
131 <dl·class="section·date"><dt>Date</dt><dd>December·2014·</dd></dl> 
132 </div><h2·class="groupheader">Function·Documentation</h2> 
133 <a·id="a72fc8b10f24d82aa8a4c99f99403fe5e"·name="a72fc8b10f24d82aa8a4c99f99403fe5e"></a> 
134 <h2·class="memtitle"><span·class="permalink"><a·href="#a72fc8b10f24d82aa8a4c99f99403fe5e">&#9670;&#160;</a></span>compose()</h2> 
  
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141 ··········<td·class="paramtype">const·Matrix3·&amp;&#160;</td> 
142 ··········<td·class="paramname"><em>M</em>,·</td> 
143 ········</tr> 
144 ········<tr> 
145 ··········<td·class="paramkey"></td> 
146 ··········<td></td> 
147 ··········<td·class="paramtype">const·<a·class="el"·href="a03304.html">SO3</a>·&amp;&#160;</td> 
148 ··········<td·class="paramname"><em>R</em>,·</td> 
149 ········</tr> 
150 ········<tr> 
151 ··········<td·class="paramkey"></td> 
152 ··········<td></td> 
153 ··········<td·class="paramtype"><a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·9,·9·&gt;&#160;</td> 
154 ··········<td·class="paramname"><em>H</em>·=·<code>boost::none</code>&#160;</td> 
155 ········</tr> 
156 ········<tr> 
157 ··········<td></td> 
158 ··········<td>)</td> 
159 ··········<td></td><td></td> 
160 ········</tr> 
161 ······</table> 
162 </div><div·class="memdoc"> 
  
163 <p>Compose·general·matrix·with·an·SO(3)·element.·</p> 
164 <p>We·only·provide·the·9*9·derivative·in·the·first·argument·M.·</p> 
  
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div> 
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·All·Rights·Reserved</span></div> 
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
 110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
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112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div> 
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·OrientedPlane3.h</span></div> 
120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@date·Dec·19,·2013</span></div> 
121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@author·Alex·Trevor</span></div> 
122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*·@author·Frank·Dellaert</span></div> 
123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">·*·@author·Zhaoyang·Lv</span></div> 
124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">·*·@brief·An·infinite·plane,·represented·by·a·normal·direction·and·perpendicular·distance</span></div> 
125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">·*/</span></div> 
126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div> 
127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Group.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Unit3.h&gt;</span></div> 
130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00296.html">gtsam/geometry/Pose3.h</a>&gt;</span></div> 
131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;cassert&gt;</span></div>
 124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;iostream&gt;</span>··<span·class="comment">//·for·cout·:-(</span></div>
132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
133 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
134 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">template</span>&lt;<span·class="keywordtype">size_t</span>·N&gt;</div>
135 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">129 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a03060.html">···30</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03060.html">Cyclic</a>·{</div>
136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03092.html">···36</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03092.html">OrientedPlane3</a>·{</div> 
137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">private</span>:</div> 
138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<a·class="code·hl_class"·href="a03380.html">Unit3</a>·n_;·····</div> 
139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keywordtype">double</span>·d_;····</div>131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keywordtype">size_t</span>·i_;·</div>
140 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="keyword">public</span>:</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">public</span>:</div>
142 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">enum</span>·{</div> 
143 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····dimension·=·3</div> 
144 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··};</div> 
145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div> 
146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
147 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="}">133 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="}">
148 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a03092.html#aabbde8eb3a3a90e7de6f036fd1dceae0">···50</a></span>··<a·class="code·hl_function"·href="a03092.html#aabbde8eb3a3a90e7de6f036fd1dceae0">OrientedPlane3</a>()·:</div>134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a03060.html#a9fe359009a45861d7aed46f4895fc123">···34</a></span>··<a·class="code·hl_function"·href="a03060.html#a9fe359009a45861d7aed46f4895fc123">Cyclic</a>(<span·class="keywordtype">size_t</[·...·truncated·by·diffoscope;·len:·7,·SHA:·6629a61ea28e095bed6ee428c2c994277b469b1282f1caf01d893a36f10bb448·...·])·:</div>
149 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····n_(),·d_(0.0)·{</div>135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>······i_(i)·{</div>
 136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····assert(i·&lt;·N);</div>
150 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div>137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··}</div>
151 </div>138 </div>
 139 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="}">
 140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03060.html#a7d391305f0d5d8928f4e87260eeb7132">···39</a></span>··<a·class="code·hl_function"·href="a03060.html#a7d391305f0d5d8928f4e87260eeb7132">Cyclic</a>():i_(0)·{</div>
 141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··}</div>
 142 </div>
 143 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03060.html">Cyclic</a>·Identity()·{·<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a03060.html#a7d391305f0d5d8928f4e87260eeb7132">Cyclic</a>();}</div>
 144 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 145 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="}">
 146 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a03060.html#adec1fe1583750a51eb414ab4c81cc7db">···44</a></span>··<span·class="keyword">operator</span>·size_t()<span·class="keyword">·const·</span>{</div>
 147 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····<span·class="keywordflow">return</span>·i_;</div>
 148 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··}</div>
 149 </div>
 150 <div·class="foldopen"·id="foldopen00048"·data-start="{"·data-end="}">
 151 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a03060.html#af8d1ead3b8a7c75fea482f87ca95d6e6">···48</a></span>··<a·class="code·hl_class"·href="a03060.html">Cyclic</a>·<a·class="code·hl_function"·href="a03060.html#af8d1ead3b8a7c75fea482f87ca95d6e6">operator+</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03060.html">Cyclic</a>&amp;·h)<span·class="keyword">·const·</span>{</div>
 152 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keywordflow">return</span>·(i_·+·h.i_)·%·N;</div>
152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>153 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··}</div>
 154 </div>
153 <div·class="foldopen"·id="foldopen00055"·data-start="{"·data-end="}">155 <div·class="foldopen"·id="foldopen00052"·data-start="{"·data-end="}">
154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a03092.html#a6b0a8a30855003d8f0ec99174881f6dd">···55</a></span>··<a·class="code·hl_function"·href="a03092.html#a6b0a8a30855003d8f0ec99174881f6dd">OrientedPlane3</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03380.html">Unit3</a>&amp;·n,·<span·class="keywordtype">double</span>·d)·:</div> 
155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····n_(n),·d_(d)·{</div>156 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a03060.html#ada127fe6c598f530235f72657598762f">···52</a></span>··<a·class="code·hl_class"·href="a03060.html">Cyclic</a>·<a·class="code·hl_function"·href="a03060.html#ada127fe6c598f530235f72657[·...·truncated·by·diffoscope;·len:·156,·SHA:·c896f5a1430d6886a5be49379b0f54d27668ef11dc72e2c068e5d32a7f985102·...·]{</div>
 157 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keywordflow">return</span>·(N·+·i_·-·h.i_)·%·N;</div>
156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··}</div>158 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··}</div>
 159 </div>
 160 <div·class="foldopen"·id="foldopen00056"·data-start="{"·data-end="}">
 161 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a03060.html#afc3663d590ddf7bf836a59364c5a522d">···56</a></span>··<a·class="code·hl_class"·href="a03060.html">Cyclic</a>·<a·class="code·hl_function"·href="a03060.html#afc3663d590ddf7bf836a59364c5a522d">operator-</a>()<span·class="keyword">·const·</span>{</div>
 162 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keywordflow">return</span>·(N·-·i_)·%·N;</div>
 163 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··}</div>
157 </div>164 </div>
158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div> 
159 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="}">165 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="}">
160 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a03092.html#a9cfeab3cd026b150b1405f4e8d212f01">···60</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03092.html#a9cfeab3cd026b150b1405f4e8d212f01">OrientedPlane3</a>(<span·class="keyword">const</span>·Vector4&amp;·vec)</div>166 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a03060.html#a7b94d8b155fdce35f6141c2eb648745c">···60</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03060.html#a7b94d8b155fdce35f6141c2eb648745c">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·clas[·...·truncated·by·diffoscope;·len:·75,·SHA:·97055470746ce5c594fc891aa4e09053419a52ab45ef30b2e1bf6348d8506ebe·...·]</div>
 167 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····std::cout·&lt;&lt;·s·&lt;&lt;·i_·&lt;&lt;·std::endl;</div>
161 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······:·n_(vec(0),·vec(1),·vec(2)),·d_(vec(3))·{}</div>168 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··}</div>
162 </div>169 </div>
163 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div> 
164 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">170 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">
165 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03092.html#a293ad9e04b7b2c629cd764e8091e1ecd">···64</a></span>··<a·class="code·hl_function"·href="a03092.html#a293ad9e04b7b2c629cd764e8091e1ecd">OrientedPlane3</a>(<span·class="keywordtype">double</span>·a,·<span·class="keywordtype">double</span>·b,·<span·cla[·...·truncated·by·diffoscope;·len:·77,·SHA:·82f1b831f08287ce263df3187883fa2846ada6ee0d6f77962b3a8f4aa6e7ce76·...·]{</div>171 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03060.html#a460e4d6082e92c1e7e655b0cab64c42a">···64</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a03060.html#a460e4d6082e92c1e7e655b0cab64c42a">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href=[·...·truncated·by·diffoscope;·len:·124,·SHA:·e0b18ebf966729ff16e8e5707f2be4313a51e2cd2bbdbd884fd0045fa65d4533·...·]{</div>
166 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····n_·=·<a·class="code·hl_class"·href="a03380.html">Unit3</a>(a,·b,·c);</div>172 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">return</span>·other.i_·==·i_;</div>
167 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····d_·=·d;</div>173 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div>
 174 </div>
168 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div>175 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>};</div>
169 </div>176 </div>
170 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>177 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 178 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span><span·class="keyword">template</span>&lt;<span·class="keywordtype">size_t</span>·N&gt;</div>
171 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div> 
172 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·std::string())·<span·class="keyword">const</span>;</div> 
173 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div> 
174 <div·class="foldopen"·id="foldopen00077"·data-start="{"·data-end="}">179 <div·class="foldopen"·id="foldopen00071"·data-start="{"·data-end="};">
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127 </table>140 </table>
128 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>141 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
129 <div·class="textblock"><p>Pinhole·camera·with·known·calibration.·</p>142 <div·class="textblock"><p>2D·Point·</p>
130 <dl·class="section·author"><dt>Author</dt><dd>Yong-Dian·Jian·</dd>143 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
131 <dd> 
132 Frank·Dellaert·</dd></dl> 
133 <dl·class="section·date"><dt>Date</dt><dd>Feb·20,·2015·</dd></dl> 
134 </div></div><!--·contents·-->144 </div></div><!--·contents·-->
135 </div><!--·doc-content·-->145 </div><!--·doc-content·-->
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138 ··<ul>148 ··<ul>
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140 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>150 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
141 ··</ul>151 ··</ul>
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133 <tr·class="memitem:a71e21506e10855448d8c8f3cc9246416"·id="r_a71e21506e10855448d8c8f3cc9246416"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a71e21506e10855448d8c8f3cc9246416"·name="a71e21506e10855448d8c8f3cc9246416"></a> 
134 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::CameraSetCal3Bundler</b>·=·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·<a·class="el"·href="a03104.html">PinholeCamera</a>&lt;·<a·class="el"·href="a02968.html">Cal3Bundler</a>·&gt;·&gt;</td></tr> 
135 <tr·class="separator:a71e21506e10855448d8c8f3cc9246416"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
136 <tr·class="memitem:a8907b236e97ea5d991430ee8daf07139"·id="r_a8907b236e97ea5d991430ee8daf07139"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a8907b236e97ea5d991430ee8daf07139"·name="a8907b236e97ea5d991430ee8daf07139"></a> 
137 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::CameraSetCal3_S2</b>·=·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·<a·class="el"·href="a03104.html">PinholeCamera</a>&lt;·<a·class="el"·href="a02944.html">Cal3_S2</a>·&gt;·&gt;</td></tr> 
138 <tr·class="separator:a8907b236e97ea5d991430ee8daf07139"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
139 <tr·class="memitem:a30d75f51055f0fc993ac04888909ac80"·id="r_a30d75f51055f0fc993ac04888909ac80"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a30d75f51055f0fc993ac04888909ac80"·name="a30d75f51055f0fc993ac04888909ac80"></a> 
140 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::CameraSetCal3DS2</b>·=·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·<a·class="el"·href="a03104.html">PinholeCamera</a>&lt;·<a·class="el"·href="a02980.html">Cal3DS2</a>·&gt;·&gt;</td></tr> 
141 <tr·class="separator:a30d75f51055f0fc993ac04888909ac80"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
142 <tr·class="memitem:ac66a4f0fd9c631e4d37fe5ec3cfe3feb"·id="r_ac66a4f0fd9c631e4d37fe5ec3cfe3feb"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac66a4f0fd9c631e4d37fe5ec3cfe3feb"·name="ac66a4f0fd9c631e4d37fe5ec3cfe3feb"></a> 
143 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::CameraSetCal3Fisheye</b>·=·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·<a·class="el"·href="a03104.html">PinholeCamera</a>&lt;·<a·class="el"·href="a02996.html">Cal3Fisheye</a>·&gt;·&gt;</td></tr> 
144 <tr·class="separator:ac66a4f0fd9c631e4d37fe5ec3cfe3feb"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
145 <tr·class="memitem:ac183dae138857accc613c99a8abee2b7"·id="r_ac183dae138857accc613c99a8abee2b7"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac183dae138857accc613c99a8abee2b7"·name="ac183dae138857accc613c99a8abee2b7"></a> 
146 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::CameraSetCal3Unified</b>·=·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·<a·class="el"·href="a03104.html">PinholeCamera</a>&lt;·<a·class="el"·href="a03008.html">Cal3Unified</a>·&gt;·&gt;</td></tr> 
147 <tr·class="separator:ac183dae138857accc613c99a8abee2b7"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
148 <tr·class="memitem:a694a3204c58b4b583ebf1ca7df701598"·id="r_a694a3204c58b4b583ebf1ca7df701598"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a694a3204c58b4b583ebf1ca7df701598"·name="a694a3204c58b4b583ebf1ca7df701598"></a> 
149 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::CameraSetSpherical</b>·=·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·<a·class="el"·href="a03324.html">SphericalCamera</a>·&gt;</td></tr> 
150 <tr·class="separator:a694a3204c58b4b583ebf1ca7df701598"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
151 </table><table·class="memberdecls"> 
152 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a> 
153 Functions</h2></td></tr> 
154 <tr·class="memitem:af378e231b519e8bb1f09f4aa13a38dca"·id="r_af378e231b519e8bb1f09f4aa13a38dca"><td·class="memItemLeft"·align="right"·valign="top">Vector4&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#af378e231b519e8bb1f09f4aa13a38dca">gtsam::triangulateHomogeneousDLT</a>·(const·std::vector&lt;·Matrix34,·Eigen::aligned_allocator&lt;·Matrix34·&gt;·&gt;·&amp;projection_matrices,·const·Point2Vector·&amp;measurements,·double·rank_tol=1e-9)</td></tr> 
155 <tr·class="memdesc:af378e231b519e8bb1f09f4aa13a38dca"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">DLT·triangulation:·See·Hartley·and·Zisserman,·2nd·Ed.,·page·312.··<br·/></td></tr> 
156 <tr·class="separator:af378e231b519e8bb1f09f4aa13a38dca"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
157 <tr·class="memitem:a8d16887f8890aaf7ceb5e3cbb181a191"·id="r_a8d16887f8890aaf7ceb5e3cbb181a191"><td·class="memItemLeft"·align="right"·valign="top">Vector4&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a8d16887f8890aaf7ceb5e3cbb181a191">gtsam::triangulateHomogeneousDLT</a>·(const·std::vector&lt;·Matrix34,·Eigen::aligned_allocator&lt;·Matrix34·&gt;·&gt;·&amp;projection_matrices,·const·std::vector&lt;·<a·class="el"·href="a03380.html">Unit3</a>·&gt;·&amp;measurements,·double·rank_tol=1e-9)</td></tr> 
158 <tr·class="memdesc:a8d16887f8890aaf7ceb5e3cbb181a191"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Same·math·as·Hartley·and·Zisserman,·2nd·Ed.,·page·312,·but·with·unit-norm·bearing·vectors·(contrarily·to·pinhole·projection,·the·z·entry·is·not·assumed·to·be·1·as·in·Hartley·and·Zisserman)··<br·/></td></tr> 
159 <tr·class="separator:a8d16887f8890aaf7ceb5e3cbb181a191"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
160 <tr·class="memitem:aed2918ac0049316bf09f96879efca3b6"·id="r_aed2918ac0049316bf09f96879efca3b6"><td·class="memItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#aed2918ac0049316bf09f96879efca3b6">gtsam::triangulateDLT</a>·(const·std::vector&lt;·Matrix34,·Eigen::aligned_allocator&lt;·Matrix34·&gt;·&gt;·&amp;projection_matrices,·const·Point2Vector·&amp;measurements,·double·rank_tol=1e-9)</td></tr> 
161 <tr·class="memdesc:aed2918ac0049316bf09f96879efca3b6"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">DLT·triangulation:·See·Hartley·and·Zisserman,·2nd·Ed.,·page·312.··<br·/></td></tr> 
162 <tr·class="separator:aed2918ac0049316bf09f96879efca3b6"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
163 <tr·class="memitem:a523a0528f883f1c569a8a4c9a0e514a0"·id="r_a523a0528f883f1c569a8a4c9a0e514a0"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a523a0528f883f1c569a8a4c9a0e514a0"·name="a523a0528f883f1c569a8a4c9a0e514a0"></a> 
164 <a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::triangulateDLT</b>·(const·std::vector&lt;·Matrix34,·Eigen::aligned_allocator&lt;·Matrix34·&gt;·&gt;·&amp;projection_matrices,·const·std::vector&lt;·<a·class="el"·href="a03380.html">Unit3</a>·&gt;·&amp;measurements,·double·rank_tol=1e-9)</td></tr> 
165 <tr·class="memdesc:a523a0528f883f1c569a8a4c9a0e514a0"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">overload·of·previous·function·to·work·with·<a·class="el"·href="a03380.html"·title="Represents·a·3D·point·on·a·unit·sphere.">Unit3</a>·(projected·to·canonical·camera)·<br·/></td></tr> 
166 <tr·class="separator:a523a0528f883f1c569a8a4c9a0e514a0"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
167 <tr·class="memitem:a0f9e5111ffc481b34f0123418b0ecd13"·id="r_a0f9e5111ffc481b34f0123418b0ecd13"><td·class="memItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a0f9e5111ffc481b34f0123418b0ecd13">gtsam::triangulateLOST</a>·(const·std::vector&lt;·<a·class="el"·href="a03180.html">Pose3</a>·&gt;·&amp;poses,·const·Point3Vector·&amp;calibratedMeasurements,·const·SharedIsotropic·&amp;measurementNoise)</td></tr> 
168 <tr·class="memdesc:a0f9e5111ffc481b34f0123418b0ecd13"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Triangulation·using·the·LOST·(Linear·Optimal·Sine·Triangulation)·algorithm·proposed·in·<a·href="https://arxiv.org/pdf/2205.12197.pdf">https://arxiv.org/pdf/2205.12197.pdf</a>·by·Sebastien·Henry·and·John·Christian.··<br·/></td></tr> 
169 <tr·class="separator:a0f9e5111ffc481b34f0123418b0ecd13"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
170 <tr·class="memitem:ad167fac94fa72c0d3b8db36e5fa2becb"·id="r_ad167fac94fa72c0d3b8db36e5fa2becb"><td·class="memTemplParams"·colspan="2">template&lt;class·CALIBRATION·&gt;·</td></tr> 
171 <tr·class="memitem:ad167fac94fa72c0d3b8db36e5fa2becb"><td·class="memTemplItemLeft"·align="right"·valign="top">std::pair&lt;·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>,·<a·class="el"·href="a04612.html">Values</a>·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ad167fac94fa72c0d3b8db36e5fa2becb">gtsam::triangulationGraph</a>·(const·std::vector&lt;·<a·class="el"·href="a03180.html">Pose3</a>·&gt;·&amp;poses,·boost::shared_ptr&lt;·CALIBRATION·&gt;·sharedCal,·const·Point2Vector·&amp;measurements,·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·landmarkKey,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;initialEstimate,·const·<a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model=<a·class="el"·href="a03940.html#a61fda7a7390d3fc40f5618185e801bfe">noiseModel::Unit::Create</a>(2))</td></tr> 
172 <tr·class="memdesc:ad167fac94fa72c0d3b8db36e5fa2becb"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Create·a·factor·graph·with·projection·factors·from·poses·and·one·calibration.··<br·/></td></tr> 
173 <tr·class="separator:ad167fac94fa72c0d3b8db36e5fa2becb"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
174 <tr·class="memitem:a2b96bc32f3c5c436db3fe60e5139319e"·id="r_a2b96bc32f3c5c436db3fe60e5139319e"><td·class="memTemplParams"·colspan="2">template&lt;class·CAMERA·&gt;·</td></tr> 
175 <tr·class="memitem:a2b96bc32f3c5c436db3fe60e5139319e"><td·class="memTemplItemLeft"·align="right"·valign="top">std::pair&lt;·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>,·<a·class="el"·href="a04612.html">Values</a>·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a2b96bc32f3c5c436db3fe60e5139319e">gtsam::triangulationGraph</a>·(const·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·CAMERA·&gt;·&amp;cameras,·const·typename·CAMERA::MeasurementVector·&amp;measurements,·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·landmarkKey,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;initialEstimate,·const·<a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model=nullptr)</td></tr> 
176 <tr·class="memdesc:a2b96bc32f3c5c436db3fe60e5139319e"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Create·a·factor·graph·with·projection·factors·from·pinhole·cameras·(each·camera·has·a·pose·and·calibration)··<br·/></td></tr> 
177 <tr·class="separator:a2b96bc32f3c5c436db3fe60e5139319e"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
178 <tr·class="memitem:a4b0057879b0c5f323185452b0d1a4232"·id="r_a4b0057879b0c5f323185452b0d1a4232"><td·class="memItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a4b0057879b0c5f323185452b0d1a4232">gtsam::optimize</a>·(const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;graph,·const·<a·class="el"·href="a04612.html">Values</a>·&amp;values,·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·landmarkKey)</td></tr> 
179 <tr·class="memdesc:a4b0057879b0c5f323185452b0d1a4232"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Optimize·for·triangulation.··<br·/></td></tr> 
180 <tr·class="separator:a4b0057879b0c5f323185452b0d1a4232"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
181 <tr·class="memitem:a9dab6b5829b51511735b6b841bb36a36"·id="r_a9dab6b5829b51511735b6b841bb36a36"><td·class="memTemplParams"·colspan="2">template&lt;class·CALIBRATION·&gt;·</td></tr> 
182 <tr·class="memitem:a9dab6b5829b51511735b6b841bb36a36"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a9dab6b5829b51511735b6b841bb36a36">gtsam::triangulateNonlinear</a>·(const·std::vector&lt;·<a·class="el"·href="a03180.html">Pose3</a>·&gt;·&amp;poses,·boost::shared_ptr&lt;·CALIBRATION·&gt;·sharedCal,·const·Point2Vector·&amp;measurements,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;initialEstimate,·const·<a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model=nullptr)</td></tr> 
183 <tr·class="memdesc:a9dab6b5829b51511735b6b841bb36a36"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Given·an·initial·estimate·,·refine·a·point·using·measurements·in·several·cameras.··<br·/></td></tr> 
184 <tr·class="separator:a9dab6b5829b51511735b6b841bb36a36"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
185 <tr·class="memitem:a13ac0858b6f6600f5a4242aeb797692f"·id="r_a13ac0858b6f6600f5a4242aeb797692f"><td·class="memTemplParams"·colspan="2">template&lt;class·CAMERA·&gt;·</td></tr> 
186 <tr·class="memitem:a13ac0858b6f6600f5a4242aeb797692f"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a13ac0858b6f6600f5a4242aeb797692f">gtsam::triangulateNonlinear</a>·(const·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·CAMERA·&gt;·&amp;cameras,·const·typename·CAMERA::MeasurementVector·&amp;measurements,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;initialEstimate,·const·<a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model=nullptr)</td></tr> 
187 <tr·class="memdesc:a13ac0858b6f6600f5a4242aeb797692f"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Given·an·initial·estimate·,·refine·a·point·using·measurements·in·several·cameras.··<br·/></td></tr> 
188 <tr·class="separator:a13ac0858b6f6600f5a4242aeb797692f"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
189 <tr·class="memitem:a5aa5890f454a0a5d56ac9596bdbeddc1"·id="r_a5aa5890f454a0a5d56ac9596bdbeddc1"><td·class="memTemplParams"·colspan="2"><a·id="a5aa5890f454a0a5d56ac9596bdbeddc1"·name="a5aa5890f454a0a5d56ac9596bdbeddc1"></a> 
190 template&lt;class·CAMERA·&gt;·</td></tr> 
191 <tr·class="memitem:a5aa5890f454a0a5d56ac9596bdbeddc1"><td·class="memTemplItemLeft"·align="right"·valign="top">std::vector&lt;·Matrix34,·Eigen::aligned_allocator&lt;·Matrix34·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::projectionMatricesFromCameras</b>·(const·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·CAMERA·&gt;·&amp;cameras)</td></tr> 
192 <tr·class="separator:a5aa5890f454a0a5d56ac9596bdbeddc1"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
193 <tr·class="memitem:a67a3a17b558f25b6fc4497db68da32fd"·id="r_a67a3a17b558f25b6fc4497db68da32fd"><td·class="memTemplParams"·colspan="2"><a·id="a67a3a17b558f25b6fc4497db68da32fd"·name="a67a3a17b558f25b6fc4497db68da32fd"></a> 
194 template&lt;class·CALIBRATION·&gt;·</td></tr> 
195 <tr·class="memitem:a67a3a17b558f25b6fc4497db68da32fd"><td·class="memTemplItemLeft"·align="right"·valign="top">std::vector&lt;·Matrix34,·Eigen::aligned_allocator&lt;·Matrix34·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::projectionMatricesFromPoses</b>·(const·std::vector&lt;·<a·class="el"·href="a03180.html">Pose3</a>·&gt;·&amp;poses,·boost::shared_ptr&lt;·CALIBRATION·&gt;·sharedCal)</td></tr> 
196 <tr·class="separator:a67a3a17b558f25b6fc4497db68da32fd"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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198 <tr·class="memitem:a3d070e707c4b2d69d0f024a30501f06c"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a02944.html">Cal3_S2</a>&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a3d070e707c4b2d69d0f024a30501f06c">gtsam::createPinholeCalibration</a>·(const·CALIBRATION·&amp;cal)</td></tr> 
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114 <div·class="textblock"><p>Definitions·of·dynamic·specializations·of·SO(n)·</p> 
115 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd> 
116 <dd> 
117 Varun·Agrawal·</dd></dl> 
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134 <dl·class="section·date"><dt>Date</dt><dd>Aug·17,·2009·</dd></dl>119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·28,·2010·</dd></dl>
135 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>120 <dl·class="section·author"><dt>Author</dt><dd>ydjian·</dd>
 121 <dd>
 122 Varun·Agrawal·</dd></dl>
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154 <dd> 
155 Luca·Carlone·</dd> 
156 <dd> 
157 Duy·Nguyen·Ta·</dd></dl> 
158 <dl·class="section·date"><dt>Date</dt><dd>December·2014·</dd></dl> 
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106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00446.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00446.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00338.html">gtsam/geometry/SOn.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00389.html">gtsam/geometry/Cal3.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00416.html">gtsam/geometry/Point2.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00128.html">gtsam/base/Lie.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div> 
125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;cmath&gt;</span></div>125 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">
 126 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a02944.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02940.html">Cal3</a>·{</div>
127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>127 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·<span·class="keyword">public</span>:</div>
 128 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">enum</span>·{·dimension·=·5·};</div>
128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>129 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div> 
131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">using·</span>SO3·=·SO&lt;3&gt;;</div>130 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3_S2&gt;;</div>
132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="comment">//·Below·are·all·declarations·of·SO&lt;3&gt;·specializations.</span></div> 
134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">//·They·are·*defined*·in·SO3.cpp.</span></div> 
135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div> 
136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">template</span>·&lt;&gt;</div> 
137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>GTSAM_EXPORT</div> 
138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>SO3·<a·class="code·hl_function"·href="a03304.html#a634b8f685e65a326bbf32615934000ce">SO3::AxisAngle</a>(<span·class="keyword">const</span>·Vector3&amp;·axis,·<span·class="keywordtype">double</span>·theta);</div> 
139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>131 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">template</span>·&lt;&gt;</div> 
141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>GTSAM_EXPORT</div>132 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>SO3·<a·class="code·hl_function"·href="a03304.html#aee4daf030f73661fe6e1b361cfe51ea3">SO3::ClosestTo</a>(<span·class="keyword">const</span>·Matrix3&amp;·M);</div>133 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a02944.html#a6e3f6159fec0563e37f15848237a7d9f">···45</a></span>··<a·class="code·hl_function"·href="a02944.html#a6e3f6159fec0563e37f15848237a7d9f">Cal3_S2</a>()·=·<span·class="keywordflow">default</span>;</div>
143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>134 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="keyword">template</span>·&lt;&gt;</div> 
145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>GTSAM_EXPORT</div> 
146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>SO3·<a·class="code·hl_function"·href="a03304.html#a3123e38f2e398ac794bb01219d8c2afe">SO3::ChordalMean</a>(<span·class="keyword">const</span>·std::vector&lt;SO3&gt;&amp;·rotations);</di[·...·truncated·by·diffoscope;·len:·1,·SHA:·4c94485e0c21ae6c41ce1dfe7b6bfaceea5ab68e40a2476f50208e526f506080·...·]>135 <div·class="foldopen"·id="foldopen00048"·data-start="{"·data-end="}">
 136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a02944.html#a6f59c7c3f3e8782b2b4e1d71cd289d4b">···48</a></span>··<a·class="code·hl_function"·href="a02944.html#a6f59c7c3f3e8782b2b4e1d71cd289d4b">Cal3_S2</a>(<span·class="keywordtype">double</span>·fx,·<span·class="keywordtype">double</span>·fy,·<span·class="keywordtype">double</span>·s,·<span·class="keywordtype">double</span>·u0,·<span·class="keywordtype">double</span>·v0)</div>
 137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······:·<a·class="code·hl_class"·href="a02940.html">Cal3</a>(fx,·fy,·s,·u0,·v0)·{}</div>
 138 </div>
147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>139 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 140 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a02944.html#ac91a4e1b0cfd0ee9b2a0c3538a325631">···52</a></span>··<a·class="code·hl_function"·href="a02944.html#ac91a4e1b0cfd0ee9b2a0c3538a325631">Cal3_S2</a>(<span·class="keyword">const</span>·Vector5&amp;·d)·:·<a·class="code·hl_class"·href="a02940.html">Cal3</a>(d)·{}</div>
148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span><span·class="keyword">template</span>·&lt;&gt;</div> 
149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>GTSAM_EXPORT</div> 
150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>Matrix3·<a·class="code·hl_function"·href="a03304.html#a813e60e77bd1e2b7ade8c7076b37579a">SO3::Hat</a>(<span·class="keyword">const</span>·Vector3&amp;·xi);··</div> 
151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 142 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a02944.html#ae7de8f587615c7b0909c06df658e96e5">···60</a></span>··<a·class="code·hl_function"·href="a02944.html#ae7de8f587615c7b0909c06df658e96e5">Cal3_S2</a>(<span·class="keywordtype">double</span>·fov,·<span·class="keywordtype">int</span>·w,·<span·class="keywordtype">int</span>·h)·:·<a·class="code·hl_class"·href="a02940.html">Cal3</a>(fov,·w,·h)·{}</div>
152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="keyword">template</span>·&lt;&gt;</div> 
153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>GTSAM_EXPORT</div> 
154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>Vector3·<a·class="code·hl_function"·href="a03304.html#a43f11eb2cba2be51ba3fa6ee8d46f823">SO3::Vee</a>(<span·class="keyword">const</span>·Matrix3&amp;·X);··</div> 
155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div> 
156 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="keyword">template</span>·&lt;&gt;</div> 
157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>Matrix3·<a·class="code·hl_function"·href="a03304.html#a658ad6a8dff83c79e252914de423348b">SO3::AdjointMap</a>()·<span·class="keyword">const</span>;</div> 
158 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>143 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 144 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·uncalibrate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·5&gt;</a>·Dcal·=·boost::none,</div>
 145 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·····················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·<span·class="keyword">const</span>;</div>
159 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span><span·class="keyword">template</span>·&lt;&gt;</div> 
160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>GTSAM_EXPORT</div> 
161 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>SO3·<a·class="code·hl_function"·href="a03304.html#a092627ec38ae01d168ae308c80bc6ff7">SO3::Expmap</a>(<span·class="keyword">const</span>·Vector3&amp;·omega,·ChartJacobian·H);</div> 
162 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>146 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 147 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·calibrate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·5&gt;</a>·Dcal·=·boost::none,</div>
 148 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>···················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·<span·class="keyword">const</span>;</div>
163 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span><span·class="keyword">template</span>·&lt;&gt;</div> 
164 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>GTSAM_EXPORT</div> 
165 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>Matrix3·<a·class="code·hl_function"·href="a03304.html#a817f097897b7dd72305aded9092359d2">SO3::ExpmapDerivative</a>(<span·class="keyword">const</span>·Vector3&amp;·omega);</div> 
166 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div> 
167 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span><span·class="keyword">template</span>·&lt;&gt;</div> 
168 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>GTSAM_EXPORT</div> 
169 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>Vector3·<a·class="code·hl_function"·href="a03304.html#a5f932e7ef1e0c5842397815753bb7f01">SO3::Logmap</a>(<span·class="keyword">const</span>·SO3&amp;·R,·ChartJacobian·H);</div> 
170 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>149 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
 150 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··Vector3·calibrate(<span·class="keyword">const</span>·Vector3&amp;·p)·<span·class="keyword">const</span>;</div>
171 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span><span·class="keyword">template</span>·&lt;&gt;</div> 
172 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>GTSAM_EXPORT</div> 
173 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>Matrix3·<a·class="code·hl_function"·href="a03304.html#a87c100530611732950ccdd2c44cae1c6">SO3::LogmapDerivative</a>(<span·class="keyword">const</span>·Vector3&amp;·omega);</div> 
174 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>151 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
175 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span><span·class="comment">//·Chart·at·origin·for·SO3·is·*not*·Cayley·but·actual·Expmap/Logmap</span></div> 
176 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span><span·class="keyword">template</span>·&lt;&gt;</div> 
177 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>GTSAM_EXPORT</div> 
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104 <p>Calibrated·camera·for·which·only·pose·is·unknown.··105 <p>A·CameraSet·of·either·CalibratedCamera,·PinholePose,·or·PinholeCamera.··
105 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
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113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>125 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 126 <div·class="textblock"><p>A·CameraSet·of·either·CalibratedCamera,·PinholePose,·or·PinholeCamera.·</p>
114 <div·class="textblock"><p>Calibrated·camera·for·which·only·pose·is·unknown.·</p> 
115 <dl·class="section·date"><dt>Date</dt><dd>Aug·17,·2009·</dd></dl> 
116 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>127 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
117 </div></div><!--·contents·-->128 </div></div><!--·contents·-->
118 </div><!--·doc-content·-->129 </div><!--·doc-content·-->
119 <!--·start·footer·part·-->130 <!--·start·footer·part·-->
120 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->131 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
121 ··<ul>132 ··<ul>
122 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00452.html">CalibratedCamera.cpp</a></li>133 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00452.html">PinholeSet.h</a></li>
123 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>134 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
124 ··</ul>135 ··</ul>
125 </div>136 </div>
126 </body>137 </body>
127 </html>138 </html>
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1 <!DOCTYPE·html·PUBLIC·"-//W3C//DTD·XHTML·1.0·Transitional//EN"·"https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">1 <!DOCTYPE·html·PUBLIC·"-//W3C//DTD·XHTML·1.0·Transitional//EN"·"https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">
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4 <meta·http-equiv="Content-Type"·content="text/xhtml;charset=UTF-8"/>4 <meta·http-equiv="Content-Type"·content="text/xhtml;charset=UTF-8"/>
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/Cal3DS2_Base.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/Point3.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Cal3DS2_Base.h</div></div>104 ··<div·class="headertitle"><div·class="title">Point3.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00455.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="comment">//·\callgraph</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00314.html">gtsam/geometry/Cal3.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;gtsam/config.h&gt;</span></div>
 123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;gtsam/base/VectorSpace.h&gt;</span></div>
 124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00104.html">gtsam/base/Vector.h</a>&gt;</span></div>
 125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>
 126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00143.html">gtsam/base/VectorSerialization.h</a>&gt;</span></div>
 127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
 128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;numeric&gt;</span></div>
 129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div> 
126 <div·class="foldopen"·id="foldopen00042"·data-start="{"·data-end="};"> 
127 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a02992.html">···42</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02992.html">Cal3DS2_Base</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02940.html">Cal3</a>·{</div> 
128 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·<span·class="keyword">protected</span>:</div> 
129 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a02992.html#a2240b8d0b619f888597ef6ab9ea115cc">···44</a></span>··<span·class="keywordtype">double</span>·k1_·=·0.0f,·k2_·=·0.0f;··</div> 
130 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a02992.html#a8c6ed66960f8b157e084f19bd0f4c979">···45</a></span>··<span·class="keywordtype">double</span>·p1_·=·0.0f,·p2_·=·0.0f;··</div> 
131 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a02992.html#ad121faae718cf3367ab6f9cbd93800cc">···46</a></span>··<span·class="keywordtype">double</span>·tol_·=·1e-5;·············</div> 
132 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
133 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·<span·class="keyword">public</span>:</div> 
134 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">enum</span>·{·dimension·=·9·};</div> 
135 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
136 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3DS2_Base&gt;;</div> 
137 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
 132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">···36</a></span><span·class="keyword">typedef</span>·Vector3·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>;</div>
 133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">typedef</span>·std::vector&lt;Point3,·Eigen::aligned_allocator&lt;Point3&gt;·&gt;·Point3Vector;</div>
138 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div> 
139 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a02992.html#a00a1fad7afcbb3ba09a368c3e4903ddc">···58</a></span>··<a·class="code·hl_function"·href="a02992.html#a00a1fad7afcbb3ba09a368c3e4903ddc">Cal3DS2_Base</a>()·=·<span·class="keywordflow">default</span>;</div> 
140 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
141 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<a·class="code·hl_class"·href="a02992.html">Cal3DS2_Base</a>(<span·class="keywordtype">double</span>·fx,·<span·class="keywordtype">double</span>·fy,·<span·class="keywordtype">double</span>·s,·<span·class="keywordtype">double</span>·u0,·<span·class="keywordtype">double</span>·v0,·<span·class="keywordtype">double</span>·k1,</div> 
142 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>···············<span·class="keywordtype">double</span>·k2,·<span·class="keywordtype">double</span>·p1·=·0.0,·<span·class="keywordtype">double</span>·p2·=·0.0,·<span·class="keywordtype">double</span>·tol·=·1e-5)</div> 
143 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······:·<a·class="code·hl_class"·href="a02940.html">Cal3</a>(fx,·fy,·s,·u0,·v0),</div> 
144 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>········k1_(k1),</div> 
145 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>········k2_(k2),</div> 
146 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>········p1_(p1),</div> 
147 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········p2_(p2),</div> 
148 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>········tol_(tol)·{}</div> 
149 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
150 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<a·class="code·hl_class"·href="a02992.html">~Cal3DS2_Base</a>()<span·class="keyword">·override·</span>{}</div>135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="comment">//·Convenience·typedef</span></div>
 136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">using·</span>Point3Pair·=·std::pair&lt;Point3,·Point3&gt;;</div>
 137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>GTSAM_EXPORT·std::ostream·&amp;operator&lt;&lt;(std::ostream·&amp;os,·<span·class="keyword">const</span>·gtsam::Point3Pair·&amp;p);</div>
 138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">using·</span>Point3Pairs·=·std::vector&lt;Point3Pair&gt;;</div>
 140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
 141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>GTSAM_EXPORT·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a01428.html#aa42f7ec660b7353de39f9c86a26711cc">distance3</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·p1,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·q,</div>
 142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··································<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;1,·3&gt;</a>·H1·=·boost::none,</div>
 143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······························<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;1,·3&gt;</a>·H2·=·boost::none);</div>
 144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 145 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>GTSAM_EXPORT·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a01428.html#ac37b6f807985ffd25217e33f6136fe58">norm3</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;1,·3&gt;</a>·H·=·boost::none);</div>
 146 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>GTSAM_EXPORT·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·<a·class="code·hl_function"·href="a01428.html#abb52bb00c68909fc1147e5d112e8c2ae">normalize</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;3,·3&gt;</a>·H·=·boost::none);</div>
 148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 149 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>GTSAM_EXPORT·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·<a·class="code·hl_function"·href="a01428.html#a86bf6ed2ffb0ecc42a7deb8922f4ca4f">cross</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·p,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·q,</div>
 150 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··························<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;3,·3&gt;</a>·H_p·=·boost::none,</div>
 151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··························<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;3,·3&gt;</a>·H_q·=·boost::none);</div>
151 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>152 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>GTSAM_EXPORT·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a01428.html#ad80249acf12bbea741e755cd8fc73042">dot</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·p,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·q,</div>
 154 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>························<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;1,·3&gt;</a>·H_p·=·boost::none,</div>
 155 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>························<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;1,·3&gt;</a>·H_q·=·boost::none);</div>
 156 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 157 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CONTAINER&gt;</div>
 158 <div·class="foldopen"·id="foldopen00068"·data-start="{"·data-end="}">
 159 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno"><a·class="line"·href="a01428.html#a300205092710091b8745c0a145da20a1">···68</a></span><a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·<a·class="code·hl_function"·href="a01428.html#a300205092710091b8745c0a145da20a1">mean</a>(<span·class="keyword">const</span>·CONTAINER&amp;·points)·{</div>
 160 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="keywordflow">if</span>·(points.size()·==·0)·<span·class="keywordflow">throw</span>·std::invalid_argument(<span·class="stringliteral">&quot;Point3::mean·input·container·is·empty&quot;</span>);</div>
 161 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·sum(0,·0,·0);</div>
 162 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··sum·=·std::accumulate(points.begin(),·points.end(),·sum);</div>
 163 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keywordflow">return</span>·sum·/·points.size();</div>
 164 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>}</div>
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152 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 167 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>GTSAM_EXPORT·Point3Pair·<a·class="code·hl_function"·href="a01428.html#a9e357cda5287fae1438f86bc4df27a80">means</a>(<span·class="keyword">const</span>·std::vector&lt;Point3Pair&gt;·&amp;abPointPairs);</div>
153 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··Cal3DS2_Base(<span·class="keyword">const</span>·Vector9&amp;·v)</div> 
154 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>······:·Cal3(v(0),·v(1),·v(2),·v(3),·v(4)),</div> 
155 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>········k1_(v(5)),</div>168 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
156 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>········k2_(v(6)),</div>169 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·A1,·<span·class="keyword">typename</span>·A2&gt;</div>
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158 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>········p2_(v(8))·{}</div> 
159 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>171 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
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 173 <div·class="foldopen"·id="foldopen00082"·data-start="{"·data-end="};">
 174 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno"><a·class="line"·href="a03152.html">···82</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02920.html">Range</a>&lt;<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>,·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&gt;·{</div>
 175 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<span·class="keyword">typedef</span>·<span·class="keywordtype">double</span>·result_type;</div>
 176 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<span·class="keywordtype">double</span>·operator()(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·p,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·q,</div>
 177 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;1,·3&gt;</a>·H1·=·boost::none,</div>
 178 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;1,·3&gt;</a>·H2·=·boost::none)·{</div>
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102 ··<div·class="headertitle"><div·class="title">Cal3Bundler.cpp·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">Rot3M.cpp·File·Reference</div></div>
103 </div><!--header-->102 </div><!--header-->
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 104 <p>Rotation·(internal:·3*3·matrix·representation*)··
 105 <a·href="#details">More...</a></p>
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115 std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::operator&lt;&lt;</b>·(std::ostream·&amp;os,·const·<a·class="el"·href="a02968.html">Cal3Bundler</a>·&amp;cal)</td></tr> 
116 <tr·class="separator:a4da01ca3c91c699ba3b315a6d0ae9bc2"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
117 </table>112 </table>
118 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Sep·25,·2010·</dd></dl>114 <div·class="textblock"><p>Rotation·(internal:·3*3·matrix·representation*)·</p>
120 <dl·class="section·author"><dt>Author</dt><dd>ydjian·</dd></dl>115 <dl·class="section·author"><dt>Author</dt><dd>Alireza·Fathi·</dd>
 116 <dd>
 117 Christian·Potthast·</dd>
 118 <dd>
 119 Frank·Dellaert·</dd>
 120 <dd>
 121 Richard·Roberts·</dd></dl>
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102 ··<div·class="headertitle"><div·class="title">CameraSet.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">Pose3.cpp·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Base·class·to·create·smart·factors·on·poses·or·cameras.··105 <p>3D·Pose··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00464_source.html">Go·to·the·source·code·of·this·file.</a></p> 
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126 <div·class="textblock"><p>Base·class·to·create·smart·factors·on·poses·or·cameras.·</p> 
127 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl> 
128 <dl·class="section·date"><dt>Date</dt><dd>Feb·19,·2015·</dd></dl> 
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 135 <dl·class="section·date"><dt>Date</dt><dd>Aug·16,·2009·</dd></dl>
122 <dl·class="section·author"><dt>Author</dt><dd>Chris·Beall·</dd></dl>136 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·All·Rights·Reserved</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·All·Rights·Reserved</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div>118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div>
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·Unit3.h</span></div>119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·OrientedPlane3.h</span></div>
120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@date·Feb·02,·2011</span></div>120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@date·Dec·19,·2013</span></div>
121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@author·Can·Erdogan</span></div>121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@author·Alex·Trevor</span></div>
122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*·@author·Frank·Dellaert</span></div>122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*·@author·Frank·Dellaert</span></div>
123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">·*·@author·Alex·Trevor</span></div>123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">·*·@author·Zhaoyang·Lv</span></div>
124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">·*·@brief·Develop·a·Unit3·class·-·basically·a·point·on·a·unit·sphere</span></div>124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">·*·@brief·An·infinite·plane,·represented·by·a·normal·direction·and·perpendicular·distance</span></div>
125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">·*/</span></div>125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">·*/</span></div>
126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div>129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Unit3.h&gt;</span></div>
130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Point3.h</a>&gt;</span></div>130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00437.html">gtsam/geometry/Pose3.h</a>&gt;</span></div>
131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Manifold.h</a>&gt;</span></div> 
132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Vector.h</a>&gt;</span></div> 
133 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00020.html">gtsam/base/VectorSerialization.h</a>&gt;</span></div> 
134 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div> 
135 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
136 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div> 
137 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div> 
138 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
139 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#include·&lt;random&gt;</span></div> 
140 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
141 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
142 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="preprocessor">#ifdef·GTSAM_USE_TBB</span></div> 
143 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#include·&lt;mutex&gt;</span>·<span·class="comment">//·std::mutex</span></div> 
144 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#endif</span></div> 
145 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div> 
146 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>133 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
147 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>134 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
148 <div·class="foldopen"·id="foldopen00043"·data-start="{"·data-end="};">135 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">
149 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a03380.html">···43</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03380.html">Unit3</a>·{</div>136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03092.html">···36</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03092.html">OrientedPlane3</a>·{</div>
 137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">private</span>:</div>
 138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<a·class="code·hl_class"·href="a03380.html">Unit3</a>·n_;·····</div>
 139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keywordtype">double</span>·d_;····</div>
 140 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
 141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="keyword">public</span>:</div>
 142 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">enum</span>·{</div>
 143 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····dimension·=·3</div>
150 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>144 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··};</div>
151 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="keyword">private</span>:</div> 
152 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
153 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··Vector3·p_;·</div> 
154 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">mutable</span>·boost::optional&lt;Matrix32&gt;·B_;·</div> 
155 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">mutable</span>·boost::optional&lt;Matrix62&gt;·H_B_;·</div> 
156 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
157 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span><span·class="preprocessor">#ifdef·GTSAM_USE_TBB</span></div> 
158 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">mutable</span>·std::mutex·B_mutex_;·</div> 
159 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="preprocessor">#endif</span></div> 
160 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
161 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="keyword">public</span>:</div> 
162 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div> 
163 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">enum</span>·{</div> 
164 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····dimension·=·2</div> 
165 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··};</div> 
166 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
167 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div> 
168 <div·class="foldopen"·id="foldopen00065"·data-start="{"·data-end="}">147 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="}">
169 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a03380.html#a358877500acd48b9a26b1f0cba6843ee">···65</a></span>··<a·class="code·hl_function"·href="a03380.html#a358877500acd48b9a26b1f0cba6843ee">Unit3</a>()·:</div>148 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a03092.html#aabbde8eb3a3a90e7de6f036fd1dceae0">···50</a></span>··<a·class="code·hl_function"·href="a03092.html#aabbde8eb3a3a90e7de6f036fd1dceae0">OrientedPlane3</a>()·:</div>
 149 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····n_(),·d_(0.0)·{</div>
 150 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div>
 151 </div>
 152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 153 <div·class="foldopen"·id="foldopen00055"·data-start="{"·data-end="}">
 154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a03092.html#a6b0a8a30855003d8f0ec99174881f6dd">···55</a></span>··<a·class="code·hl_function"·href="a03092.html#a6b0a8a30855003d8f0ec99174881f6dd">OrientedPlane3</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03380.html">Unit3</a>&amp;·n,·<span·class="keywordtype">double</span>·d)·:</div>
 155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····n_(n),·d_(d)·{</div>
 156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··}</div>
 157 </div>
 158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 159 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="}">
 160 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a03092.html#a9cfeab3cd026b150b1405f4e8d212f01">···60</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03092.html#a9cfeab3cd026b150b1405f4e8d212f01">OrientedPlane3</a>(<span·class="keyword">const</span>·Vector4&amp;·vec)</div>
 161 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······:·n_(vec(0),·vec(1),·vec(2)),·d_(vec(3))·{}</div>
 162 </div>
 163 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 164 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">
 165 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03092.html#a293ad9e04b7b2c629cd764e8091e1ecd">···64</a></span>··<a·class="code·hl_function"·href="a03092.html#a293ad9e04b7b2c629cd764e8091e1ecd">OrientedPlane3</a>(<span·class="keywordtype">double</span>·a,·<span·class="keywordtype">double</span>·b,·<span·class="keywordtype">double</span>·c,·<span·class="keywordtype">double</span>·d)·{</div>
 166 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····n_·=·<a·class="code·hl_class"·href="a03380.html">Unit3</a>(a,·b,·c);</div>
170 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······p_(1.0,·0.0,·0.0)·{</div>167 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····d_·=·d;</div>
171 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div>168 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div>
172 </div>169 </div>
173 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>170 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
174 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a03380.html">Unit3</a>(<span·class="keyword">const</span>·Vector3&amp;·p);</div> 
175 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>171 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
176 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<a·class="code·hl_class"·href="a03380.html">Unit3</a>(<span·class="keywordtype">double</span>·x,·<span·class="keywordtype">double</span>·y,·<span·class="keywordtype">double</span>·z);</div>172 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·std::string())·[·...·truncated·by·diffoscope;·len:·34,·SHA:·883a8c78e473a0441b336c1d18dbd8982a7c8e3ece8d21a864ba15ad894368d5·...·];</div>
177 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>173 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
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138 <tr·class="memitem:ac79f331c6412bc074d6e4ef9d4dabd6b"·id="r_ac79f331c6412bc074d6e4ef9d4dabd6b"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac79f331c6412bc074d6e4ef9d4dabd6b"·name="ac79f331c6412bc074d6e4ef9d4dabd6b"></a> 
139 <a·class="el"·href="a02876.html">DiscreteKeys</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::CollectDiscreteKeys</b>·(const·<a·class="el"·href="a02876.html">DiscreteKeys</a>·&amp;key1,·const·<a·class="el"·href="a02876.html">DiscreteKeys</a>·&amp;key2)</td></tr> 
140 <tr·class="separator:ac79f331c6412bc074d6e4ef9d4dabd6b"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
141 </table>110 </table>
142 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
143 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·11,·2022·</dd></dl>112 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·11,·2022·</dd></dl>
144 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang·</dd></dl>113 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang·</dd></dl>
145 </div></div><!--·contents·-->114 </div></div><!--·contents·-->
146 </div><!--·doc-content·-->115 </div><!--·doc-content·-->
147 <!--·start·footer·part·-->116 <!--·start·footer·part·-->
148 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->117 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
149 ··<ul>118 ··<ul>
150 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_56c2e1a1204958ddcb066d7d52d67173.html">hybrid</a></li><li·class="navelem"><a·class="el"·href="a00482.html">HybridFactor.h</a></li>119 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_56c2e1a1204958ddcb066d7d52d67173.html">hybrid</a></li><li·class="navelem"><a·class="el"·href="a00482.html">HybridJunctionTree.cpp</a></li>
151 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>120 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
152 ··</ul>121 ··</ul>
153 </div>122 </div>
154 </body>123 </body>
155 </html>124 </html>
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114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00272.html">gtsam/discrete/DiscreteConditional.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00239.html">gtsam/discrete/DiscreteConditional.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00536.html">gtsam/hybrid/GaussianMixture.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00494.html">gtsam/hybrid/GaussianMixture.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00482.html">gtsam/hybrid/HybridFactor.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00569.html">gtsam/hybrid/HybridFactor.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00554.html">gtsam/hybrid/HybridGaussianFactorGraph.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00554.html">gtsam/hybrid/HybridGaussianFactorGraph.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00605.html">gtsam/inference/Conditional.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00686.html">gtsam/inference/Conditional.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span></div>126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
127 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00773.html">gtsam/linear/GaussianConditional.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00749.html">gtsam/linear/GaussianConditional.h</a>&gt;</span></div>
128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>
130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;stdexcept&gt;</span></div>131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;stdexcept&gt;</span></div>
132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;typeinfo&gt;</span></div>133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;typeinfo&gt;</span></div>
134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
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247 </div>247 </div>
248 <div·class="line"><a·id="l00231"·name="l00231"></a><span·class="lineno">··231</span>·</div>248 <div·class="line"><a·id="l00231"·name="l00231"></a><span·class="lineno">··231</span>·</div>
249 <div·class="line"><a·id="l00232"·name="l00232"></a><span·class="lineno">··232</span><span·class="comment">//·traits</span></div>249 <div·class="line"><a·id="l00232"·name="l00232"></a><span·class="lineno">··232</span><span·class="comment">//·traits</span></div>
250 <div·class="line"><a·id="l00233"·name="l00233"></a><span·class="lineno">··233</span><span·class="keyword">template</span>·&lt;&gt;</div>250 <div·class="line"><a·id="l00233"·name="l00233"></a><span·class="lineno">··233</span><span·class="keyword">template</span>·&lt;&gt;</div>
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252 <div·class="line"><a·id="l00235"·name="l00235"></a><span·class="lineno">··235</span>·</div>252 <div·class="line"><a·id="l00235"·name="l00235"></a><span·class="lineno">··235</span>·</div>
253 <div·class="line"><a·id="l00236"·name="l00236"></a><span·class="lineno">··236</span>}··<span·class="comment">//·namespace·gtsam</span></div>253 <div·class="line"><a·id="l00236"·name="l00236"></a><span·class="lineno">··236</span>}··<span·class="comment">//·namespace·gtsam</span></div>
254 <div·class="ttc"·id="aa00272_html"><div·class="ttname"><a·href="a00272.html">DiscreteConditional.h</a></div></div>254 <div·class="ttc"·id="aa00239_html"><div·class="ttname"><a·href="a00239.html">DiscreteConditional.h</a></div></div>
255 <div·class="ttc"·id="aa00482_html"><div·class="ttname"><a·href="a00482.html">HybridFactor.h</a></div></div> 
256 <div·class="ttc"·id="aa00536_html"><div·class="ttname"><a·href="a00536.html">GaussianMixture.h</a></div><div·class="ttdoc">A·hybrid·conditional·in·the·Conditional·Linear·Gaussian·scheme.</div></div>255 <div·class="ttc"·id="aa00494_html"><div·class="ttname"><a·href="a00494.html">GaussianMixture.h</a></div><div·class="ttdoc">A·hybrid·conditional·in·the·Conditional·Linear·Gaussian·scheme.</div></div>
257 <div·class="ttc"·id="aa00554_html"><div·class="ttname"><a·href="a00554.html">HybridGaussianFactorGraph.h</a></div><div·class="ttdoc">Linearized·Hybrid·factor·graph·that·uses·type·erasure.</div></div>256 <div·class="ttc"·id="aa00554_html"><div·class="ttname"><a·href="a00554.html">HybridGaussianFactorGraph.h</a></div><div·class="ttdoc">Linearized·Hybrid·factor·graph·that·uses·type·erasure.</div></div>
 257 <div·class="ttc"·id="aa00569_html"><div·class="ttname"><a·href="a00569.html">HybridFactor.h</a></div></div>
 258 <div·class="ttc"·id="aa00590_html"><div·class="ttname"><a·href="a00590.html">Key.h</a></div></div>
258 <div·class="ttc"·id="aa00605_html"><div·class="ttname"><a·href="a00605.html">Conditional.h</a></div><div·class="ttdoc">Base·class·for·conditional·densities.</div></div>259 <div·class="ttc"·id="aa00686_html"><div·class="ttname"><a·href="a00686.html">Conditional.h</a></div><div·class="ttdoc">Base·class·for·conditional·densities.</div></div>
259 <div·class="ttc"·id="aa00611_html"><div·class="ttname"><a·href="a00611.html">Key.h</a></div></div> 
260 <div·class="ttc"·id="aa00773_html"><div·class="ttname"><a·href="a00773.html">GaussianConditional.h</a></div><div·class="ttdoc">Conditional·Gaussian·Base·class.</div></div>260 <div·class="ttc"·id="aa00749_html"><div·class="ttname"><a·href="a00749.html">GaussianConditional.h</a></div><div·class="ttdoc">Conditional·Gaussian·Base·class.</div></div>
261 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>261 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
262 <div·class="ttc"·id="aa01428_html_a1c320e42b033352fbbd8266e3bd5faad"><div·class="ttname"><a·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">gtsam::KeyVector</a></div><div·class="ttdeci">FastVector&lt;·Key·&gt;·KeyVector</div><div·class="ttdoc">Define·collection·type·once·and·for·all·-·also·used·in·wrappers.</div><div·class="ttdef"><b>Definition</b>·Key.h:86</div></div>262 <div·class="ttc"·id="aa01428_html_a1c320e42b033352fbbd8266e3bd5faad"><div·class="ttname"><a·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">gtsam::KeyVector</a></div><div·class="ttdeci">FastVector&lt;·Key·&gt;·KeyVector</div><div·class="ttdoc">Define·collection·type·once·and·for·all·-·also·used·in·wrappers.</div><div·class="ttdef"><b>Definition</b>·Key.h:86</div></div>
263 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>263 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>
264 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>264 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
265 <div·class="ttc"·id="aa01428_html_ae4b4e8e7f0d745882c6a02b507d5bffe"><div·class="ttname"><a·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">gtsam::KeyFormatter</a></div><div·class="ttdeci">std::function&lt;·std::string(Key)&gt;·KeyFormatter</div><div·class="ttdoc">Typedef·for·a·function·to·format·a·key,·i.e.·to·convert·it·to·a·string.</div><div·class="ttdef"><b>Definition</b>·Key.h:35</div></div>265 <div·class="ttc"·id="aa01428_html_ae4b4e8e7f0d745882c6a02b507d5bffe"><div·class="ttname"><a·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">gtsam::KeyFormatter</a></div><div·class="ttdeci">std::function&lt;·std::string(Key)&gt;·KeyFormatter</div><div·class="ttdoc">Typedef·for·a·function·to·format·a·key,·i.e.·to·convert·it·to·a·string.</div><div·class="ttdef"><b>Definition</b>·Key.h:35</div></div>
266 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>266 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
267 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div>267 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div>
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 135 Varun·Agrawal·</dd></dl>
 136 <dl·class="section·date"><dt>Date</dt><dd>Mar·12,·2022·</dd></dl>
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107 <a·href="a00494.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00494.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
 120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/discrete/DecisionTree-inl.h&gt;</span></div>
 121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00194.html">gtsam/discrete/DecisionTree.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00224.html">gtsam/discrete/DecisionTreeFactor.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00230.html">gtsam/discrete/DiscreteKey.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00497.html">gtsam/hybrid/GaussianMixtureFactor.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00569.html">gtsam/hybrid/HybridBayesNet.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00569.html">gtsam/hybrid/HybridFactor.h</a>&gt;</span></div>
 126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00686.html">gtsam/inference/Conditional.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00554.html">gtsam/hybrid/HybridGaussianFactorGraph.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00749.html">gtsam/linear/GaussianConditional.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00671.html">gtsam/inference/EliminationTree.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
 131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05044.html">HybridValues</a>;</div>
 132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
126 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};">133 <div·class="foldopen"·id="foldopen00053"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a03444.html">···31</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03444.html">HybridEliminationTree</a></div>134 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a03392.html">···53</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03392.html">GaussianMixture</a></div>
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree</a>&lt;HybridBayesNet,·HybridGaussianFactorGraph&gt;·{</div>135 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>,</div>
 136 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03572.html">Conditional</a>&lt;HybridFactor,·GaussianMixture&gt;·{</div>
129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·<span·class="keyword">private</span>:</div> 
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">friend</span>·class·::EliminationTreeTester;</div> 
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·<span·class="keyword">public</span>:</div>137 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·<span·class="keyword">public</span>:</div>
133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree&lt;HybridBayesNet,·HybridGaussianFactorGraph&gt;</a></div> 
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03444.html#afe7432e190ac8896e3cbd931c8c5e9fb">···38</a></span>······<a·class="code·hl_typedef"·href="a03444.html#afe7432e190ac8896e3cbd931c8c5e9fb">Base</a>;····································</div> 
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03444.html#a1f947f2eca107d6bc9cfc8ed85e0a666">···39</a></span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03444.html">HybridEliminationTree</a>·<a·class="code·hl_typedef"·href="a03444.html#a1f947f2eca107d6bc9cfc8ed85e0a666">This</a>;··········</div> 
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a03444.html#add6a302f534ecd096686609379b13ee1">···40</a></span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03444.html#add6a302f534ec[·...·truncated·by·diffoscope;·len:·38,·SHA:·c823002122ec247e5829e69e0aea3f9b33c641cc839b1f506b4ceafee5d3f84a·...·]</div>138 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03392.html">This</a>·=·<a·class="code·hl_class"·href="a03392.html">GaussianMixture</a>;</div>
 139 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;GaussianMixture&gt;;</div>
 140 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03448.html">BaseFactor</a>·=·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>;</div>
 141 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03572.html">BaseConditional</a>·=·<a·class="code·hl_class"·href="a03572.html">Conditional&lt;HybridFactor,·GaussianMixture&gt;</a>;</div>
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>142 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 143 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a03392.html#a96aab537232e820686ba7117ee424ab5">···63</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02796.html">Conditionals</a>·=·<a·class="code·hl_class"·href="a02796.html">DecisionTree&lt;Key,·GaussianConditional::shared_ptr&gt;</a>;</div>
138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div> 
139 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<a·class="code·hl_class"·href="a03444.html">HybridEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03464.html">HybridGaussianFactorGraph</a>&amp;·factorGraph,</div> 
140 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03700.html">VariableIndex</a>&amp;·structure,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div> 
141 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div> 
142 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<a·class="code·hl_class"·href="a03444.html">HybridEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03464.html">HybridGaussianFactorGraph</a>&amp;·factorGraph,</div> 
143 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div> 
144 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>144 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 145 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·<span·class="keyword">private</span>:</div>
 146 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<a·class="code·hl_class"·href="a02796.html">Conditionals</a>·conditionals_;··</div>
 147 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keywordtype">double</span>·logConstant_;·········</div>
145 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>148 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
146 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03444.html">This</a>&amp;·other,·<span[·...·truncated·by·diffoscope;·len:·45,·SHA:·a42b2218957a7ad8e376e2953bf128a263e4ba796e04f6365032656d05cc8710·...·])·<span·class="keyword">const</span>;</div>149 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<a·class="code·hl_class"·href="a02796.html">GaussianFactorGraphTree</a>·asGaussianFactorGraphTree()·<span·class="keyword">const</span>;</div>
 150 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
 151 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··std::function&lt;<a·class="code·hl_typedef"·href="a03764.html#aca05dc6ca9aea64f4621a8c8d2bf3d01">GaussianConditional::shared_ptr</a>(</div>
 152 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02772.html">Assignment&lt;Key&gt;</a>·&amp;,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03764.html#aca05dc6ca9aea64f4621a8c8d2bf3d01">GaussianConditional::shared_ptr</a>·&amp;)&gt;</div>
 153 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<a·class="code·hl_function"·href="a01428.html#ae6415c63d70d1b582a0162652b16b868">prunerFunc</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02808.html">DecisionTreeFactor</a>·&amp;decisionTree);</div>
 154 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>
 155 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·<span·class="keyword">public</span>:</div>
 156 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
 157 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno"><a·class="line"·href="a03392.html#a3656df047c72d0192f5592df93ca524e">···90</a></span>··<a·class="code·hl_function"·href="a03392.html#a3656df047c72d0192f5592df93ca524e">GaussianMixture</a>()·=·<span·class="keywordflow">default</span>;</div>
147 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>};</div>158 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>
 159 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>··<a·class="code·hl_class"·href="a03392.html">GaussianMixture</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;continuousFrontals,</div>
 160 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>··················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;continuousParents,</div>
 161 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>··················<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;discreteParents,</div>
 162 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>··················<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02796.html">Conditionals</a>·&amp;conditionals);</div>
 163 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>·</div>
 164 <div·class="line"><a·id="l00116"·name="l00116"></a><span·class="lineno">··116</span>··<a·class="code·hl_class"·href="a03392.html">GaussianMixture</a>(<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;&amp;continuousFrontals,·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;&amp;continuousParents,</div>
 165 <div·class="line"><a·id="l00117"·name="l00117"></a><span·class="lineno">··117</span>··················<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;&amp;discreteParents,</div>
 166 <div·class="line"><a·id="l00118"·name="l00118"></a><span·class="lineno">··118</span>··················std::vector&lt;GaussianConditional::shared_ptr&gt;·&amp;&amp;conditionals);</div>
 167 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>·</div>
 168 <div·class="line"><a·id="l00128"·name="l00128"></a><span·class="lineno">··128</span>··<a·class="code·hl_class"·href="a03392.html">GaussianMixture</a>(</div>
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130 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
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 125 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang·</dd>
 126 <dd>
 127 Varun·Agrawal·</dd>
 128 <dd>
 129 Frank·Dellaert·</dd></dl>
132 <dl·class="section·date"><dt>Date</dt><dd>Mar·11,·2022·</dd></dl>130 <dl·class="section·date"><dt>Date</dt><dd>Mar·12,·2022·</dd></dl>
133 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang·</dd></dl> 
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00569.html">gtsam/hybrid/HybridBayesNet.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00257.html">gtsam/discrete/AlgebraicDecisionTree.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00194.html">gtsam/discrete/DecisionTree.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00230.html">gtsam/discrete/DiscreteKey.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00554.html">gtsam/hybrid/HybridGaussianFactorGraph.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00569.html">gtsam/hybrid/HybridFactor.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00680.html">gtsam/inference/BayesTree.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00602.html">gtsam/inference/BayesTreeCliqueBase.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00605.html">gtsam/inference/Conditional.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00785.html">gtsam/linear/GaussianBayesTree.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00737.html">gtsam/linear/GaussianFactor.h</a>&gt;</span></div>
 125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div> 
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">//·Forward·declarations</span></div> 
132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">class·</span>HybridConditional;</div>129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05044.html">HybridValues</a>;</div>
 130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05040.html">DiscreteValues</a>;</div>
133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div>131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div>
134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">/*·*************************************************************************·*/</span></div> 
136 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="};">133 <div·class="foldopen"·id="foldopen00047"·data-start="{"·data-end="};">
 134 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a03400.html">···47</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03400.html">GaussianMixtureFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>·{</div>
137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a03420.html">···44</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03420.html">HybridBayesTreeClique</a></div> 
138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase</a>&lt;HybridBayesTreeClique,</div> 
139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·································HybridGaussianFactorGraph&gt;·{</div> 
140 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·<span·class="keyword">public</span>:</div>135 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·<span·class="keyword">public</span>:</div>
 136 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03448.html">Base</a>·=·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>;</div>
 137 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03400.html">This</a>·=·<a·class="code·hl_class"·href="a03400.html">GaussianMixtureFactor</a>;</div>
141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03420.html">HybridBayesTreeClique</a>·<a·class="code·hl_class"·href="a03420.html">This</a>;</div> 
142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase&lt;HybridBayesTreeClique,·HybridGaussianFactorGraph&gt;</a></div> 
143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······<a·class="code·hl_class"·href="a03552.html">Base</a>;</div> 
144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>138 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;This&gt;;</div>
145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">typedef</span>·boost::weak_ptr&lt;This&gt;·weak_ptr;</div> 
146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<a·class="code·hl_class"·href="a03420.html">HybridBayesTreeClique</a>()·{}</div> 
147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03420.html#adf67c91e9b314b8b73db5698a287a5ce">···54</a></span>··<a·class="code·hl_function"·href="a03420.html#adf67c91e9b314b8b73db5698a287a5ce">HybridBayesTreeClique</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;HybridConditional&gt;&amp;·conditional)</div> 
148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······:·<a·class="code·hl_class"·href="a03552.html">Base</a>(conditional)·{}</div> 
149 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<a·class="code·hl_class"·href="a03420.html">HybridBayesTreeClique</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03420.html">HybridBayesTreeClique</a>&amp;·clique)·:·Base(clique)·{}</div> 
150 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>139 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">virtual</span>·~HybridBayesTreeClique()·{}</div>140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">using·</span>sharedFactor·=·boost::shared_ptr&lt;GaussianFactor&gt;;</div>
152 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>};</div>141 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
153 </div>142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a03400.html#aa9e043f6c690cc0c6f224b0ac0281106">···56</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02796.html">Factors</a>·=·<a·cl[·...·truncated·by·diffoscope;·len:·82,·SHA:·0d083a1b69e146c08c0ab9f65acda0481edd94877c1aabfc85cf6386df105e04·...·]/div>
 143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 144 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·<span·class="keyword">private</span>:</div>
 145 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<a·class="code·hl_class"·href="a02796.html">Factors</a>·factors_;</div>
154 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>146 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 147 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<a·class="code·hl_class"·href="a02796.html">GaussianFactorGraphTree</a>·asGaussianFactorGraphTree()·<span·class="keyword">const</span>;</div>
155 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span><span·class="comment">/*·*************************************************************************·*/</span></div> 
156 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="};"> 
157 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03424.html">···64</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03424.html">HybridBayesTree</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree</a>&lt;HybridBayesTreeClique&gt;·{</div> 
158 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·<span·class="keyword">private</span>:</div> 
159 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree&lt;HybridBayesTreeClique&gt;</a>·<a·class="code·hl_class"·href="a03540.html">Base</a>;</div> 
160 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>148 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
161 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·<span·class="keyword">public</span>:</div>149 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·<span·class="keyword">public</span>:</div>
162 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03424.html">HybridBayesTree</a>·<a·class="code·hl_class"·href="a03424.html">This</a>;</div> 
163 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div> 
164 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>150 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
 151 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a03400.html#a1fd07541d71b0fc8de61ee3be36c86dc">···75</a></span>··<a·class="code·hl_function"·href="a03400.html#a1fd07541d71b0fc8de61ee3be36c86dc">GaussianMixtureFactor</a>()·=·<span·class="keywordflow">default</span>;</div>
165 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div> 
166 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a03424.html#ae9f77b08b368d6ea0b6fa1e29148202d">···75</a></span>··<a·class="code·hl_function"·href="a03424.html#ae9f77b08b368d6ea0b6fa1e29148202d">HybridBayesTree</a>()·=·<span·class="keywordflow">default</span>;</div> 
167 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>152 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
168 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03424.html">This</a>&amp;·other,·<span[·...·truncated·by·diffoscope;·len:·82,·SHA:·8be1bb12112d80ee4602784bd19d2fae7236e0c22225be95075380527928b9f7·...·]</div>153 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··<a·class="code·hl_class"·href="a03400.html">GaussianMixtureFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·[·...·truncated·by·diffoscope;·len:·20,·SHA:·d7991fc21ce4d446a962cc36f6a00a7335716b85b72bb875b0036cb9b546b130·...·]</div>
 154 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>························<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;discreteKeys,</div>
 155 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02796.html">Factors</a>·&amp;factors);</div>
169 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>156 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>
170 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<a·class="code·hl_class"·href="a03756.html">GaussianBayesTree</a>·choose(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·assignment)·<span·class="keyword">const</span>;</div> 
171 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div> 
172 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··<a·class="code·hl_class"·href="a03504.html">HybridValues</a>·<a·class="code·hl_function"·href="a01428.html#a4b0057879b0c5f323185452b0d1a4232">optimize</a>()·<span·class="keyword">const</span>;</div> 
173 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>·</div> 
174 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>··<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·<a·class="code·hl_function"·href="a01428.html#a4b0057879b0c5f323185452b0d1a4232">optimize</a>(<span·class="keyword">const[·...·truncated·by·diffoscope;·len:·128,·SHA:·a797c911061649756691dfafed8d76538989194c45cecbbb66f22773cb9d4e73·...·]>157 <div·class="foldopen"·id="foldopen00098"·data-start="{"·data-end="}">
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 159 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>························<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;discreteKeys,</div>
 160 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>························<span·class="keyword">const</span>·std::vector&lt;sharedFactor&gt;·&amp;factors)</div>
 161 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>······:·<a·class="code·hl_class"·href="a03400.html">GaussianMixtureFactor</a>(continuousKeys,·discreteKeys,</div>
 162 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>······························<a·class="code·hl_class"·href="a02796.html">Factors</a>(discreteKeys,·factors))·{}</div>
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176 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>··<span·class="keywordtype">void</span>·prune(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·maxNumberLeaves);</div>165 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>·</div>
 166 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>·&amp;lf,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const·override</span>;</div>
 167 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>·</div>
 168 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(</div>
 169 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>······<span·class="keyword">const</span>·std::string·&amp;s·=·<span·class="stringliteral">&quot;GaussianMixtureFactor\n&quot;</span>,</div>
 170 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;formatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div>
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181 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div> 
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116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00497.html">gtsam/hybrid/HybridBayesTree.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00539.html">gtsam/hybrid/HybridBayesTree.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00554.html">gtsam/hybrid/HybridGaussianFactorGraph.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00554.html">gtsam/hybrid/HybridGaussianFactorGraph.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00653.html">gtsam/inference/ISAM.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00680.html">gtsam/inference/ISAM.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
128 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">128 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">
129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a03468.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03468.html">HybridGaussianISAM</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03640.html">ISAM</a>&lt;HybridBayesTree&gt;·{</div>129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a03468.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03468.html">HybridGaussianISAM</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03640.html">ISAM</a>&lt;HybridBayesTree&gt;·{</div>
130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·<span·class="keyword">public</span>:</div>130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·<span·class="keyword">public</span>:</div>
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03640.html">ISAM&lt;HybridBayesTree&gt;</a>·<a·class="code·hl_class"·href="a03640.html">Base</a>;</div>131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03640.html">ISAM&lt;HybridBayesTree&gt;</a>·<a·class="code·hl_class"·href="a03640.html">Base</a>;</div>
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160 </div>160 </div>
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162 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span><span·class="keyword">template</span>·&lt;&gt;</div>162 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span><span·class="keyword">template</span>·&lt;&gt;</div>
163 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno"><a·class="line"·href="a03472.html">···90</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03468.html">HybridGaussianISAM</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;HybridGaussianISAM&gt;·{};</div>163 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno"><a·class="line"·href="a03472.html">···90</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03468.html">HybridGaussianISAM</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;HybridGaussianISAM&gt;·{};</div>
164 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>164 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>
165 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>}··<span·class="comment">//·namespace·gtsam</span></div>165 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>}··<span·class="comment">//·namespace·gtsam</span></div>
166 <div·class="ttc"·id="aa00071_html"><div·class="ttname"><a·href="a00071.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>166 <div·class="ttc"·id="aa00107_html"><div·class="ttname"><a·href="a00107.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>
167 <div·class="ttc"·id="aa00497_html"><div·class="ttname"><a·href="a00497.html">HybridBayesTree.h</a></div><div·class="ttdoc">Hybrid·Bayes·Tree,·the·result·of·eliminating·a·HybridJunctionTree.</div></div>167 <div·class="ttc"·id="aa00539_html"><div·class="ttname"><a·href="a00539.html">HybridBayesTree.h</a></div><div·class="ttdoc">Hybrid·Bayes·Tree,·the·result·of·eliminating·a·HybridJunctionTree.</div></div>
168 <div·class="ttc"·id="aa00554_html"><div·class="ttname"><a·href="a00554.html">HybridGaussianFactorGraph.h</a></div><div·class="ttdoc">Linearized·Hybrid·factor·graph·that·uses·type·erasure.</div></div>168 <div·class="ttc"·id="aa00554_html"><div·class="ttname"><a·href="a00554.html">HybridGaussianFactorGraph.h</a></div><div·class="ttdoc">Linearized·Hybrid·factor·graph·that·uses·type·erasure.</div></div>
169 <div·class="ttc"·id="aa00653_html"><div·class="ttname"><a·href="a00653.html">ISAM.h</a></div><div·class="ttdoc">Incremental·update·functionality·(iSAM)·for·BayesTree.</div></div>169 <div·class="ttc"·id="aa00680_html"><div·class="ttname"><a·href="a00680.html">ISAM.h</a></div><div·class="ttdoc">Incremental·update·functionality·(iSAM)·for·BayesTree.</div></div>
170 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>170 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
171 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>171 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
172 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>172 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>
173 <div·class="ttc"·id="aa03424_html"><div·class="ttname"><a·href="a03424.html">gtsam::HybridBayesTree</a></div><div·class="ttdoc">A·Bayes·tree·representing·a·Hybrid·density.</div><div·class="ttdef"><b>Definition</b>·HybridBayesTree.h:64</div></div>173 <div·class="ttc"·id="aa03424_html"><div·class="ttname"><a·href="a03424.html">gtsam::HybridBayesTree</a></div><div·class="ttdoc">A·Bayes·tree·representing·a·Hybrid·density.</div><div·class="ttdef"><b>Definition</b>·HybridBayesTree.h:64</div></div>
174 <div·class="ttc"·id="aa03464_html"><div·class="ttname"><a·href="a03464.html">gtsam::HybridGaussianFactorGraph</a></div><div·class="ttdef"><b>Definition</b>·HybridGaussianFactorGraph.h:102</div></div>174 <div·class="ttc"·id="aa03464_html"><div·class="ttname"><a·href="a03464.html">gtsam::HybridGaussianFactorGraph</a></div><div·class="ttdef"><b>Definition</b>·HybridGaussianFactorGraph.h:102</div></div>
175 <div·class="ttc"·id="aa03468_html"><div·class="ttname"><a·href="a03468.html">gtsam::HybridGaussianISAM</a></div><div·class="ttdef"><b>Definition</b>·HybridGaussianISAM.h:34</div></div>175 <div·class="ttc"·id="aa03468_html"><div·class="ttname"><a·href="a03468.html">gtsam::HybridGaussianISAM</a></div><div·class="ttdef"><b>Definition</b>·HybridGaussianISAM.h:34</div></div>
176 <div·class="ttc"·id="aa03640_html"><div·class="ttname"><a·href="a03640.html">gtsam::ISAM</a></div><div·class="ttdoc">A·Bayes·tree·with·an·update·methods·that·implements·the·iSAM·algorithm.</div><div·class="ttdef"><b>Definition</b>·ISAM.h:31</div></div>176 <div·class="ttc"·id="aa03640_html"><div·class="ttname"><a·href="a03640.html">gtsam::ISAM</a></div><div·class="ttdoc">A·Bayes·tree·with·an·update·methods·that·implements·the·iSAM·algorithm.</div><div·class="ttdef"><b>Definition</b>·ISAM.h:31</div></div>
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 137 Varun·Agrawal·</dd>
 138 <dd>
 139 Frank·Dellaert·</dd></dl>
 140 <dl·class="section·date"><dt>Date</dt><dd>Mar·11,·2022·</dd></dl>
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137 Varun·Agrawal·</dd> 
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140 <dl·class="section·date"><dt>Date</dt><dd>Mar·11,·2022·</dd></dl>133 <dl·class="section·date"><dt>Date</dt><dd>May·28,·2022·</dd></dl>
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128 <dd> 
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134 <dd> 
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125 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
126 ··<ul>138 ··<ul>
127 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_56c2e1a1204958ddcb066d7d52d67173.html">hybrid</a></li><li·class="navelem"><a·class="el"·href="a00539.html">HybridNonlinearISAM.h</a></li>139 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_56c2e1a1204958ddcb066d7d52d67173.html">hybrid</a></li><li·class="navelem"><a·class="el"·href="a00539.html">HybridBayesTree.h</a></li>
128 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>140 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
129 ··</ul>141 ··</ul>
130 </div>142 </div>
131 </body>143 </body>
132 </html>144 </html>
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/HybridNonlinearISAM.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/HybridBayesTree.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">HybridNonlinearISAM.h</div></div>104 ··<div·class="headertitle"><div·class="title">HybridBayesTree.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00539.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00539.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00500.html">gtsam/hybrid/HybridGaussianISAM.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00548.html">gtsam/hybrid/HybridBayesNet.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00557.html">gtsam/hybrid/HybridNonlinearFactorGraph.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00554.html">gtsam/hybrid/HybridGaussianFactorGraph.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00668.html">gtsam/inference/BayesTree.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00587.html">gtsam/inference/BayesTreeCliqueBase.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00686.html">gtsam/inference/Conditional.h</a>&gt;</span></div>
 125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00752.html">gtsam/linear/GaussianBayesTree.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
 127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
 131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">//·Forward·declarations</span></div>
 132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">class·</span>HybridConditional;</div>
 133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div>
 134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">/*·*************************************************************************·*/</span></div>
124 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="};">136 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="};">
 137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a03420.html">···44</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03420.html">HybridBayesTreeClique</a></div>
 138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase</a>&lt;HybridBayesTreeClique,</div>
 139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·································HybridGaussianFactorGraph&gt;·{</div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03496.html">···27</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03496.html">HybridNonlinearISAM</a>·{</div> 
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·<span·class="keyword">protected</span>:</div> 
127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a03496.html#abc388dedfd3df948cce9e9844eb07f86">···30</a></span>··<a·class="code·hl_class"·href="a03468.html">gtsam::HybridGaussianISAM</a>·<a·class="code·hl_variable"·href="a03496.html#abc388dedfd3df948cce9e9844eb07f86">isam_</a>;</div> 
128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a03496.html#a8a56f5375ea8088c0a1b017a4be8528d">···33</a></span>··<a·class="code·hl_class"·href="a04612.html">Values</a>·<a·class="code·hl_variable"·href="a03496.html#a8a56f5375ea8088c0a1b017a4be8528d">linPoint_</a>;</div> 
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div> 
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03496.html#a231caf8f3176fa7e5000ba121baf4de4">···36</a></span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>·<a·class="code·hl_variable"·href="a03496.html#a231caf8f3176fa7e5000ba121baf4de4">assignment_</a>;</div> 
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div> 
133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03496.html#a37f1f9aa1ba8caa26e236e5bf7326969">···39</a></span>··<a·class="code·hl_class"·href="a03488.html">HybridNonlinearFactorGraph</a>·<a·class="code·hl_variable"·href="a03496.html#a37f1f9aa1ba8caa26e236e5bf7326969">factors_</a>;</div> 
134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
135 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a03496.html#a83959d538b1f8c11e5d2d18098320d16">···42</a></span>··<span·class="keywordtype">int</span>·<a·class="code·hl_variable"·href="a03496.html#a83959d538b1f8c11e5d2d18098320d16">reorderInterval_</a>;</div> 
136 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keywordtype">int</span>·reorderCounter_;</div> 
137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div> 
138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a03496.html#ac1b5740936424126b8adf617f7700058">···46</a></span>··<a·class="code·hl_typedef"·href="a03580.html#a4053522180fd649baf38a49c515e7b53">HybridGaussianFactorGraph::Eliminate</a>·<a·class="code·hl_variable"·href="a03496.html#ac1b5740936424126b8adf617f7700058">eliminationFunction_</a>;</div> 
139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·<span·class="keyword">public</span>:</div>140 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·<span·class="keyword">public</span>:</div>
 141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03420.html">HybridBayesTreeClique</a>·<a·class="code·hl_class"·href="a03420.html">This</a>;</div>
 142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase&lt;HybridBayesTreeClique,·HybridGaussianFactorGraph&gt;</a></div>
 143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······<a·class="code·hl_class"·href="a03552.html">Base</a>;</div>
 144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
 145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">typedef</span>·boost::weak_ptr&lt;This&gt;·weak_ptr;</div>
 146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<a·class="code·hl_class"·href="a03420.html">HybridBayesTreeClique</a>()·{}</div>
 147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03420.html#adf67c91e9b314b8b73db5698a287a5ce">···54</a></span>··<a·class="code·hl_function"·href="a03420.html#adf67c91e9b314b8b73db5698a287a5ce">HybridBayesTreeClique</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;HybridConditional&gt;&amp;·conditional)</div>
 148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······:·<a·class="code·hl_class"·href="a03552.html">Base</a>(conditional)·{}</div>
 149 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<a·class="code·hl_class"·href="a03420.html">HybridBayesTreeClique</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03420.html">HybridBayesTreeClique</a>&amp;·clique)·:·Base(clique)·{}</div>
141 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>150 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
142 <div·class="foldopen"·id="foldopen00059"·data-start="{"·data-end="}"> 
143 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a03496.html#a343272d257ca8e8c59b1e8a3d35a9371">···59</a></span>··<a·class="code·hl_function"·href="a03496.html#a343272d257ca8e8c59b1e8a3d35a9371">HybridNonlinearISAM</a>(</div> 
144 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<span·class="keywordtype">int</span>·reorderInterval·=·1,</div>151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">virtual</span>·~HybridBayesTreeClique()·{}</div>
145 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03580.html#a4053522180fd649baf38a49c515e7b53">HybridGaussianFactorGraph::Eliminate</a>&amp;·eliminationFunction·=</div> 
146 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··········HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate)</div> 
147 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······:·reorderInterval_(reorderInterval),</div> 
148 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>········reorderCounter_(0),</div>152 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>};</div>
149 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>········eliminationFunction_(eliminationFunction)·{}</div> 
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151 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>154 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 155 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span><span·class="comment">/*·*************************************************************************·*/</span></div>
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 157 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03424.html">···64</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03424.html">HybridBayesTree</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree</a>&lt;HybridBayesTreeClique&gt;·{</div>
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 159 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree&lt;HybridBayesTreeClique&gt;</a>·<a·class="code·hl_class"·href="a03540.html">Base</a>;</div>
152 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>160 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<a·class="code·hl_class"·href="a04612.html">Values</a>·estimate();</div>161 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·<span·class="keyword">public</span>:</div>
 162 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03424.html">HybridBayesTree</a>·<a·class="code·hl_class"·href="a03424.html">This</a>;</div>
 163 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
154 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>164 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
155 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<span·class="comment">//·/**·find·the·marginal·covariance·for·a·single·variable·*/</span></div> 
156 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<span·class="comment">//·Matrix·marginalCovariance(Key·key)·const;</span></div>165 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
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157 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>167 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
158 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="comment">//·access</span></div>168 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03424.html">This</a>&amp;·other,·<span·[·...·truncated·by·diffoscope;·len:·81,·SHA:·fa4eeffb3131cfab4dfd5487990fd860b2603207b850f7149768c70a34e5b0c1·...·]</div>
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168 <div·class="foldopen"·id="foldopen00096"·data-start="{"·data-end="}"> 
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170 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>····<span·class="keywordflow">return</span>·factors_;</div> 
171 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··}</div> 
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173 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>·</div> 
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113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
114 <div·class="textblock"><p>An·incremental·smoother·for·hybrid·factor·graphs.·</p>112 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·11,·2022·</dd></dl>
115 <dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal·</dd></dl>113 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang·</dd></dl>
116 <dl·class="section·date"><dt>Date</dt><dd>October·2022·</dd></dl> 
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106 <table·class="memberdecls">107 <table·class="memberdecls">
107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a> 
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 128 Fan·Jiang·</dd>
 129 <dd>
 130 Frank·Dellaert·</dd></dl>
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133 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>128 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/MixtureFactor.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/HybridEliminationTree.h·Source·File</title>
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10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">MixtureFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">HybridEliminationTree.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00551.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00551.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00233.html">gtsam/discrete/DiscreteValues.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00548.html">gtsam/hybrid/HybridBayesNet.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00533.html">gtsam/hybrid/GaussianMixtureFactor.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00554.html">gtsam/hybrid/HybridGaussianFactorGraph.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00638.html">gtsam/inference/EliminationTree.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00566.html">gtsam/hybrid/HybridValues.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08140.html">gtsam/nonlinear/Symbol.h</a>&gt;</span></div> 
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;algorithm&gt;</span></div> 
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;boost/format.hpp&gt;</span></div> 
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;cmath&gt;</span></div> 
130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;limits&gt;</span></div> 
131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div> 
132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div> 
133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
135 <div·class="foldopen"·id="foldopen00048"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};">
136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a03512.html">···48</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03512.html">MixtureFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·hr[·...·truncated·by·diffoscope;·len:·35,·SHA:·b8c8931f526fb3770afea4cb71ccbc16f3925e04b5061e62f43834cd5384029e·...·]</div>127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a03444.html">···31</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03444.html">HybridEliminationTree</a></div>
 128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree</a>&lt;HybridBayesNet,·HybridGaussianFactorGraph&gt;·{</div>
137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·<span·class="keyword">public</span>:</div>129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·<span·class="keyword">private</span>:</div>
138 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03448.html">Base</a>·=·<a·class="code·hl_function"·href="a03448.html#a97bb25c7e119639c38ae44bb05f53775">HybridFactor</a>;</div> 
139 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03512.html">This</a>·=·<a·class="code·hl_class"·href="a03512.html">MixtureFactor</a>;</div> 
140 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;MixtureFactor&gt;;</div> 
141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">using·</span>sharedFactor·=·boost::shared_ptr&lt;NonlinearFactor&gt;;</div>130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">friend</span>·class·::EliminationTreeTester;</div>
142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
143 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a03512.html#ad4db04b85e8278edf499c88fbddb68db">···59</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02796.html">Factors</a>·=·<a·class="code·hl_class"·href="a02796.html">DecisionTree&lt;Key,·sharedFactor&gt;</a>;</div> 
144 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
145 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·<span·class="keyword">private</span>:</div> 
146 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<a·class="code·hl_class"·href="a02796.html">Factors</a>·factors_;</div> 
147 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keywordtype">bool</span>·normalized_;</div> 
148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div> 
149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·<span·class="keyword">public</span>:</div>132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·<span·class="keyword">public</span>:</div>
150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<a·class="code·hl_class"·href="a03512.html">MixtureFactor</a>()·=·<span·class="keywordflow">default</span>;</div>133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree&lt;HybridBayesNet,·HybridGaussianFactorGraph&gt;</a></div>
 134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03444.html#afe7432e190ac8896e3cbd931c8c5e9fb">···38</a></span>······<a·class="code·hl_typedef"·href="a03444.html#afe7432e190ac8896e3cbd931c8c5e9fb">Base</a>;····································</div>
 135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03444.html#a1f947f2eca107d6bc9cfc8ed85e0a666">···39</a></span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03444.html">HybridEliminationTree</a>·<a·class="code·hl_typedef"·href="a03444.html#a1f947f2eca107d6bc9cfc8ed85e0a666">This</a>;··········</div>
 136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a03444.html#add6a302f534ecd096686609379b13ee1">···40</a></span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03444.html#add6a302f534ecd096686609379b13ee1">shared_ptr</a>;··</div>
 137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
 139 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<a·class="code·hl_class"·href="a03444.html">HybridEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03464.html">HybridGaussianFactorGraph</a>&amp;·factorGraph,</div>
 140 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03700.html">VariableIndex</a>&amp;·structure,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div>
151 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>141 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
152 <div·class="foldopen"·id="foldopen00078"·data-start="{"·data-end="}"> 
153 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a03512.html#a73d8c97975bf9097f52832e36674f491">···78</a></span>··<a·class="code·hl_function"·href="a03512.html#a73d8c97975bf9097f52832e36674f491">MixtureFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·<a·class="code·hl_function"·href="a03448.html#ae85edac700e36080970d91d4fa2e42f8">discreteKeys</a>,</div> 
154 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>················<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02796.html">Factors</a>&amp;·factors,·<span·class="keywordtype">bool</span>·normalized·=·<span·class="keyword">false</span>)</div> 
155 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······:·<a·class="code·hl_class"·href="a03448.html">Base</a>(<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,·<a·class="code·hl_function"·href="a03448.html#ae8[·...·truncated·by·diffoscope;·len:·96,·SHA:·bd9601c828f22d3d91a13cc6ea1e5897dd56138043528be4dd2fd802aac852ff·...·]</div>142 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<a·class="code·hl_class"·href="a03444.html">HybridEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03464.html">HybridGaussianFactorGraph</a>&amp;·factorGraph,</div>
 143 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div>
 144 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 145 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
 146 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03444.html">This</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div>
 147 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>};</div>
156 </div>148 </div>
157 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>149 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
158 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·FACTOR&gt;</div> 
159 <div·class="foldopen"·id="foldopen00099"·data-start="{"·data-end="}"> 
160 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno"><a·class="line"·href="a03512.html#a208364f49a62d45c5d8c34487231a527">···99</a></span>··<a·class="code·hl_function"·href="a03512.html#a208364f49a62d45c5d8c34487231a527">MixtureFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·<a·class="code·hl_function"·href="a03448.html#ae85edac700e36080970d91d4fa2e42f8">discreteKeys</a>,</div> 
161 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>················<span·class="keyword">const</span>·std::vector&lt;boost::shared_ptr&lt;FACTOR&gt;&gt;&amp;·factors,</div> 
162 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>················<span·class="keywordtype">bool</span>·normalized·=·<span·class="keyword">false</span>)</div> 
163 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>······:·<a·class="code·hl_class"·href="a03448.html">Base</a>(<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,·<a·class="code·hl_function"·href="a03448.html#ae85edac700e36080970d91d4fa2e42f8">discreteKeys</a>),·normalized_(normalized)·{</div> 
164 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>····std::vector&lt;NonlinearFactor::shared_ptr&gt;·nonlinear_factors;</div> 
165 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>····<a·class="code·hl_class"·href="a02320.html">KeySet</a>·continuous_keys_set(<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>.begin(),·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>.end());</div> 
166 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>····<a·class="code·hl_class"·href="a02320.html">KeySet</a>·factor_keys_set;</div> 
167 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>····<span·class="keywordflow">for</span>·(<span·class="keyword">auto</span>&amp;&amp;·f·:·factors)·{</div> 
168 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>······<span·class="comment">//·Insert·all·factor·continuous·keys·in·the·continuous·keys·set.</span></div> 
169 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>······std::copy(f-&gt;keys().begin(),·f-&gt;keys().end(),</div> 
170 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>················std::inserter(factor_keys_set,·factor_keys_set.end()));</div> 
171 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>·</div> 
172 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>······<span·class="keywordflow">if</span>·(<span·class="keyword">auto</span>·nf·=·boost::dynamic_pointer_cast&lt;NonlinearFactor&gt;(f))·{</div> 
173 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>········nonlinear_factors.push_back(nf);</div> 
174 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno">··113</span>······}·<span·class="keywordflow">else</span>·{</div> 
175 <div·class="line"><a·id="l00114"·name="l00114"></a><span·class="lineno">··114</span>········<span·class="keywordflow">throw</span>·std::runtime_error(</div> 
176 <div·class="line"><a·id="l00115"·name="l00115"></a><span·class="lineno">··115</span>············<span·class="stringliteral">&quot;Factors·passed·into·MixtureFactor·need·to·be·nonlinear!&quot;</span>);</div> 
177 <div·class="line"><a·id="l00116"·name="l00116"></a><span·class="lineno">··116</span>······}</div> 
178 <div·class="line"><a·id="l00117"·name="l00117"></a><span·class="lineno">··117</span>····}</div> 
179 <div·class="line"><a·id="l00118"·name="l00118"></a><span·class="lineno">··118</span>····factors_·=·<a·class="code·hl_typedef"·href="a03512.html#ad4db04b85e8278edf499c88fbddb68db">Factors</a>(<a·class="code·hl_function"·href="a03448.html#ae85edac700e36080970d91d4fa2e42f8">discreteKeys</a>,·nonlinear_factors);</div> 
180 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>·</div> 
181 <div·class="line"><a·id="l00120"·name="l00120"></a><span·class="lineno">··120</span>····<span·class="keywordflow">if</span>·(continuous_keys_set·!=·factor_keys_set)·{</div> 
182 <div·class="line"><a·id="l00121"·name="l00121"></a><span·class="lineno">··121</span>······<span·class="keywordflow">throw</span>·std::runtime_error(</div> 
183 <div·class="line"><a·id="l00122"·name="l00122"></a><span·class="lineno">··122</span>··········<span·class="stringliteral">&quot;The·specified·continuous·keys·and·the·keys·in·the·factors·don&#39;t·&quot;</span></div> 
184 <div·class="line"><a·id="l00123"·name="l00123"></a><span·class="lineno">··123</span>··········<span·class="stringliteral">&quot;match!&quot;</span>);</div> 
185 <div·class="line"><a·id="l00124"·name="l00124"></a><span·class="lineno">··124</span>····}</div> 
186 <div·class="line"><a·id="l00125"·name="l00125"></a><span·class="lineno">··125</span>··}</div> 
187 </div> 
188 <div·class="line"><a·id="l00126"·name="l00126"></a><span·class="lineno">··126</span>·</div> 
189 <div·class="line"><a·id="l00127"·name="l00127"></a><span·class="lineno">··127</span>··<a·class="code·hl_class"·href="a03512.html">~MixtureFactor</a>()·=·<span·class="keywordflow">default</span>;</div> 
190 <div·class="line"><a·id="l00128"·name="l00128"></a><span·class="lineno">··128</span>·</div> 
191 <div·class="foldopen"·id="foldopen00137"·data-start="{"·data-end="}"> 
192 <div·class="line"><a·id="l00137"·name="l00137"></a><span·class="lineno"><a·class="line"·href="a03512.html#a3d6725fbddfe3717d3e604b39ed3ecad">··137</a></span>··<a·class="code·hl_class"·href="a02760.html">AlgebraicDecisionTree&lt;Key&gt;</a>·<a·class="code·hl_function"·href="a03512.html#a3d6725fbddfe3717d3e604b39ed3ecad">error</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·continuousValues)<span·class="keyword">·const·</span>{</div> 
193 <div·class="line"><a·id="l00138"·name="l00138"></a><span·class="lineno">··138</span>····<span·class="comment">//·functor·to·convert·from·sharedFactor·to·double·error·value.</span></div> 
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Offset 114, 22 lines modifiedOffset 114, 22 lines modified
114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00533.html">gtsam/hybrid/GaussianMixtureFactor.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00497.html">gtsam/hybrid/GaussianMixtureFactor.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00482.html">gtsam/hybrid/HybridFactor.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00569.html">gtsam/hybrid/HybridFactor.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00563.html">gtsam/hybrid/HybridFactorGraph.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00527.html">gtsam/hybrid/HybridFactorGraph.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00677.html">gtsam/inference/EliminateableFactorGraph.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00701.html">gtsam/inference/EliminateableFactorGraph.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00656.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00599.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00596.html">gtsam/inference/Ordering.h</a>&gt;</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00614.html">gtsam/inference/Ordering.h</a>&gt;</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00815.html">gtsam/linear/GaussianFactor.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00737.html">gtsam/linear/GaussianFactor.h</a>&gt;</span></div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00890.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">//·Forward·declarations</span></div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">//·Forward·declarations</span></div>
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">class·</span>HybridGaussianFactorGraph;</div>133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">class·</span>HybridGaussianFactorGraph;</div>
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">class·</span>HybridConditional;</div>134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">class·</span>HybridConditional;</div>
135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">class·</span>HybridBayesNet;</div>135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">class·</span>HybridBayesNet;</div>
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226 <div·class="line"><a·id="l00179"·name="l00179"></a><span·class="lineno">··179</span>·</div>226 <div·class="line"><a·id="l00179"·name="l00179"></a><span·class="lineno">··179</span>·</div>
227 <div·class="line"><a·id="l00189"·name="l00189"></a><span·class="lineno">··189</span>··<a·class="code·hl_class"·href="a02796.html">GaussianFactorGraphTree</a>·assembleGraphTree()·<span·class="keyword">const</span>;</div>227 <div·class="line"><a·id="l00189"·name="l00189"></a><span·class="lineno">··189</span>··<a·class="code·hl_class"·href="a02796.html">GaussianFactorGraphTree</a>·assembleGraphTree()·<span·class="keyword">const</span>;</div>
228 <div·class="line"><a·id="l00190"·name="l00190"></a><span·class="lineno">··190</span>·</div>228 <div·class="line"><a·id="l00190"·name="l00190"></a><span·class="lineno">··190</span>·</div>
229 <div·class="line"><a·id="l00192"·name="l00192"></a><span·class="lineno">··192</span>};</div>229 <div·class="line"><a·id="l00192"·name="l00192"></a><span·class="lineno">··192</span>};</div>
230 </div>230 </div>
231 <div·class="line"><a·id="l00193"·name="l00193"></a><span·class="lineno">··193</span>·</div>231 <div·class="line"><a·id="l00193"·name="l00193"></a><span·class="lineno">··193</span>·</div>
232 <div·class="line"><a·id="l00194"·name="l00194"></a><span·class="lineno">··194</span>}··<span·class="comment">//·namespace·gtsam</span></div>232 <div·class="line"><a·id="l00194"·name="l00194"></a><span·class="lineno">··194</span>}··<span·class="comment">//·namespace·gtsam</span></div>
233 <div·class="ttc"·id="aa00482_html"><div·class="ttname"><a·href="a00482.html">HybridFactor.h</a></div></div> 
234 <div·class="ttc"·id="aa00533_html"><div·class="ttname"><a·href="a00533.html">GaussianMixtureFactor.h</a></div><div·class="ttdoc">A·set·of·GaussianFactors,·indexed·by·a·set·of·discrete·keys.</div></div>233 <div·class="ttc"·id="aa00497_html"><div·class="ttname"><a·href="a00497.html">GaussianMixtureFactor.h</a></div><div·class="ttdoc">A·set·of·GaussianFactors,·indexed·by·a·set·of·discrete·keys.</div></div>
235 <div·class="ttc"·id="aa00563_html"><div·class="ttname"><a·href="a00563.html">HybridFactorGraph.h</a></div><div·class="ttdoc">Factor·graph·with·utilities·for·hybrid·factors.</div></div>234 <div·class="ttc"·id="aa00527_html"><div·class="ttname"><a·href="a00527.html">HybridFactorGraph.h</a></div><div·class="ttdoc">Factor·graph·with·utilities·for·hybrid·factors.</div></div>
 235 <div·class="ttc"·id="aa00569_html"><div·class="ttname"><a·href="a00569.html">HybridFactor.h</a></div></div>
 236 <div·class="ttc"·id="aa00599_html"><div·class="ttname"><a·href="a00599.html">FactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·Base·Class.</div></div>
236 <div·class="ttc"·id="aa00596_html"><div·class="ttname"><a·href="a00596.html">Ordering.h</a></div><div·class="ttdoc">Variable·ordering·for·the·elimination·algorithm.</div></div>237 <div·class="ttc"·id="aa00614_html"><div·class="ttname"><a·href="a00614.html">Ordering.h</a></div><div·class="ttdoc">Variable·ordering·for·the·elimination·algorithm.</div></div>
237 <div·class="ttc"·id="aa00656_html"><div·class="ttname"><a·href="a00656.html">FactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·Base·Class.</div></div> 
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111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00221.html">gtsam/discrete/Assignment.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00230.html">gtsam/discrete/DiscreteKey.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00248.html">gtsam/discrete/DiscreteValues.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00563.html">gtsam/hybrid/HybridFactorGraph.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00890.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01121.html">gtsam/nonlinear/Values.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">class·</span>HybridGaussianFactorGraph;</div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
 128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
126 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">133 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a03488.html">···33</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03488.html">HybridNonlinearFactorGraph</a>·:·<span·class="keyword">public</span>·<a[·...·truncated·by·diffoscope;·len:·59,·SHA:·386980c418af7999c34017f58b573b08b061805605d0e410d4983065cc1e0e52·...·]</a>·{</div>134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03504.html">···38</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03504.html">HybridValues</a>·{</div>
128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·<span·class="keyword">protected</span>:</div>135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·<span·class="keyword">private</span>:</div>
 136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·continuous_;</div>
129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·<span·class="keyword">public</span>:</div> 
130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03456.html">Base</a>·=·<a·class="code·hl_class"·href="a03456.html">HybridFactorGraph</a>;</div> 
131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a03488.html#ae2c01ee4996d8ed75c96a4c054d7dfd6">···37</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03488.html">This</a>·=·<a·class="code·hl_class"·href="a03488.html">HybridNonlinearFactorGraph</a>;·····</div> 
132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03488.html#a43cb2e97c91584ea7accd643ab3a265a">···38</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a03488.html#a43cb2e97c91584ea7accd643ab3a265a">shared_ptr</a>·=·boost::shared_ptr&lt;This&gt;;··</div> 
133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div> 
134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a03488.html#abf62482973bac8d302dba0441ed08b8b">···40</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04612.html">Values</a>·=·<a·class="code·hl_class"·href="a04612.html">gtsam::Values</a>;··</div> 
135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">using·</span>Indices·=·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>;·····</div> 
136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>·discrete_;</div>
137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_class"·href="a03488.html">HybridNonlinearFactorGraph</a>()·=·<span·class="keywordflow">default</span>;</div>140 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<a·class="code·hl_class"·href="a04612.html">Values</a>·nonlinear_;</div>
139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·DERIVEDFACTOR&gt;</div>142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·<span·class="keyword">public</span>:</div>
 143 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03504.html#ac6a6279b5ebc30394ecae7daf9557301">···54</a></span>··<a·class="code·hl_function"·href="a03504.html#ac6a6279b5ebc30394ecae7daf9557301">HybridValues</a>()·=·<span·class="keywordflow">default</span>;</div>
 145 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
141 <div·class="foldopen"·id="foldopen00054"·data-start="{"·data-end="}">146 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}">
142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03488.html#ad849edb68524c55be377f4edd217ec4e">···54</a></span>··<a·class="code·hl_function"·href="a03488.html#ad849edb68524c55be377f4edd217ec4e">HybridNonlinearFactorGraph</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03524.html">FactorGraph&lt;DERIVEDFACTOR&gt;</a>&amp;·graph)</div> 
143 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······:·<a·class="code·hl_class"·href="a03456.html">Base</a>(graph)·{}</div>147 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a03504.html#ad076208a657b91cce655faccfb61a628">···57</a></span>··<a·class="code·hl_function"·href="a03504.html#ad076208a657b91cce655faccfb61a628">HybridValues</a>(<span·class="keyword">const</[·...·truncated·by·diffoscope;·len:·182,·SHA:·c57a8f52d32eaeed5f2af0571f68c52394e5bb0086ea86f3fabfb4f7a5fc3afb·...·]</div>
 148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······:·continuous_(cv),·discrete_(dv){};</div>
144 </div>149 </div>
145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 151 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}">
 152 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a03504.html#a23cef590dc6f0ea815966ac86780e1b4">···61</a></span>··<a·class="code·hl_function"·href="a03504.html#a23cef590dc6f0ea815966ac86780e1b4">HybridValues</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04064.html">VectorValues</a>&amp;·cv,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·dv,</div>
 153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>···············<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·v)</div>
 154 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······:·continuous_(cv),·discrete_(dv),·nonlinear_(v){};</div>
146 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
147 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(</div> 
148 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;HybridNonlinearFactorGraph&quot;</span>,</div> 
149 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div> 
150 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div> 
151 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div> 
152 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··boost::shared_ptr&lt;HybridGaussianFactorGraph&gt;·linearize(</div> 
153 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·continuousValues)·<span·class="keyword">const</span>;</div> 
154 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>};</div> 
155 </div>155 </div>
 156 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
156 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>157 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
157 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span><span·class="keyword">template</span>·&lt;&gt;</div> 
158 <div·class="foldopen"·id="foldopen00083"·data-start="{"·data-end="};">158 <div·class="foldopen"·id="foldopen00070"·data-start="{"·data-end="}">
159 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno"><a·class="line"·href="a03492.html">···83</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03488.html">HybridNonlinearFactorGraph</a>&gt;</div> 
160 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;HybridNonlinearFactorGraph&gt;·{};</div>159 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a03504.html#a05e320bf5fcb46d1558a0927156b76ed">···70</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03504.html#a05e320bf5fcb46d1558a0927156b76ed">print</[·...·truncated·by·diffoscope;·len:·119,·SHA:·00a8b8e37998c80c050324ba4a2efcbdc416be2c41642ab0f6dba62eeef6e3a2·...·]</div>
 160 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·············<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)<span·class="keyword">·const·</span>{</div>
 161 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;:·\n&quot;</span>;</div>
 162 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····continuous_.<a·class="code·hl_function"·href="a04064.html#a13b3d4c22696160b89d76468c86460f4">print</a>(<span·class="stringliteral">&quot;··Continuous&quot;</span>,</div>
 163 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······················keyFormatter);··············<span·class="comment">//·print·continuous·components</span></div>
 164 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····discrete_.<a·class="code·hl_function"·href="a02900.html#ac79f8216ee11338e1314daa0019fe57a">print</a>(<span·class="stringliteral">&quot;··Discrete&quot;</span>,·keyFormatter);··<span·class="comment">//·print·discrete·components</span></div>
 165 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··};</div>
161 </div>166 </div>
 167 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
 168 <div·class="foldopen"·id="foldopen00079"·data-start="{"·data-end="}">
 169 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno"><a·class="line"·href="a03504.html#a55c410d99be7a09c25b2675fc5c9ef05">···79</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a03504.html#a55c410d99be7a09c25b2675fc5c9ef05">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03504.html">HybridValues</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)<span·class="keyword">·const·</span>{</div>
 170 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····<span·class="keywordflow">return</span>·continuous_.<a·class="code·hl_function"·href="a04064.html#a69890cbfea9faf62d7e9b3a66b04df4b">equals</a>(other.continuous_,·tol)·&amp;&amp;</div>
 171 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>···········discrete_.<a·class="code·hl_function"·href="a02900.html#aef2d9ffe685f220b3e9defe75cdd8838">equals</a>(other.discrete_,·tol);</div>
 172 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··}</div>
 173 </div>
162 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>174 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
 175 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>
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122 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Jul·28,·2022·</dd></dl>125 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·11,·2022·</dd></dl>
123 <dl·class="section·author"><dt>Author</dt><dd>Shangjie·Xue·</dd></dl>126 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang·</dd></dl>
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124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>142 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
125 <div·class="textblock"><p>A·Bayes·net·of·Gaussian·Conditionals·indexed·by·discrete·keys.·</p>143 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·11,·2022·</dd></dl>
126 <dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal·</dd>144 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang·</dd></dl>
127 <dd> 
128 Fan·Jiang·</dd> 
129 <dd> 
130 Frank·Dellaert·</dd></dl> 
131 <dl·class="section·date"><dt>Date</dt><dd>December·2021·</dd></dl> 
132 </div></div><!--·contents·-->145 </div></div><!--·contents·-->
133 </div><!--·doc-content·-->146 </div><!--·doc-content·-->
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135 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->148 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
136 ··<ul>149 ··<ul>
137 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_56c2e1a1204958ddcb066d7d52d67173.html">hybrid</a></li><li·class="navelem"><a·class="el"·href="a00569.html">HybridBayesNet.h</a></li>150 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_56c2e1a1204958ddcb066d7d52d67173.html">hybrid</a></li><li·class="navelem"><a·class="el"·href="a00569.html">HybridFactor.h</a></li>
138 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>151 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
139 ··</ul>152 ··</ul>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/HybridBayesNet.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/HybridFactor.h·Source·File</title>
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10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">HybridBayesNet.h</div></div>104 ··<div·class="headertitle"><div·class="title">HybridFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00569.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00569.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
 108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
 113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
 115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
115 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
116 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
117 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00212.html">gtsam/discrete/DecisionTreeFactor.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00194.html">gtsam/discrete/DecisionTree.h</a>&gt;</span></div>
118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01397.html">gtsam/global_includes.h</a>&gt;</span></div> 
119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00488.html">gtsam/hybrid/HybridConditional.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00230.html">gtsam/discrete/DiscreteKey.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00566.html">gtsam/hybrid/HybridValues.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00632.html">gtsam/inference/Factor.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00686.html">gtsam/inference/BayesNet.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00776.html">gtsam/linear/GaussianBayesNet.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01121.html">gtsam/nonlinear/Values.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;cstddef&gt;</span></div>
 128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05044.html">HybridValues</a>;</div>
125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a01428.html#a8b4a8e0d32b81b0fa2fa15c437b89e7c">···34</a></span><span·class="keyword">using·</span><a·class="code·hl_class"·href="a02796.html">GaussianFactorGraphTree</a>·=·<a·class="code·hl_class"·href="a02796.html">DecisionTree&lt;Key,·GaussianFactorGraph&gt;</a>;</div>
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·CollectKeys(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;continuousKeys,</div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>······················<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;discreteKeys);</div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·CollectKeys(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;keys1,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;keys2);</div>
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·CollectDiscreteKeys(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;key1,</div>
 139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·································<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;key2);</div>
 140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
126 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">141 <div·class="foldopen"·id="foldopen00052"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03408.html">···35</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03408.html">HybridBayesNet</a>·:·<span·class="keyword">public</span>·<a·class="cod[·...·truncated·by·diffoscope;·len:·68,·SHA:·f69dfe1c77985d706fb3077662297f54c0727038c96e1c795be82dd84174f4eb·...·]·{</div>142 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a03448.html">···52</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·[·...·truncated·by·diffoscope;·len:·39,·SHA:·42689eec456ef2c2e1b4b02ac063802cdcefeac6f7f2811d44d8e37d3a19ef60·...·]·{</div>
128 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·<span·class="keyword">public</span>:</div>143 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·<span·class="keyword">private</span>:</div>
 144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">bool</span>·isDiscrete_·=·<span·class="keyword">false</span>;</div>
 145 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordtype">bool</span>·isContinuous_·=·<span·class="keyword">false</span>;</div>
 146 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keywordtype">bool</span>·isHybrid_·=·<span·class="keyword">false</span>;</div>
129 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03516.html">Base</a>·=·<a·class="code·hl_class"·href="a03516.html">BayesNet&lt;HybridConditional&gt;</a>;</div> 
130 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03408.html">This</a>·=·<a·class="code·hl_class"·href="a03408.html">HybridBayesNet</a>;</div> 
131 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03436.html">ConditionalType</a>·=·<a·class="code·hl_class"·href="a03436.html">HybridConditional</a>;</div> 
132 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;HybridBayesNet&gt;;</div> 
133 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">using·</span>sharedConditional·=·boost::shared_ptr&lt;ConditionalType&gt;;</div> 
134 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
135 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>147 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
136 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a03408.html#ab50d718558738f4395e0b15e399ca247">···47</a></span>··<a·class="code·hl_function"·href="a03408.html#ab50d718558738f4395e0b15e399ca247">HybridBayesNet</a>()·=·<span·class="keywordflow">default</span>;</div> 
137 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·<span·class="keyword">protected</span>:</div>
 149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="comment">//·Set·of·DiscreteKeys·for·this·factor.</span></div>
 150 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·discreteKeys_;</div>
 151 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a03448.html#aaa808001f9d06b22b8abd8676254dcfd">···62</a></span>··<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·<a·class="code·hl_variable"·href="a03448.html#aaa808001f9d06b22b8abd8676254dcfd">continuousKeys_</a>;</div>
138 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
139 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string·&amp;s·=·<span·class="stringliteral">&quot;&quot;</span>,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;formatter·=</div> 
140 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>············································DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div> 
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/VariableSlots.h·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/VariableIndex.cpp·File·Reference</title>
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94 </div>94 </div>
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102 ··<div·class="headertitle"><div·class="title">VariableSlots.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">VariableIndex.cpp·File·Reference</div></div>
103 </div><!--header-->102 </div><!--header-->
104 <div·class="contents">103 <div·class="contents">
  
105 <p>VariableSlots·describes·the·structure·of·a·combined·factor·in·terms·of·where·each·block·comes·from·in·the·source·factors.·· 
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·combined·factor·is·assembled·as·one·block·of·rows·for·each·component·factor.··<a·href="a03708.html#details">More...</a><br·/></td></tr> 
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
125 <div·class="textblock"><p>VariableSlots·describes·the·structure·of·a·combined·factor·in·terms·of·where·each·block·comes·from·in·the·source·factors.·</p> 
126 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
127 <dl·class="section·date"><dt>Date</dt><dd>Oct·4,·2010·</dd></dl>113 <dl·class="section·date"><dt>Date</dt><dd>March·26,·2013·</dd></dl>
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146 <dd> 
147 :·Frank·Dellaert·</dd> 
148 <dd> 
149 :·Richard·Roberts·</dd></dl> 
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 127 <dl·class="section·date"><dt>Date</dt><dd>Oct·4,·2010·</dd></dl>
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11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
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Offset 98, 305 lines modifiedOffset 98, 126 lines modified
98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">BayesTreeCliqueBase-inst.h</div></div>104 ··<div·class="headertitle"><div·class="title">VariableSlots.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00581.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00581.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
 115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
117 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00602.html">gtsam/inference/BayesTreeCliqueBase.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01394.html">gtsam/global_includes.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00137.html">gtsam/base/FastMap.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00599.html">gtsam/inference/FactorGraph-inst.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00134.html">gtsam/base/FastVector.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/timing.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00113.html">gtsam/base/timing.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/tuple/tuple.hpp&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>··<span·class="comment">/*·*************************************************************************·*/</span></div> 
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·DERIVED,·<span·class="keyword">class</span>·FACTORGRAPH&gt;</div> 
127 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="}"> 
128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03552.html#afb3a025fa21a798cd6cafa931d54ab63">···27</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03552.html#afb3a025fa21a798cd6cafa931d54ab63">BayesTreeCliqueBase&lt;DERIVED,·FACTORGRAPH&gt;::setEliminationResult</a>(</div> 
129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>····<span·class="keyword">const</span>·<span·class="keyword">typename</span>·FactorGraphType::EliminationResult&amp;·eliminationResult)</div> 
130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··{</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>
131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>····conditional_·=·eliminationResult.first;</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··}</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
 133 <div·class="foldopen"·id="foldopen00052"·data-start="{"·data-end="};">
 134 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a03708.html">···52</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03708.html">VariableSlots</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02316.html">FastMap</a>&lt;Key,·FastVector&lt;size_t&gt;·&gt;·{</div>
 135 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 136 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keyword">public</span>:</div>
 137 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 138 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02316.html">FastMap&lt;Key,·FastVector&lt;size_t&gt;</a>·&gt;·<a·class="code·hl_class"·href="a02316.html">Base</a>;</div>
 139 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··GTSAM_EXPORT·<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·Empty;</div>
 140 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 141 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 142 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FG&gt;</div>
 143 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<a·class="code·hl_class"·href="a03708.html">VariableSlots</a>(<span·class="keyword">const</span>·FG&amp;·factorGraph);</div>
 144 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 145 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 146 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 147 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··GTSAM_EXPORT·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03708.html#a6dff67f5fe6b5d92e2a8f57f71afaee0">print</a>(<span·class="keyword">const</span>·std::string&amp;·str·=·<span·class="stringliteral">&quot;VariableSlots:·&quot;</span>)·<span·class="keyword">const</span>;</div>
 148 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
 149 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··GTSAM_EXPORT·<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03708.html">VariableSlots</a>&amp;·rhs,·<span·class="keywordtype">double</span>·tol·=·0.0)·<span·class="keyword">const</span>;</div>
 150 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
 151 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>};</div>
133 </div>152 </div>
134 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>153 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
 154 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno"><a·class="line"·href="a03712.html">···85</a></span><span·class="keyword">template</span>&lt;&gt;·<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03708.html">VariableSlots</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;VariableSlots&gt;·{};</div>
 155 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
135 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>156 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span><span·class="comment">/*·*************************************************************************·*/</span></div>
136 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·DERIVED,·<span·class="keyword">class</span>·FACTORGRAPH&gt;</div>157 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FG&gt;</div>
137 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="}">158 <div·class="foldopen"·id="foldopen00089"·data-start="{"·data-end="}">
138 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03552.html#a93d41d0b550a8fb9fb95f5c892fb2615">···35</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a03552.html#a93d41d0b550a8fb9fb95f5c892fb2615">BayesTreeCliqueBase&lt;DERIVED,·FACTORGRAPH&gt;::equals</a>(</div> 
139 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">const</span>·DERIVED&amp;·other,·<span·class="keywordtype">double</span>·tol)<span·class="keyword">·const</span></div>159 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno"><a·class="line"·href="a03708.html#acd98bd86878e8c5c9596c929439c0a4c">···89</a></span><a·class="code·hl_function"·href="a03708.html#acd98bd86878e8c5c9596c929439c0a4c">VariableSlots::VariableSlots</a>(<span·class="k[·...·truncated·by·diffoscope;·len:·41,·SHA:·bf598d9db6e4ae48d4061fddaee91a03729c65d27c41b4a14a1023771cb62b7e·...·]</div>
 160 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>{</div>
 161 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··gttic(VariableSlots_constructor);</div>
 162 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·debug·=·<span·class="keyword">false</span>;</div>
 163 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·</div>
 164 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··<span·class="comment">//·Compute·a·mapping·(called·variableSlots)·*from*·each·involved</span></div>
 165 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>··<span·class="comment">//·variable·that·will·be·in·the·new·joint·factor·*to*·the·slot·in·each</span></div>
 166 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··<span·class="comment">//·removed·factor·in·which·that·variable·appears.··For·each·variable,</span></div>
 167 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··<span·class="comment">//·this·is·stored·as·a·vector·of·slot·numbers,·stored·in·order·of·the</span></div>
 168 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··<span·class="comment">//·removed·factors.··The·slot·number·is·the·max·integer·value·if·the</span></div>
 169 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>··<span·class="comment">//·factor·does·not·involve·that·variable.</span></div>
 170 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>··<span·class="keywordtype">size_t</span>·jointFactorPos·=·0;</div>
 171 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>··<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<span·class="keyword">typename</span>·FG::sharedFactor&amp;·factor:·factorGraph)·{</div>
 172 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>····<span·class="keywordflow">if</span>·(!factor)·{</div>
140 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">··</span>{</div>173 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>······<span·class="keywordflow">continue</span>;</div>
141 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="keywordflow">return</span>·(!conditional_·&amp;&amp;·!other.conditional())</div> 
142 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······||·conditional_-&gt;<a·class="code·hl_struct"·href="a02480.html">equals</a>(*other.conditional(),·tol);</div> 
143 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··}</div>174 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>····}</div>
 175 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>····<span·class="keywordtype">size_t</span>·factorVarSlot·=·0;</div>
 176 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>····<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·involvedVariable:·*factor)·{</div>
 177 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>······<span·class="comment">//·Set·the·slot·in·this·factor·for·this·variable.··If·the</span></div>
 178 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>······<span·class="comment">//·variable·was·not·already·discovered,·create·an·array·for·it</span></div>
 179 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>······<span·class="comment">//·that·we&#39;ll·fill·with·the·slot·indices·for·each·factor·that</span></div>
 180 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>······<span·class="comment">//·we&#39;re·combining.··Initially·we·put·the·max·integer·value·in</span></div>
 181 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>······<span·class="comment">//·the·array·entry·for·each·factor·that·will·indicate·the·factor</span></div>
 182 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>······<span·class="comment">//·does·not·involve·the·variable.</span></div>
 183 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno">··113</span>······iterator·thisVarSlots;·<span·class="keywordtype">bool</span>·inserted;</div>
 184 <div·class="line"><a·id="l00114"·name="l00114"></a><span·class="lineno">··114</span>········boost::tie(thisVarSlots,·inserted)·=·this-&gt;insert(std::make_pair(involvedVariable,·<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector&lt;size_t&gt;</a>()));</div>
 185 <div·class="line"><a·id="l00115"·name="l00115"></a><span·class="lineno">··115</span>······<span·class="keywordflow">if</span>(inserted)</div>
 186 <div·class="line"><a·id="l00116"·name="l00116"></a><span·class="lineno">··116</span>········thisVarSlots-&gt;second.resize(factorGraph.nrFactors(),·Empty);</div>
 187 <div·class="line"><a·id="l00117"·name="l00117"></a><span·class="lineno">··117</span>······thisVarSlots-&gt;second[jointFactorPos]·=·factorVarSlot;</div>
 188 <div·class="line"><a·id="l00118"·name="l00118"></a><span·class="lineno">··118</span>······<span·class="keywordflow">if</span>(debug)·std::cout·&lt;&lt;·<span·class="stringliteral">&quot;··var·&quot;</span>·&lt;&lt;·involvedVariable·&lt;&lt;·<span·class="stringliteral">&quot;·rowblock·&quot;</span>·&lt;&lt;·jointFactorPos·&lt;&lt;·<span·class="stringliteral">&quot;·comes·from·factor&#39;s·slot·&quot;</span>·&lt;&lt;·factorVarSlot·&lt;&lt;·std::endl;</div>
 189 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>······++·factorVarSlot;</div>
 190 <div·class="line"><a·id="l00120"·name="l00120"></a><span·class="lineno">··120</span>····}</div>
 191 <div·class="line"><a·id="l00121"·name="l00121"></a><span·class="lineno">··121</span>····++·jointFactorPos;</div>
 192 <div·class="line"><a·id="l00122"·name="l00122"></a><span·class="lineno">··122</span>··}</div>
 193 <div·class="line"><a·id="l00123"·name="l00123"></a><span·class="lineno">··123</span>}</div>
144 </div>194 </div>
145 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div> 
146 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="comment">/*·*************************************************************************·*/</span></div> 
147 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·DERIVED,·<span·class="keyword">class</span>·FACTORGRAPH&gt;</div> 
148 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a></div> 
149 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="}"> 
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1 <!DOCTYPE·html·PUBLIC·"-//W3C//DTD·XHTML·1.0·Transitional//EN"·"https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">1 <!DOCTYPE·html·PUBLIC·"-//W3C//DTD·XHTML·1.0·Transitional//EN"·"https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">
3 <head>3 <head>
4 <meta·http-equiv="Content-Type"·content="text/xhtml;charset=UTF-8"/>4 <meta·http-equiv="Content-Type"·content="text/xhtml;charset=UTF-8"/>
5 <meta·http-equiv="X-UA-Compatible"·content="IE=11"/>5 <meta·http-equiv="X-UA-Compatible"·content="IE=11"/>
6 <meta·name="generator"·content="Doxygen·1.9.8"/>6 <meta·name="generator"·content="Doxygen·1.9.8"/>
7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/MetisIndex.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/BayesNet-inst.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
14 <script·type="text/javascript"·src="navtreedata.js"></script>14 <script·type="text/javascript"·src="navtreedata.js"></script>
15 <script·type="text/javascript"·src="navtree.js"></script>15 <script·type="text/javascript"·src="navtree.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">MetisIndex.h</div></div>104 ··<div·class="headertitle"><div·class="title">BayesNet-inst.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00584.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">*·See·LICENSE·for·the·license·information</span></div>
 115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">*·--------------------------------------------------------------------------·*/</span></div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
117 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div> 
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00656.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00125.html">gtsam/base/types.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/timing.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00692.html">gtsam/inference/BayesNet.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00608.html">gtsam/inference/FactorGraph-inst.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="comment">//·Boost·bimap·generates·many·ugly·warnings·in·CLANG</span></div> 
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#ifdef·__clang__</span></div> 
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#··pragma·clang·diagnostic·push</span></div> 
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#··pragma·clang·diagnostic·ignored·&quot;-Wredeclared-class-member&quot;</span></div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#endif</span></div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;boost/bimap.hpp&gt;</span></div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#ifdef·__clang__</span></div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#··pragma·clang·diagnostic·pop</span></div> 
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#endif</span></div> 
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/range/adaptor/reversed.hpp&gt;</span></div>
135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;fstream&gt;</span></div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
138 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};"> 
139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a03676.html">···45</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03676.html">MetisIndex</a>·{</div> 
140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">public</span>:</div> 
141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;MetisIndex&gt;·shared_ptr;</div> 
142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">typedef</span>·boost::bimap&lt;Key,·int32_t&gt;·bm_type;</div> 
143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">/*·*************************************************************************·*/</span></div>
144 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="keyword">private</span>:</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CONDITIONAL&gt;</div>
145 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··std::vector&lt;int32_t&gt;·xadj_;·<span·class="comment">//·Index·of·node&#39;s·adjacency·list·in·adj</span></div> 
146 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··std::vector&lt;int32_t&gt;·adj_;·<span·class="comment">//·Stores·ajacency·lists·of·all·nodes,·appended·into·a·single·vector</span></div> 
147 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··boost::bimap&lt;Key,·int32_t&gt;·intKeyBMap_;·<span·class="comment">//·Stores·Key·&lt;-&gt;·integer·value·relationship</span></div> 
148 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">size_t</span>·nKeys_;</div> 
149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span><span·class="keyword">public</span>:</div> 
151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
152 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}">131 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="}">
153 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a03676.html#a1969389ac1418955a2d2763fe3d49fd6">···61</a></span>··<a·class="code·hl_function"·href="a03676.html#a1969389ac1418955a2d2763fe3d49fd6">MetisIndex</a>()·:</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a03516.html#a5a0adcde7519254c34f75b3563081dcd">···32</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03516.html#a5a0adcde7519254c34f75b3563081dcd">BayesNet&[·...·truncated·by·diffoscope;·len:·84,·SHA:·53ed798e19b4eac662d3ee50354c67e7294343f156be728c96b8e2b45d34b8b5·...·]</div>
 133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··································<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter)<span·class="keyword">·const·</span>{</div>
 134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··std::cout·&lt;&lt;·(s.empty()·?·<span·class="stringliteral">&quot;&quot;</span>·:·s·+·<span·class="stringliteral">&quot;·&quot;</span>)·&lt;&lt;·std::endl;</div>
 135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··std::cout·&lt;&lt;·<span·class="stringliteral">&quot;size:·&quot;</span>·&lt;&lt;·this-&gt;size()·&lt;&lt;·std::endl;</div>
 136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·0;·i·&lt;·this-&gt;size();·i++)·{</div>
 137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="keyword">const</span>·<span·class="keyword">auto</span>&amp;·conditional·=·this-&gt;at(i);</div>
154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······nKeys_(0)·{</div>138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····std::stringstream·ss;</div>
 139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····ss·&lt;&lt;·<span·class="stringliteral">&quot;conditional·&quot;</span>·&lt;&lt;·i·&lt;&lt;·<span·class="stringliteral">&quot;:·&quot;</span>;</div>
 140 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<span·class="keywordflow">if</span>·(conditional)·conditional-&gt;print(ss.str(),·formatter);</div>
155 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··}</div>141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··}</div>
 142 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>}</div>
156 </div>143 </div>
157 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
 145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="comment">/*·*************************************************************************·*/</span></div>
158 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FACTORGRAPH&gt;</div>146 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CONDITIONAL&gt;</div>
159 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<a·class="code·hl_class"·href="a03676.html">MetisIndex</a>(<span·class="keyword">const</span>·FACTORGRAPH&amp;·factorGraph)·:</div>147 <div·class="foldopen"·id="foldopen00046"·data-start="{"·data-end="}">
 148 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a03516.html#a7b9f765c63538beca9e5e667b5c676f8">···46</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03516.html#a7b9f765c63538beca9e5e667b5c676f8">BayesNet&lt;CONDITIONAL&gt;::dot</a>(std::ostream&amp;·os,</div>
 149 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>································<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter,</div>
 150 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>································<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>&amp;·writer)<span·class="keyword">·const·</span>{</div>
 151 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··writer.<a·class="code·hl_function"·href="a03576.html#a876d727f31eb655d720aa1e87e32ede7">digraphPreamble</a>(&amp;os);</div>
 152 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 153 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·Create·nodes·for·each·variable·in·the·graph</span></div>
 154 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keywordflow">for</span>·(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key·:·this-&gt;keys())·{</div>
 155 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keyword">auto</span>·position·=·writer.<a·class="code·hl_function"·href="a03576.html#aa805566fe2c6879c6e36fbc75de30b35">variablePos</a>(key);</div>
 156 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····writer.<a·class="code·hl_function"·href="a03576.html#a0d63bade68d3f7d15a1596c228e145f6">drawVariable</a>(key,·keyFormatter,·position,·&amp;os);</div>
 157 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··}</div>
 158 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··os·&lt;&lt;·<span·class="stringliteral">&quot;\n&quot;</span>;</div>
 159 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 160 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="comment">//·Reverse·order·as·typically·Bayes·nets·stored·in·reverse·topological·sort.</span></div>
 161 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keywordflow">for</span>·(<span·class="keyword">auto</span>·conditional·:·boost::adaptors::reverse(*<span·class="keyword">this</span>))·{</div>
 162 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keyword">auto</span>·frontals·=·conditional-&gt;frontals();</div>
 163 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·me·=·frontals.front();</div>
 164 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<span·class="keyword">auto</span>·parents·=·conditional-&gt;parents();</div>
 165 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="keywordflow">for</span>·(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·p·:·parents)·{</div>
 166 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······os·&lt;&lt;·<span·class="stringliteral">&quot;··var&quot;</span>·&lt;&lt;·p·&lt;&lt;·<span·class="stringliteral">&quot;-&gt;var&quot;</span>·&lt;&lt;·me·&lt;&lt;·<span·class="stringliteral">&quot;\n&quot;</span>;</div>
160 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······nKeys_(0)·{</div>167 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····}</div>
161 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····augment(factorGraph);</div> 
162 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··}</div>168 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div>
163 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>169 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
164 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··~MetisIndex()·{</div> 
165 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··}</div> 
166 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div> 
167 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FACTORGRAPH&gt;</div> 
168 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keywordtype">void</span>·augment(<span·class="keyword">const</span>·FACTORGRAPH&amp;·factors);</div> 
169 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div> 
170 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<span·class="keyword">const</span>·std::vector&lt;int32_t&gt;&amp;·xadj()<span·class="keyword">·const·</span>{</div> 
171 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="keywordflow">return</span>·xadj_;</div>170 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··os·&lt;&lt;·<span·class="stringliteral">&quot;}&quot;</span>;</div>
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95 </div>95 </div>
96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>·&#124;101 <a·href="#namespaces">Namespaces</a>··</div>
102 <a·href="#typedef-members">Typedefs</a>··</div> 
103 ··<div·class="headertitle"><div·class="title">Factor.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">BayesTreeCliqueBase.h·File·Reference</div></div>
104 </div><!--header-->103 </div><!--header-->
105 <div·class="contents">104 <div·class="contents">
  
106 <p>The·base·class·for·all·factors.··105 <p>Base·class·for·cliques·of·a·BayesTree.··
107 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
108 <p><a·href="a00587_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00587_source.html">Go·to·the·source·code·of·this·file.</a></p>
109 <table·class="memberdecls">108 <table·class="memberdecls">
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111 Classes</h2></td></tr>110 Classes</h2></td></tr>
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 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·is·the·base·class·for·<a·class="el"·href="a03540.html"·title="Bayes·tree.">BayesTree</a>·cliques.··<a·href="a03552.html#details">More...</a><br·/></td></tr>
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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116 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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120 </table><table·class="memberdecls"> 
121 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="typedef-members"·name="typedef-members"></a> 
122 Typedefs</h2></td></tr> 
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124 <tr·class="memdesc:a99e63c90a8ac740d99716e73fe97e054"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Define·collection·types:··<br·/></td></tr> 
125 <tr·class="separator:a99e63c90a8ac740d99716e73fe97e054"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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129 </table>120 </table>
130 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
131 <div·class="textblock"><p>The·base·class·for·all·factors.·</p>122 <div·class="textblock"><p>Base·class·for·cliques·of·a·BayesTree.·</p>
 123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·and·Frank·Dellaert·</dd></dl>
132 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd> 
133 <dd> 
134 Frank·Dellaert·</dd> 
135 <dd> 
136 Richard·Roberts·</dd></dl> 
137 </div></div><!--·contents·-->124 </div></div><!--·contents·-->
138 </div><!--·doc-content·-->125 </div><!--·doc-content·-->
139 <!--·start·footer·part·-->126 <!--·start·footer·part·-->
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112 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>171 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
113 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>172 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>
114 <dd>173 <dd>
115 Richard·Roberts·</dd></dl>174 Alex·Cunningham·</dd></dl>
 175 <dl·class="section·date"><dt>Date</dt><dd>Feb·20,·2012</dd></dl>
 176 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
116 <dl·class="section·date"><dt>Date</dt><dd>Oct·13,·2010·</dd></dl>177 <dl·class="section·date"><dt>Date</dt><dd>Feb·20,·2012·</dd></dl>
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123 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>184 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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 128 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
 129 Functions</h2></td></tr>
 130 <tr·class="memitem:a18a265afdea057ea54be10262396be12"·id="r_a18a265afdea057ea54be10262396be12"><td·class="memTemplParams"·colspan="2"><a·id="a18a265afdea057ea54be10262396be12"·name="a18a265afdea057ea54be10262396be12"></a>
 131 template&lt;class·KEY·&gt;·</td></tr>
 132 <tr·class="memitem:a18a265afdea057ea54be10262396be12"><td·class="memTemplItemLeft"·align="right"·valign="top">std::list&lt;·KEY·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::predecessorMap2Keys</b>·(const·<a·class="el"·href="a03624.html">PredecessorMap</a>&lt;·KEY·&gt;·&amp;p_map)</td></tr>
 133 <tr·class="memdesc:a18a265afdea057ea54be10262396be12"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Generate·a·list·of·keys·from·a·spanning·tree·represented·by·its·predecessor·map.·<br·/></td></tr>
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 136 template&lt;class·G·,·class·F·,·class·KEY·&gt;·</td></tr>
 137 <tr·class="memitem:a6c0319a6ebcc83d4a5cf9ff51729bb80"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a03616.html">SDGraph</a>&lt;·KEY·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::toBoostGraph</b>·(const·G·&amp;graph)</td></tr>
 138 <tr·class="memdesc:a6c0319a6ebcc83d4a5cf9ff51729bb80"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Convert·the·factor·graph·to·an·<a·class="el"·href="a03616.html"·title="SDGraph·is·undirected·graph·with·variable·keys·and·double·edge·weights.">SDGraph</a>·G·=·Graph·type·F·=·<a·class="el"·href="a03592.html">Factor</a>·type·Key·=·Key·type.·<br·/></td></tr>
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 141 <tr·class="memitem:ae67d0d86c4e55b175859967a70b36983"><td·class="memTemplItemLeft"·align="right"·valign="top">boost::tuple&lt;·G,·V,·std::map&lt;·KEY,·V·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ae67d0d86c4e55b175859967a70b36983">gtsam::predecessorMap2Graph</a>·(const·<a·class="el"·href="a03624.html">PredecessorMap</a>&lt;·KEY·&gt;·&amp;p_map)</td></tr>
 142 <tr·class="memdesc:ae67d0d86c4e55b175859967a70b36983"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Build·takes·a·predecessor·map,·and·builds·a·directed·graph·corresponding·to·the·tree.··<br·/></td></tr>
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 145 template&lt;class·G·,·class·<a·class="el"·href="a03592.html">Factor</a>·,·class·POSE·,·class·KEY·&gt;·</td></tr>
 146 <tr·class="memitem:a62b34d6038ccdfa84d8a5bb0c15328b1"><td·class="memTemplItemLeft"·align="right"·valign="top">boost::shared_ptr&lt;·<a·class="el"·href="a04612.html">Values</a>·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::composePoses</b>·(const·G·&amp;graph,·const·<a·class="el"·href="a03624.html">PredecessorMap</a>&lt;·KEY·&gt;·&amp;tree,·const·POSE·&amp;rootPose)</td></tr>
 147 <tr·class="memdesc:a62b34d6038ccdfa84d8a5bb0c15328b1"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Compose·the·poses·by·following·the·chain·specified·by·the·spanning·tree.·<br·/></td></tr>
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 150 template&lt;class·G·,·class·KEY·,·class·FACTOR2·&gt;·</td></tr>
 151 <tr·class="memitem:a7771a103b41708e88763ff67059ff01d"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a03624.html">PredecessorMap</a>&lt;·KEY·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::findMinimumSpanningTree</b>·(const·G·&amp;g)</td></tr>
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 155 template&lt;class·G·,·class·KEY·,·class·FACTOR2·&gt;·</td></tr>
 156 <tr·class="memitem:a3453247aec1d8b4642947ffd4bca426b"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::split</b>·(const·G·&amp;g,·const·<a·class="el"·href="a03624.html">PredecessorMap</a>&lt;·KEY·&gt;·&amp;tree,·G·&amp;Ab1,·G·&amp;Ab2)</td></tr>
 157 <tr·class="memdesc:a3453247aec1d8b4642947ffd4bca426b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Split·the·graph·into·two·parts:·one·corresponds·to·the·given·spanning·tree,·and·the·other·corresponds·to·the·rest·of·the·factors.·<br·/></td></tr>
 158 <tr·class="separator:a3453247aec1d8b4642947ffd4bca426b"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
110 </table>159 </table>
111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>160 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>161 <div·class="textblock"><p>Graph·algorithm·using·boost·library.·</p>
 162 <dl·class="section·author"><dt>Author</dt><dd>:·Kai·Ni·</dd></dl>
113 <dl·class="section·date"><dt>Date</dt><dd>Oct·5,·2010·</dd></dl>163 <dl·class="section·date"><dt>Date</dt><dd>Jan·11,·2010·</dd></dl>
114 </div></div><!--·contents·-->164 </div></div><!--·contents·-->
115 </div><!--·doc-content·-->165 </div><!--·doc-content·-->
116 <!--·start·footer·part·-->166 <!--·start·footer·part·-->
117 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->167 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
118 ··<ul>168 ··<ul>
119 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00593.html">VariableSlots.cpp</a></li>169 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00593.html">graph.h</a></li>
120 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>170 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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103 <div·class="contents">104 <div·class="contents">
  
104 <p>Factor·Graph·Base·Class.··105 <p>Factor·Graph·Base·Class.··
105 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
106 <p><a·href="a00599_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00599_source.html">Go·to·the·source·code·of·this·file.</a></p>
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 115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Helper.··<a·href="a03600.html#details">More...</a><br·/></td></tr>
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114 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>130 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
115 <div·class="textblock"><p>Factor·Graph·Base·Class.·</p>131 <div·class="textblock"><p>Factor·Graph·Base·Class.·</p>
116 <dl·class="section·author"><dt>Author</dt><dd>Carlos·Nieto·</dd>132 <dl·class="section·author"><dt>Author</dt><dd>Carlos·Nieto·</dd>
117 <dd>133 <dd>
 134 Christian·Potthast·</dd>
118 Frank·Dellaert·</dd> 
119 <dd> 
120 Alireza·Fathi·</dd> 
121 <dd>135 <dd>
122 Michael·Kaess·</dd>136 Michael·Kaess·</dd>
123 <dd>137 <dd>
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 116 <dl·class="section·date"><dt>Date</dt><dd>Oct·13,·2010·</dd></dl>
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 129 <dl·class="section·date"><dt>Date</dt><dd>Oct·8,·2013·</dd></dl>
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 131 <dd>
 132 Richard·Roberts·</dd>
 133 <dd>
 134 Frank·Dellaert·</dd></dl>
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14 <script·type="text/javascript"·src="navtreedata.js"></script>14 <script·type="text/javascript"·src="navtreedata.js"></script>
15 <script·type="text/javascript"·src="navtree.js"></script>15 <script·type="text/javascript"·src="navtree.js"></script>
Offset 98, 143 lines modifiedOffset 98, 243 lines modified
98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Conditional-inst.h</div></div>104 ··<div·class="headertitle"><div·class="title">FactorGraph-inst.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00608.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">//·\callgraph</span></div> 
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00605.html">gtsam/inference/Conditional.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00599.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div> 
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;cmath&gt;</span></div> 
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div> 
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
 122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;stdio.h&gt;</span></div>
 123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;algorithm&gt;</span></div>
 124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;iostream&gt;</span>··<span·class="comment">//·for·cout·:-(</span></div>
 125 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;fstream&gt;</span></div>
 126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;sstream&gt;</span></div>
 127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="comment">/*·*************************************************************************·*/</span></div>131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="comment">/*·*************************************************************************·*/</span></div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·FACTOR,·<span·class="keyword">class</span>·DERIVEDCONDITIONAL&gt;</div>132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·FACTOR&gt;</div>
130 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="}">133 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="}">
131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a03572.html#ae420d24aff203ccfb249e939a48730f5">···30</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03572.html#ae420d24aff203ccfb249e939a48730f5">Conditiona[·...·truncated·by·diffoscope;·len:·47,·SHA:·93c2675cbcb16defdb4c06e4a6caa89acfc7adc54477ac2f4fdfdef992c8e82a·...·]</div>134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a03524.html#a06c9c6d855c390743bd4a4472c730687">···37</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03524.html#a06c9c6d855c390743bd4a4472c730687">FactorGrap[·...·truncated·by·diffoscope;·len:·81,·SHA:·1ebcfdd5980624180fd33f444cd52142b0bc6acff9d6ac3175657d6c661f6cac·...·]</div>
132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>····<span·class="keyword">const</span>·std::string&amp;·s,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter)<span·class="keyword">·const·</span>{</div>135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>································<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter)<span·class="keyword">·const·</span>{</div>
133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;·P(&quot;</span>;</div> 
134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keywordflow">for</span>·(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key·:·frontals())·std::cout·&lt;&lt;·<span·class="stringliteral">&quot;·&quot;</span>·&lt;&lt;·formatter(key);</div> 
135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keywordflow">if</span>·(nrParents()·&gt;·0)·std::cout·&lt;&lt;·<span·class="stringliteral">&quot;·|&quot;</span>;</div> 
136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keywordflow">for</span>·(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent·:·parents())·std::cout·&lt;&lt;·<span·class="stringliteral">&quot;·&quot;</span>·&lt;&lt;·formatter(parent);</div> 
137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··std::cout·&lt;&lt;·<span·class="stringliteral">&quot;)&quot;</span>·&lt;&lt;·std::endl;</div>136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··std::cout·&lt;&lt;·(s.empty()·?·<span·class="stringliteral">&quot;&quot;</span>·:·s·+·<span·class="stringliteral">&quot;·&quot;</span>)·&lt;&lt;·std::endl;</div>
 137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··std::cout·&lt;&lt;·<span·class="stringliteral">&quot;size:·&quot;</span>·&lt;&lt;·size()·&lt;&lt;·std::endl;</div>
 138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·0;·i·&lt;·factors_.size();·i++)·{</div>
 139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····std::stringstream·ss;</div>
 140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····ss·&lt;&lt;·<span·class="stringliteral">&quot;factor·&quot;</span>·&lt;&lt;·i·&lt;&lt;·<span·class="stringliteral">&quot;:·&quot;</span>;</div>
 141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="keywordflow">if</span>·(factors_[i])·factors_[i]-&gt;print(ss.str(),·formatter);</div>
 142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··}</div>
138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>}</div>143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>}</div>
139 </div>144 </div>
140 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
141 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="comment">/*·*************************************************************************·*/</span></div>146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="comment">/*·*************************************************************************·*/</span></div>
142 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·FACTOR,·<span·class="keyword">class</span>·DERIVEDCONDITIONAL&gt;</div>147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·FACTOR&gt;</div>
143 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="}">148 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="}">
144 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a03572.html#a53fe6e88f668f9ee971204d7d22b0c44">···41</a></span><span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a03572.html#a53fe6e88f668f9ee971204d7d22b0c44">Condition[·...·truncated·by·diffoscope;·len:·144,·SHA:·c819c191db73e7913aacd4343de18d2709e36505bf6ea9425a082c369b0e25e3·...·]</div>149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a03524.html#aacdf24691d25e1e93ca6b924465b7a35">···50</a></span><span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a03524.html#aacdf24691d25e1e93ca6b924465b7a35">FactorGra[·...·truncated·by·diffoscope;·len:·207,·SHA:·ad5e7dda2d1a90295f0db5c289c38e6642c329bf34b3d3e960b5d8cf1efc92bc·...·]</div>
 150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·check·whether·the·two·factor·graphs·have·the·same·number·of·factors.</span></div>
 151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keywordflow">if</span>·(factors_.size()·!=·fg.<a·class="code·hl_function"·href="a03524.html#a76fb453800c9ac164bef864782733403">size</a>())·<span·class="keywordflow">return</span>·<span·class="keyword">false</span>;</div>
 152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="comment">//·check·whether·the·factors·are·the·same,·in·same·order.</span></div>
 154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·0;·i·&lt;·factors_.size();·i++)·{</div>
 155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····<a·class="code·hl_typedef"·href="a03524.html#ac9bfc88025d21ff01b7e9dc609ba0b0e">sharedFactor</a>·f1·=·factors_[i],·f2·=·fg.<a·class="code·hl_variable"·href="a03524.html#ae0c75f68e3ebc37cc4511285b12c33fc">factors_</a>[i];</div>
 156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keywordflow">if</span>·(f1·==·<span·class="keyword">nullptr</span>·&amp;&amp;·f2·==·<span·class="keyword">nullptr</span>)·<span·class="keywordflow">continue</span>;</div>
 157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keywordflow">if</span>·(f1·==·<span·class="keyword">nullptr</span>·||·f2·==·<span·class="keyword">nullptr</span>)·<span·class="keywordflow">return</span>·<span·class="keyword">false</span>;</div>
 158 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keywordflow">if</span>·(!f1-&gt;equals(*f2,·tol))·<span·class="keywordflow">return</span>·<span·class="keyword">false</span>;</div>
 159 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··}</div>
145 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·····················································<span·class="keywordtype">double</span>·tol)<span·class="keyword">·const·</span>{</div>160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keywordflow">return</span>·<span·class="keyword">true</span>;</div>
146 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keywordflow">return</span>·nrFrontals_·==·c.<a·class="code·hl_variable"·href="a03572.html#a1700745916154a78b30a2fc15e28ce70">nrFrontals_</a>;</div> 
147 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>}</div>161 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>}</div>
148 </div>162 </div>
149 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>163 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
150 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="comment">/*·*************************************************************************·*/</span></div>164 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span><span·class="comment">/*·************************************************************************·*/</span></div>
151 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·FACTOR,·<span·class="keyword">class</span>·DERIVEDCONDITIONAL&gt;</div> 
152 <div·class="foldopen"·id="foldopen00048"·data-start="{"·data-end="}"> 
153 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a03572.html#a7a24baed122d1eb00499fd96e85e806a">···48</a></span><span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a03572.html#a7a24baed122d1eb00499fd96e85e806a">Conditional&lt;FACTOR,·DERIVEDCONDITIONAL&gt;::logProbability</a>(</div> 
154 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03504.html">HybridValues</a>&amp;·c)<span·class="keyword">·const·</span>{</div> 
155 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keywordflow">throw</span>·std::runtime_error(<span·class="stringliteral">&quot;Conditional::logProbability·is·not·implemented&quot;</span>);</div> 
156 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>}</div> 
157 </div> 
158 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
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107 <p><a·href="a00611_source.html">Go·to·the·source·code·of·this·file.</a></p>104 <p>The·base·class·for·all·factors.··
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108 <table·class="memberdecls">106 <table·class="memberdecls">
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126 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="typedef-members"·name="typedef-members"></a> 
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145 </table><table·class="memberdecls"> 
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149 string&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::_defaultKeyFormatter</b>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key)</td></tr> 
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152 string&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::_multirobotKeyFormatter</b>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key)</td></tr> 
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156 <tr·class="memdesc:a4f9e295c4f7086ce05cbe37aeeca47fe"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Utility·function·to·print·one·key·with·optional·prefix.·<br·/></td></tr> 
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159 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::PrintKeyList</b>·(const·<a·class="el"·href="a02312.html">KeyList</a>·&amp;keys,·const·std::string·&amp;s=&quot;&quot;,·const·<a·class="el"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter=DefaultKeyFormatter)</td></tr> 
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171 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
172 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>114 <div·class="textblock"><p>The·base·class·for·all·factors.·</p>
 115 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd>
 116 <dd>
 117 Frank·Dellaert·</dd>
173 <dd>118 <dd>
 119 Richard·Roberts·</dd></dl>
174 Alex·Cunningham·</dd></dl> 
175 <dl·class="section·date"><dt>Date</dt><dd>Feb·20,·2012</dd></dl> 
176 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
177 <dl·class="section·date"><dt>Date</dt><dd>Feb·20,·2012·</dd></dl> 
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104 <div·class="contents">104 <div·class="contents">
  
105 <p>Graphviz·formatter.·· 
106 <a·href="#details">More...</a></p> 
  
107 <p><a·href="a00617_source.html">Go·to·the·source·code·of·this·file.</a></p>105 <p><a·href="a00617_source.html">Go·to·the·source·code·of·this·file.</a></p>
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121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>119 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 120 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Andrew·Melim·</dd></dl>
122 <div·class="textblock"><p>Graphviz·formatter.·</p> 
123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl> 
124 <dl·class="section·date"><dt>Date</dt><dd>December,·2021·</dd></dl>121 <dl·class="section·date"><dt>Date</dt><dd>Oct.·10,·2014·</dd></dl>
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
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 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00074.html">gtsam/base/FastVector.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00599.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Vector.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00146.html">gtsam/base/types.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00113.html">gtsam/base/timing.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="comment">//·Boost·bimap·generates·many·ugly·warnings·in·CLANG</span></div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#ifdef·__clang__</span></div>
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#··pragma·clang·diagnostic·push</span></div>
 128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#··pragma·clang·diagnostic·ignored·&quot;-Wredeclared-class-member&quot;</span></div>
 129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#endif</span></div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;boost/bimap.hpp&gt;</span></div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#ifdef·__clang__</span></div>
 132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#··pragma·clang·diagnostic·pop</span></div>
 133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#endif</span></div>
 134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div>135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;map&gt;</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;set&gt;</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div> 
130 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">138 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">
 139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a03676.html">···45</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03676.html">MetisIndex</a>·{</div>
 140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">public</span>:</div>
 141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;MetisIndex&gt;·shared_ptr;</div>
 142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">typedef</span>·boost::bimap&lt;Key,·int32_t&gt;·bm_type;</div>
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03576.html">···35</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>·{</div> 
132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03576.html#a35970a94248630c844b1d02ea6e77e35">···36</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a03576.html#a35970a94248630c844b1d02ea6e77e35">figureWidthInches</a>;···</div> 
133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a03576.html#ad918cbf35b3baf520d91033b61523565">···37</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a03576.html#ad918cbf35b3baf520d91033b61523565">figureHeightInches</a>;··</div> 
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03576.html#a39eaabf9c4cffe59766b4b8d03652f62">···38</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a03576.html#a39eaabf9c4cffe59766b4b8d03652f62">plotFactorPoints</a>;··</div> 
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03576.html#a72f901153a3eede8769c898ac1c5a64b">···39</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a03576.html#a72f901153a3eede8769c898ac1c5a64b">connectKeysToFactor</a>;··</div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a03576.html#aaae41b37832d3b1d53b56ff11901567e">···41</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a03576.html#aaae41b37832d3b1d53b56ff11901567e">binaryEdges</a>;··········</div> 
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a03576.html#a8f926f761e5ce55089228f6496762b2d">···47</a></span>··std::map&lt;Key,·Vector2&gt;·<a·class="code·hl_variable"·href="a03576.html#a8f926f761e5ce55089228f6496762b2d">variablePositions</a>;</div> 
139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>144 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="keyword">private</span>:</div>
140 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03576.html#ac273a9f2ab53aacd7f270ea862d58164">···54</a></span>··std::map&lt;char,·double&gt;·<a·class="code·hl_variable"·href="a03576.html#ac273a9f2ab53aacd7f270ea862d58164">positionHints</a>[·...·truncated·by·diffoscope;·len:·1,·SHA:·41b805ea7ac014e23556e98bb374702a08344268f92489a02f0880849394a1e4·...·]</div>145 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··std::vector&lt;int32_t&gt;·xadj_;·<span·class="comment">//·Index·of·node&#39;s·adjacency·list·in·adj</span></div>
 146 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··std::vector&lt;int32_t&gt;·adj_;·<span·class="comment">//·Stores·ajacency·lists·of·all·nodes,·appended·into·a·single·vector</span></div>
 147 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··boost::bimap&lt;Key,·int32_t&gt;·intKeyBMap_;·<span·class="comment">//·Stores·Key·&lt;-&gt;·integer·value·relationship</span></div>
 148 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">size_t</span>·nKeys_;</div>
141 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
142 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a03576.html#ad250d3e6ff7a1de61c3272c9f292d540">···57</a></span>··std::set&lt;Key&gt;·<a·class="code·hl_variable"·href="a03576.html#ad250d3e6ff7a1de61c3272c9f292d540">boxes</a>;</div>150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span><span·class="keyword">public</span>:</div>
143 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
144 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a03576.html#ad5f0f317b4e78aa2c3364b49cdc5408a">···63</a></span>··std::map&lt;size_t,·Vector2&gt;·<a·class="code·hl_variable"·href="a03576.html#ad5f0f317b4e78aa2c3364b49cdc540[·...·truncated·by·diffoscope;·len:·29,·SHA:·655890632de6b8c4ab58dda33ba6b7bdaacc9d157821fe0c4f15c1a9f1f9f9e8·...·]>152 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}">
 153 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a03676.html#a1969389ac1418955a2d2763fe3d49fd6">···61</a></span>··<a·class="code·hl_function"·href="a03676.html#a1969389ac1418955a2d2763fe3d49fd6">MetisIndex</a>()·:</div>
 154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······nKeys_(0)·{</div>
 155 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··}</div>
 156 </div>
145 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>157 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 158 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FACTORGRAPH&gt;</div>
 159 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<a·class="code·hl_class"·href="a03676.html">MetisIndex</a>(<span·class="keyword">const</span>·FACTORGRAPH&amp;·factorGraph)·:</div>
146 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>(<span·class="keywordtype">double</span>·figureWidthInches·=·5,</div> 
147 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·····················<span·class="keywordtype">double</span>·figureHeightInches·=·5,</div> 
148 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·····················<span·class="keywordtype">bool</span>·plotFactorPoints·=·<span·class="keyword">true</span>,</div> 
149 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·····················<span·class="keywordtype">bool</span>·connectKeysToFactor·=·<span·class="keyword">true</span>,·<span·class="keywordtype">bool</span>·binaryEdges·=·<span·class="keyword">false</span>)</div> 
150 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······:·figureWidthInches(figureWidthInches),</div> 
151 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>········figureHeightInches(figureHeightInches),</div> 
152 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>········plotFactorPoints(plotFactorPoints),</div> 
153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>········connectKeysToFactor(connectKeysToFactor),</div> 
154 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>········binaryEdges(binaryEdges)·{}</div>160 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······nKeys_(0)·{</div>
 161 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····augment(factorGraph);</div>
 162 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··}</div>
155 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>163 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
156 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="keywordtype">void</span>·graphPreamble(std::ostream*·os)·<span·class="keyword">const</span>;</div>164 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··~MetisIndex()·{</div>
 165 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··}</div>
157 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>166 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 167 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FACTORGRAPH&gt;</div>
158 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keywordtype">void</span>·digraphPreamble(std::ostream*·os)·<span·class="keyword">const</span>;</div>168 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keywordtype">void</span>·augment(<span·class="keyword">const</span>·FACTORGRAPH&amp;·factors);</div>
159 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>169 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
 170 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<span·class="keyword">const</span>·std::vector&lt;int32_t&gt;&amp;·xadj()<span·class="keyword">·const·</span>{</div>
160 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keywordtype">void</span>·drawVariable(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter,</div> 
161 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····················<span·class="keyword">const</span>·boost::optional&lt;Vector2&gt;&amp;·position,</div> 
162 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····················std::ostream*·os)·<span·class="keyword">const</span>;</div>171 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="keywordflow">return</span>·xadj_;</div>
163 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>172 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··}</div>
164 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·DrawFactor(<span·class="keywordtype">size_t</span>·i,·<span·class="keyword">const</span>·boost::optional&lt;Vector2&gt;&amp;·position,</div>173 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<span·class="keyword">const</span>·std::vector&lt;int32_t&gt;&amp;·adj()<span·class="keyword">·const·</span>{</div>
165 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·························std::ostream*·os);</div>174 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····<span·class="keywordflow">return</span>·adj_;</div>
166 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>175 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··}</div>
167 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··boost::optional&lt;Vector2&gt;·variablePos(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key)·<span·class="keyword">const</span>;</div>176 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··<span·class="keywordtype">size_t</span>·nValues()<span·class="keyword">·const·</span>{</div>
 177 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····<span·class="keywordflow">return</span>·nKeys_;</div>
168 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div>178 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··}</div>
169 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··<span·class="keywordtype">void</span>·processFactor(<span·class="keywordtype">size_t</span>·i,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·keys,</div> 
170 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·····················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter,</div> 
171 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·····················<span·class="keyword">const</span>·boost::optional&lt;Vector2&gt;&amp;·position,</div> 
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123 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
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 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a03576.html"·title="DotWriter·is·a·helper·class·for·writing·graphviz·.dot·files.">DotWriter</a>·is·a·helper·class·for·writing·graphviz·.dot·files.··<a·href="a03576.html#details">More...</a><br·/></td></tr>
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108 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
109 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
110 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
111 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
113 </table>120 </table>
114 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
115 <div·class="textblock"><p>Incremental·update·functionality·(iSAM)·for·BayesTree.·</p>122 <div·class="textblock"><p>Graphviz·formatter.·</p>
116 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess·</dd></dl>123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
 124 <dl·class="section·date"><dt>Date</dt><dd>December,·2021·</dd></dl>
117 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
118 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
119 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
120 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
121 ··<ul>129 ··<ul>
122 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00626.html">ISAM-inst.h</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00626.html">DotWriter.h</a></li>
123 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
124 ··</ul>132 ··</ul>
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126 </body>134 </body>
127 </html>135 </html>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ISAM-inst.h</div></div>104 ··<div·class="headertitle"><div·class="title">DotWriter.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00626.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00626.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2021,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00653.html">gtsam/inference/ISAM.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00623.html">gtsam/inference/VariableIndex.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00134.html">gtsam/base/FastVector.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00104.html">gtsam/base/Vector.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="comment">/*·*************************************************************************·*/</span></div> 
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·BAYESTREE&gt;</div> 
127 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="}"> 
128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03640.html#af0cea02debf437dfc89023b081a431ac">···27</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03640.html#af0cea02debf437dfc89023b081a431ac">ISAM&lt;BAYESTREE&gt;::updateInternal</a>(<span·class="keyword">const</span>·FactorGraphType&amp;·newFactors,</div> 
129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>····Cliques*·orphans,·<span·class="keyword">const</span>·Eliminate&amp;·function)·{</div> 
130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="comment">//·Remove·the·contaminated·part·of·the·Bayes·tree</span></div> 
131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··BayesNetType·bn;</div> 
132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02320.html">KeySet</a>·newFactorKeys·=·newFactors.keys();</div> 
133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keywordflow">if</span>·(!this-&gt;empty())·{</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;set&gt;</span></div>
134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·keyVector(newFactorKeys.begin(),·newFactorKeys.end());</div> 
135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>····this-&gt;removeTop(keyVector,·&amp;bn,·orphans);</div> 
136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··}</div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="comment">//·Add·the·removed·top·and·the·new·factors</span></div> 
139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··FactorGraphType·factors;</div> 
140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··factors·+=·bn;</div> 
141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··factors·+=·newFactors;</div>130 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
 131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03576.html">···35</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>·{</div>
 132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03576.html#a35970a94248630c844b1d02ea6e77e35">···36</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a03576.html#a35970a94248630c844b1d02ea6e77e35">figureWidthInches</a>;···</div>
 133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a03576.html#ad918cbf35b3baf520d91033b61523565">···37</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a03576.html#ad918cbf35b3baf520d91033b61523565">figureHeightInches</a>;··</div>
 134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03576.html#a39eaabf9c4cffe59766b4b8d03652f62">···38</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a03576.html#a39eaabf9c4cffe59766b4b8d03652f62">plotFactorPoints</a>;··</div>
 135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03576.html#a72f901153a3eede8769c898ac1c5a64b">···39</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a03576.html#a72f901153a3eede8769c898ac1c5a64b">connectKeysToFactor</a>;··</div>
 136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a03576.html#aaae41b37832d3b1d53b56ff11901567e">···41</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a03576.html#aaae41b37832d3b1d53b56ff11901567e">binaryEdges</a>;··········</div>
142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a03576.html#a8f926f761e5ce55089228f6496762b2d">···47</a></span>··std::map&lt;Key,·Vector2&gt;·<a·class="code·hl_variable"·href="a03576.html#a8f926f761e5ce55089228f6496762b2d">variablePositions</a>;</div>
143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="comment">//·Add·the·orphaned·subtrees</span></div> 
144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keywordflow">for</span>·(<span·class="keyword">const</span>·sharedClique&amp;·orphan·:·*orphans)</div> 
145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····factors·+=·boost::make_shared&lt;<a·class="code·hl_class"·href="a03544.html">BayesTreeOrphanWrapper&lt;Clique&gt;</a>·&gt;(orphan);</div> 
146 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 140 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03576.html#ac273a9f2ab53aacd7f270ea862d58164">···54</a></span>··std::map&lt;char,·double&gt;·<a·class="code·hl_variable"·href="a03576.html#ac273a9f2ab53aacd7f270ea862d58164">positionHints</a>;</div>
147 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Get·an·ordering·where·the·new·keys·are·eliminated·last</span></div> 
148 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03700.html">VariableIndex</a>·index(factors);</div> 
149 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>·ordering·=·<a·class="code·hl_function"·href="a03680.html#a47d55b354a7f44790dd83c47cf5df5e5">Ordering::ColamdConstrainedLast</a>(index,</div> 
150 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>(newFactorKeys.begin(),·newFactorKeys.end()));</div> 
151 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>141 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 142 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a03576.html#ad250d3e6ff7a1de61c3272c9f292d540">···57</a></span>··std::set&lt;Key&gt;·<a·class="code·hl_variable"·href="a03576.html#ad250d3e6ff7a1de61c3272c9f292d540">boxes</a>;</div>
152 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·eliminate·all·factors·(top,·added,·orphans)·into·a·new·Bayes·tree</span></div> 
153 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">auto</span>·bayesTree·=·factors.eliminateMultifrontal(ordering,·function,·index);</div> 
154 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div> 
155 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="comment">//·Re-add·into·Bayes·tree·data·structures</span></div> 
156 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··this-&gt;roots_.insert(this-&gt;roots_.end(),·bayesTree-&gt;roots().begin(),</div> 
157 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······bayesTree-&gt;roots().end());</div> 
158 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··this-&gt;nodes_.insert(bayesTree-&gt;nodes().begin(),·bayesTree-&gt;nodes().end());</div> 
159 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>}</div>143 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 144 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a03576.html#ad5f0f317b4e78aa2c3364b49cdc5408a">···63</a></span>··std::map&lt;size_t,·Vector2&gt;·<a·class="code·hl_variable"·href="a03576.html#ad5f0f317b4e78aa2c3364b49cdc5408a">factorPositions</a>;</div>
 145 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 146 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>(<span·class="keywordtype">double</span>·figureWidthInches·=·5,</div>
 147 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·····················<span·class="keywordtype">double</span>·figureHeightInches·=·5,</div>
 148 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·····················<span·class="keywordtype">bool</span>·plotFactorPoints·=·<span·class="keyword">true</span>,</div>
 149 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·····················<span·class="keywordtype">bool</span>·connectKeysToFactor·=·<span·class="keyword">true</span>,·<span·class="keywordtype">bool</span>·binaryEdges·=·<span·class="keyword">false</span>)</div>
 150 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······:·figureWidthInches(figureWidthInches),</div>
 151 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>········figureHeightInches(figureHeightInches),</div>
 152 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>········plotFactorPoints(plotFactorPoints),</div>
 153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>········connectKeysToFactor(connectKeysToFactor),</div>
 154 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>········binaryEdges(binaryEdges)·{}</div>
 155 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 156 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="keywordtype">void</span>·graphPreamble(std::ostream*·os)·<span·class="keyword">const</span>;</div>
 157 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
 158 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keywordtype">void</span>·digraphPreamble(std::ostream*·os)·<span·class="keyword">const</span>;</div>
 159 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
 160 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keywordtype">void</span>·drawVariable(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter,</div>
 161 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····················<span·class="keyword">const</span>·boost::optional&lt;Vector2&gt;&amp;·position,</div>
 162 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····················std::ostream*·os)·<span·class="keyword">const</span>;</div>
 163 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
 164 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·DrawFactor(<span·class="keywordtype">size_t</span>·i,·<span·class="keyword">const</span>·boost::optional&lt;Vector2&gt;&amp;·position,</div>
 165 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·························std::ostream*·os);</div>
 166 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>
 167 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··boost::optional&lt;Vector2&gt;·variablePos(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key)·<span·class="keyword">const</span>;</div>
 168 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div>
 169 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··<span·class="keywordtype">void</span>·processFactor(<span·class="keywordtype">size_t</span>·i,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·keys,</div>
 170 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·····················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter,</div>
 171 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·····················<span·class="keyword">const</span>·boost::optional&lt;Vector2&gt;&amp;·position,</div>
 172 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>·····················std::ostream*·os)·<span·class="keyword">const</span>;</div>
 173 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>};</div>
160 </div>174 </div>
161 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>175 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>·</div>
 176 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>}··<span·class="comment">//·namespace·gtsam</span></div>
 177 <div·class="ttc"·id="aa00104_html"><div·class="ttname"><a·href="a00104.html">Vector.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·VectorXd</div></div>
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95 </div>95 </div>
96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>··</div>
101 ··<div·class="headertitle"><div·class="title">VariableIndex.cpp·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">Ordering.cpp·File·Reference</div></div>
102 </div><!--header-->102 </div><!--header-->
103 <div·class="contents">103 <div·class="contents">
104 <table·class="memberdecls">104 <table·class="memberdecls">
105 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>105 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
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107 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>107 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
108 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>108 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
109 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>109 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
110 </table>110 </table>
111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>
 113 <dd>
 114 Andrew·Melim·</dd></dl>
113 <dl·class="section·date"><dt>Date</dt><dd>March·26,·2013·</dd></dl>115 <dl·class="section·date"><dt>Date</dt><dd>Sep·2,·2010·</dd></dl>
114 </div></div><!--·contents·-->116 </div></div><!--·contents·-->
115 </div><!--·doc-content·-->117 </div><!--·doc-content·-->
116 <!--·start·footer·part·-->118 <!--·start·footer·part·-->
117 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->119 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
118 ··<ul>120 ··<ul>
119 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00629.html">VariableIndex.cpp</a></li>121 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00629.html">Ordering.cpp</a></li>
120 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>122 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/DotWriter.cpp·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/Factor.h·File·Reference</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
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98 <div·class="header">98 <div·class="header">
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100 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>·&#124;
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101 ··<div·class="headertitle"><div·class="title">DotWriter.cpp·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">Factor.h·File·Reference</div></div>
102 </div><!--header-->104 </div><!--header-->
103 <div·class="contents">105 <div·class="contents">
  
104 <p>Graphviz·formatting·for·factor·graphs.··106 <p>The·base·class·for·all·factors.··
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 108 <p><a·href="a00632_source.html">Go·to·the·source·code·of·this·file.</a></p>
106 <table·class="memberdecls">109 <table·class="memberdecls">
 110 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
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107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
108 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
109 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
110 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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114 <div·class="textblock"><p>Graphviz·formatting·for·factor·graphs.·</p>131 <div·class="textblock"><p>The·base·class·for·all·factors.·</p>
115 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>132 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd>
116 <dl·class="section·date"><dt>Date</dt><dd>December,·2021·</dd></dl>133 <dd>
 134 Frank·Dellaert·</dd>
 135 <dd>
 136 Richard·Roberts·</dd></dl>
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105 </div><!--header-->103 </div><!--header-->
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107 <p>Graph·algorithm·using·boost·library.··105 <p>The·junction·tree,·template·bodies.··
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109 <p><a·href="a00635_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00635_source.html">Go·to·the·source·code·of·this·file.</a></p>
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142 <tr·class="memdesc:ae67d0d86c4e55b175859967a70b36983"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Build·takes·a·predecessor·map,·and·builds·a·directed·graph·corresponding·to·the·tree.··<br·/></td></tr> 
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145 template&lt;class·G·,·class·<a·class="el"·href="a03592.html">Factor</a>·,·class·POSE·,·class·KEY·&gt;·</td></tr> 
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147 <tr·class="memdesc:a62b34d6038ccdfa84d8a5bb0c15328b1"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Compose·the·poses·by·following·the·chain·specified·by·the·spanning·tree.·<br·/></td></tr> 
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150 template&lt;class·G·,·class·KEY·,·class·FACTOR2·&gt;·</td></tr> 
151 <tr·class="memitem:a7771a103b41708e88763ff67059ff01d"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a03624.html">PredecessorMap</a>&lt;·KEY·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::findMinimumSpanningTree</b>·(const·G·&amp;g)</td></tr> 
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155 template&lt;class·G·,·class·KEY·,·class·FACTOR2·&gt;·</td></tr> 
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157 <tr·class="memdesc:a3453247aec1d8b4642947ffd4bca426b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Split·the·graph·into·two·parts:·one·corresponds·to·the·given·spanning·tree,·and·the·other·corresponds·to·the·rest·of·the·factors.·<br·/></td></tr> 
158 <tr·class="separator:a3453247aec1d8b4642947ffd4bca426b"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
159 </table>121 </table>
160 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
161 <div·class="textblock"><p>Graph·algorithm·using·boost·library.·</p>123 <div·class="textblock"><p>The·junction·tree,·template·bodies.·</p>
 124 <dl·class="section·date"><dt>Date</dt><dd>Feb·4,·2010·</dd></dl>
162 <dl·class="section·author"><dt>Author</dt><dd>:·Kai·Ni·</dd></dl>125 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd>
163 <dl·class="section·date"><dt>Date</dt><dd>Jan·11,·2010·</dd></dl>126 <dd>
 127 Frank·Dellaert·</dd>
 128 <dd>
 129 Richard·Roberts·</dd></dl>
164 </div></div><!--·contents·-->130 </div></div><!--·contents·-->
165 </div><!--·doc-content·-->131 </div><!--·doc-content·-->
166 <!--·start·footer·part·-->132 <!--·start·footer·part·-->
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168 ··<ul>134 ··<ul>
169 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00635.html">graph.h</a></li>135 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00635.html">JunctionTree-inst.h</a></li>
170 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>136 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
171 ··</ul>137 ··</ul>
172 </div>138 </div>
173 </body>139 </body>
174 </html>140 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/graph.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/JunctionTree-inst.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">graph.h</div></div>104 ··<div·class="headertitle"><div·class="title">JunctionTree-inst.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00635.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00635.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div> 
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;map&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#define·BOOST_NO_HASH··</span><span·class="comment">//·to·pacify·the·warnings·about·depricated·headers·in·boost.graph</span></div>120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00659.html">gtsam/inference/JunctionTree.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00620.html">gtsam/inference/ClusterTree-inst.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01388.html">gtsam/symbolic/SymbolicConditional.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01385.html">gtsam/symbolic/SymbolicFactor-inst.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/graph/graph_traits.hpp&gt;</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/graph/adjacency_list.hpp&gt;</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01073.html">gtsam/nonlinear/Values.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·BAYESTREE,·<span·class="keyword">class</span>·GRAPH,·<span·class="keyword">class</span>·ETREE_NODE&gt;</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="comment">//·type·definitions·:</span></div> 
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div> 
133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·KEY&gt;</div> 
134 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">128 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};">
135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03616.html">···38</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03616.html">SDGraph</a>:·<span·class="keyword">public</span>·boost::adjacency_list&lt;boost::vecS,·boost::vecS,·boost::undirectedS,</div> 
136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··boost::property&lt;boost::vertex_name_t,·KEY&gt;,·boost::property&lt;</div> 
137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··boost::edge_weight_t,·double&gt;·&gt;·{</div>129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a03644.html">···31</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>·{</div>
 130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·<a·class="code·hl_struct"·href="a03568.html">JunctionTree&lt;BAYESTREE,·GRAPH&gt;::Node</a>·<a·class="code·hl_struct"·href="a03568.html">Node</a>;</div>
 131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·JunctionTree&lt;BAYESTREE,·GRAPH&gt;::sharedNode·sharedNode;</div>
138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">public</span>:</div>132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·boost::graph_traits&lt;SDGraph&lt;KEY&gt;·&gt;::vertex_descriptor·Vertex;</div>133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>*·<span·class="keyword">const</span>·parentData;</div>
 134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··sharedNode·junctionTreeNode;</div>
 135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector&lt;SymbolicConditional::shared_ptr&gt;</a>·childSymbolicConditionals;</div>
 136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector&lt;SymbolicFactor::shared_ptr&gt;</a>·childSymbolicFactors;</div>
 137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
 138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="comment">//·Small·inner·class·to·store·symbolic·factors</span></div>
 139 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="};">
 140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a03648.html">···41</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03648.html">SymbolicFactors</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03524.html">FactorGraph</a>&lt;Factor&gt;·{</div>
140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··};</div>141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··};</div>
141 </div>142 </div>
142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>143 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·KEY&gt;</div> 
144 <div·class="foldopen"·id="foldopen00046"·data-start="{"·data-end="};"> 
145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a03620.html">···46</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03620.html">SGraph</a>·:·<span·class="keyword">public</span>·boost::adjacency_list&lt;boost::v[·...·truncated·by·diffoscope;·len:·35,·SHA:·b60c21dc3182a24eb2d2acbb2ec438ab270e073563b572f495948bf205b6ce37·...·]</div>144 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>(<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>*·_parentData)·:</div>
 145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······parentData(_parentData)·{</div>
 146 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··}</div>
146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······boost::property&lt;boost::vertex_name_t,·KEY&gt;·&gt;·{</div>147 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 148 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="comment">//·Pre-order·visitor·function</span></div>
 149 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">static</span>·<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>·ConstructorTraversalVisitorPre(</div>
 150 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······<span·class="keyword">const</span>·boost::shared_ptr&lt;ETREE_NODE&gt;&amp;·node,</div>
 151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>&amp;·parentData)·{</div>
 152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="comment">//·On·the·pre-order·pass,·before·children·have·been·visited,·we·just·set·up</span></div>
 153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="comment">//·a·traversal·data·structure·with·its·own·JT·node,·and·create·a·child</span></div>
 154 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="comment">//·pointer·in·its·parent.</span></div>
 155 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>·myData·=·<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>(&amp;parentData);</div>
 156 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····myData.junctionTreeNode·=</div>
 157 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>········boost::make_shared&lt;Node&gt;(node-&gt;key,·node-&gt;factors);</div>
 158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····parentData.junctionTreeNode-&gt;addChild(myData.junctionTreeNode);</div>
147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">public</span>:</div>159 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keywordflow">return</span>·myData;</div>
148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·boost::graph_traits&lt;SGraph&lt;KEY&gt;·&gt;::vertex_descriptor·Vertex;</div> 
149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··};</div>160 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··}</div>
150 </div> 
151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>161 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="comment">//typedef·boost::graph_traits&lt;SGraph&gt;::vertex_descriptor·SVertex;</span></div> 
153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div> 
154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·KEY&gt;</div> 
155 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="};"> 
156 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a03624.html">···58</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03624.html">PredecessorMap</a>:·<span·class="keyword">public</span>·std::map&lt;KEY,·KEY&gt;·{</div> 
157 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">public</span>:</div>162 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="comment">//·Post-order·visitor·function</span></div>
 163 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·ConstructorTraversalVisitorPostAlg2(</div>
 164 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="keyword">const</span>·boost::shared_ptr&lt;ETREE_NODE&gt;&amp;·ETreeNode,</div>
 165 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="keyword">const</span>·ConstructorTraversalData&amp;·myData)·{</div>
 166 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="comment">//·In·this·post-order·visitor,·we·combine·the·symbolic·elimination·results</span></div>
 167 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····<span·class="comment">//·from·the·elimination·tree·children·and·symbolically·eliminate·the·current</span></div>
 168 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="comment">//·elimination·tree·node.··We·then·check·whether·each·of·our·elimination</span></div>
158 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}">169 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}">
 170 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a03652.html#a5812db967ae1a284a243c5a695656d52">···69</a></span>····<span·class="comment">//·tree·child·nodes·should·be·merged·with·us.··The·check·for·this·is·that</span></div>
 171 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="comment">//·our·number·of·symbolic·elimination·parents·is·exactly·1·less·than</span></div>
 172 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="comment">//·our·child&#39;s·symbolic·elimination·parents·-·this·condition·indicates·that</span></div>
 173 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="comment">//·eliminating·the·current·node·did·not·introduce·any·parents·beyond·those</span></div>
 174 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="comment">//·already·in·the·child-&gt;</span></div>
159 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a03624.html#a682e34c430a538cf5792a49b2d4697e9">···61</a></span>····<span·class="keyword">inline</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03624.html#a682e34c430a538cf5792a49b2d4697e9">insert</a>(<span·class="keyword">const</span>·KEY&amp;·key,·<span·class="keyword">const</span>·KEY&amp;·parent)·{</div> 
160 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······std::map&lt;KEY,·KEY&gt;::insert(std::make_pair(key,·parent));</div> 
161 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····}</div> 
162 </div> 
163 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··};</div> 
164 </div> 
165 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div> 
166 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·KEY&gt;</div> 
167 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··std::list&lt;KEY&gt;·<a·class="code·hl_function"·href="a01428.html#a18a265afdea057ea54be10262396be12">predecessorMap2Keys</a>(<span·class="keyword">const</span>·PredecessorMap&lt;KEY&gt;&amp;·p_map);</div> 
168 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>175 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
169 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·G,·<span·class="keyword">class</span>·F,·<span·class="keyword">class</span>·KEY&gt;·SDGraph&lt;KEY&gt;·<a·class="code·hl_f[·...·truncated·by·diffoscope;·len:·128,·SHA:·9764072b18106b938d2e2eb6576da5787babf0939951b2209017bf33c0a32dc3·...·]</div>176 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="comment">//·Do·symbolic·elimination·for·this·node</span></div>
 177 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····SymbolicFactors·symbolicFactors;</div>
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104 <p>Bayes·Tree·is·a·tree·of·cliques·of·a·Bayes·Chain.·· 
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 110 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">An·elimination·tree·is·a·data·structure·used·intermediately·during·elimination.··<a·href="a03584.html#details">More...</a><br·/></td></tr>
 111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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112 </table>120 </table>
113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
114 <div·class="textblock"><p>Bayes·Tree·is·a·tree·of·cliques·of·a·Bayes·Chain.·</p> 
115 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>122 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
116 <dd> 
117 Michael·Kaess·</dd> 
118 <dd> 
119 Viorela·Ila·</dd> 
120 <dd>123 <dd>
121 Richard·Roberts·</dd></dl>124 Richard·Roberts·</dd></dl>
 125 <dl·class="section·date"><dt>Date</dt><dd>Oct·13,·2010·</dd></dl>
122 </div></div><!--·contents·-->126 </div></div><!--·contents·-->
123 </div><!--·doc-content·-->127 </div><!--·doc-content·-->
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126 ··<ul>130 ··<ul>
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101 <a·href="#func-members">Functions</a>··</div> 
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107 <p><a·href="a00644_source.html">Go·to·the·source·code·of·this·file.</a></p>104 <p><a·href="a00644_source.html">Go·to·the·source·code·of·this·file.</a></p>
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114 </table><table·class="memberdecls"> 
115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a> 
116 Functions</h2></td></tr> 
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118 template&lt;class·CLIQUE·&gt;·</td></tr> 
119 <tr·class="memitem:ad81e78a9bbb281668fedfd68009ec550"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::check_sharedCliques</b>·(const·std::pair&lt;·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>,·typename·<a·class="el"·href="a03540.html">BayesTree</a>&lt;·CLIQUE·&gt;::sharedClique·&gt;·&amp;v1,·const·std::pair&lt;·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>,·typename·<a·class="el"·href="a03540.html">BayesTree</a>&lt;·CLIQUE·&gt;::sharedClique·&gt;·&amp;v2)</td></tr> 
120 <tr·class="separator:ad81e78a9bbb281668fedfd68009ec550"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
121 </table>111 </table>
122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>112 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 113 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
 114 <dl·class="section·date"><dt>Date</dt><dd>March·26,·2013·</dd></dl>
123 <div·class="textblock"><p>Bayes·Tree·is·a·tree·of·cliques·of·a·Bayes·Chain.·</p> 
124 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd> 
125 <dd> 
126 Michael·Kaess·</dd> 
127 <dd> 
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129 <dd> 
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126 <dd> 
127 Frank·Dellaert·</dd> 
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ISAM.h</div></div>104 ··<div·class="headertitle"><div·class="title">VariableIndex.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00653.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00653.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">//·\callgraph</span></div> 
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00632.html">gtsam/inference/Factor.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00137.html">gtsam/base/FastMap.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00134.html">gtsam/base/FastVector.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01397.html">gtsam/global_includes.h</a>&gt;</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/optional/optional.hpp&gt;</span></div>
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/smart_ptr/shared_ptr.hpp&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
 129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;cassert&gt;</span></div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;stdexcept&gt;</span></div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
125 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·BAYESTREE&gt;</div> 
126 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};">134 <div·class="foldopen"·id="foldopen00043"·data-start="{"·data-end="};">
 135 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a03700.html">···43</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03700.html">VariableIndex</a>·{</div>
127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a03640.html">···31</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03640.html">ISAM</a>·:·<span·class="keyword">public</span>·BAYESTREE·{</div> 
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·<span·class="keyword">public</span>:</div> 
129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">typedef</span>·BAYESTREE·Base;</div> 
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·Base::BayesNetType·BayesNetType;</div> 
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·Base::FactorGraphType·FactorGraphType;</div> 
132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·Base::Clique·Clique;</div> 
133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·Base::sharedClique·sharedClique;</div> 
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·Base::Cliques·Cliques;</div> 
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div> 
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·<span·class="keyword">private</span>:</div> 
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·Base::Eliminate·Eliminate;</div> 
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·Base::EliminationTraitsType·EliminationTraitsType;</div> 
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div> 
140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·<span·class="keyword">public</span>:</div>136 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·<span·class="keyword">public</span>:</div>
 137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;VariableIndex&gt;·shared_ptr;</div>
 138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">typedef</span>·FactorIndices::iterator·Factor_iterator;</div>
 139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">typedef</span>·FactorIndices::const_iterator·Factor_const_iterator;</div>
141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a03640.html#a528e028d3e062171007e8f40b55fdbae">···49</a></span>··<a·class="code·hl_function"·href="a03640.html#a528e028d3e062171007e8f40b55fdbae">ISAM</a>()·{}</div>141 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·<span·class="keyword">protected</span>:</div>
 142 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02316.html">FastMap&lt;Key,·FactorIndices&gt;</a>·<a·class="code·hl_class"·href="a02316.html">KeyMap</a>;</div>
 143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<a·class="code·hl_class"·href="a02316.html">KeyMap</a>·index_;</div>
 144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keywordtype">size_t</span>·nFactors_;··<span·class="comment">//·Number·of·factors·in·the·original·factor·graph.</span></div>
 145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keywordtype">size_t</span>·nEntries_;··<span·class="comment">//·Sum·of·involved·variable·counts·of·each·factor.</span></div>
143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a03640.html#a0c7b81b104909590d1341dcfd19dadc9">···52</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03640.html#a0c7b81b104909590d1341dcfd19dadc9">ISAM</a>[·...·truncated·by·diffoscope;·len:·77,·SHA:·47176cead825766c1e0194ea86eb4db98ad5f42c020c79f434c3e25a4196d62d·...·]</div>147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·<span·class="keyword">public</span>:</div>
 148 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">typedef</span>·KeyMap::const_iterator·const_iterator;</div>
 149 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">typedef</span>·KeyMap::const_iterator·iterator;</div>
 150 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keyword">typedef</span>·KeyMap::value_type·value_type;</div>
145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
146 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div> 
147 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03640.html#a0994a7782d39515a5c2869ef9efb65f3">update</a>(</div> 
148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="keyword">const</span>·FactorGraphType&amp;·newFactors,</div> 
149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<span·class="keyword">const</span>·Eliminate&amp;·function·=·EliminationTraitsType::DefaultEliminate);</div> 
150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>152 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
151 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03640.html#af0cea02debf437dfc89023b081a431ac">updateInternal</a>(</div> 
152 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······<span·class="keyword">const</span>·FactorGraphType&amp;·newFactors,·Cliques*·orphans,</div> 
153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······<span·class="keyword">const</span>·Eliminate&amp;·function·=·EliminationTraitsType::DefaultEliminate);</div>153 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03700.html#af85147163ce24cb4db4505471440402c">···64</a></span>··<a·class="code·hl_function"·href="a03700.html#af85147163ce24cb4db4505471440402c">VariableIndex</a>()·:·nFactors_(0),·nEntries_[·...·truncated·by·diffoscope;·len:·6,·SHA:·052cc0213e2e2fab2ead15fd2c000dd4ef760f0d38f6758dc27fb8aff88fca45·...·]</div>
 154 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 155 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·FG&gt;</div>
 156 <div·class="foldopen"·id="foldopen00071"·data-start="{"·data-end="}">
 157 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno"><a·class="line"·href="a03700.html#a79bebdf9292c00135d5605fe38319142">···71</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03700.html#a79bebdf9292c00135d5605fe38319142">VariableIndex</a>(<span·class="keyword">const</span>·FG&amp;·factorGraph)·:·nFactors_(0),·nEntries_(0)·{</div>
 158 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····augment(factorGraph);</div>
154 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>159 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··}</div>
155 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>};</div> 
156 </div>160 </div>
157 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>161 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 162 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>
 163 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a03700.html#a7e83a7dee6daaa33da9d69b34e5426f4">···80</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a03700.html#a7e83a7dee6daaa33da9d69b34e5426f4">size</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·index_.size();·}</div>
 164 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
 165 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno"><a·class="line"·href="a03700.html#aff88eee65d8bcf51062cd99a1ae90977">···83</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a03700.html#aff88eee65d8bcf51062cd99a1ae90977">nFactors</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·nFactors_;·}</div>
 166 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>
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133 <dd> 
134 Christian·Potthast·</dd> 
135 <dd> 
136 Michael·Kaess·</dd> 
137 <dd> 
138 Richard·Roberts·</dd></dl> 
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118 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>141 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>June·9,·2012·</dd></dl>142 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Jan·12,·2010·</dd></dl>
 143 <dl·class="section·author"><dt>Author</dt><dd>:·Alex·Cunningham</dd></dl>
 144 <dl·class="section·date"><dt>Date</dt><dd>Jan·12,·2010·</dd></dl>
120 <dl·class="section·author"><dt>Author</dt><dd>:·Frank·Dellaert·</dd>145 <dl·class="section·author"><dt>Author</dt><dd>:·Alex·Cunningham·</dd>
 146 <dd>
 147 :·Frank·Dellaert·</dd>
121 <dd>148 <dd>
122 :·Richard·Roberts·</dd></dl>149 :·Richard·Roberts·</dd></dl>
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105 <p>Contains·<em>generic</em>·inference·algorithms·that·convert·between·templated·graphical·models,·i.e.,·factor·graphs,·Bayes·nets,·and·Bayes·trees.··105 <p>Bayes·Tree·is·a·tree·of·cliques·of·a·Bayes·Chain.··
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123 <div·class="textblock"><p>Contains·<em>generic</em>·inference·algorithms·that·convert·between·templated·graphical·models,·i.e.,·factor·graphs,·Bayes·nets,·and·Bayes·trees.·</p>131 <div·class="textblock"><p>Bayes·Tree·is·a·tree·of·cliques·of·a·Bayes·Chain.·</p>
124 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>132 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
125 <dd> 
126 Richard·Roberts·</dd></dl> 
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141 ········<tr> 
142 ··········<td·class="paramkey"></td> 
143 ··········<td></td> 
144 ··········<td·class="paramtype">const·TREE·&amp;&#160;</td> 
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148 ··········<td·class="paramkey"></td> 
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151 ··········<td·class="paramname"><em>function</em>&#160;</td> 
152 ········</tr> 
153 ········<tr> 
154 ··········<td></td> 
155 ··········<td>)</td> 
156 ··········<td></td><td></td> 
157 ········</tr> 
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159 </div><div·class="memdoc"> 
  
160 <p>Eliminate·an·elimination·tree·or·a·Bayes·tree·(used·internally).·</p> 
161 <p>Requires·TREE::BayesNetType,·TREE::FactorGraphType,·TREE::sharedConditional,·TREE::sharedFactor,·TREE::Node,·TREE::sharedNode,·TREE::Node::factors,·TREE::Node::children.·</p> 
  
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107 <p><a·href="a00677_source.html">Go·to·the·source·code·of·this·file.</a></p>104 <p><a·href="a00677_source.html">Go·to·the·source·code·of·this·file.</a></p>
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110 Classes</h2></td></tr> 
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Traits·class·for·eliminateable·factor·graphs,·specifies·the·types·that·result·from·elimination,·etc.··<a·href="a03548.html#details">More...</a><br·/></td></tr> 
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a03580.html"·title="EliminateableFactorGraph·is·a·base·class·for·factor·graphs·that·contains·elimination·algorithms.">EliminateableFactorGraph</a>·is·a·base·class·for·factor·graphs·that·contains·elimination·algorithms.··<a·href="a03580.html#details">More...</a><br·/></td></tr> 
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119 Namespaces</h2></td></tr>107 Namespaces</h2></td></tr>
120 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>108 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
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123 </table>111 </table>
124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>112 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 113 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Andrew·Melim·</dd></dl>
125 <div·class="textblock"><p>Variable·elimination·algorithms·for·factor·graphs.·</p> 
126 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
127 <dl·class="section·date"><dt>Date</dt><dd>Apr·21,·2013·</dd></dl>114 <dl·class="section·date"><dt>Date</dt><dd>Oct.·10,·2014·</dd></dl>
128 </div></div><!--·contents·-->115 </div></div><!--·contents·-->
129 </div><!--·doc-content·-->116 </div><!--·doc-content·-->
130 <!--·start·footer·part·-->117 <!--·start·footer·part·-->
131 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->118 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
132 ··<ul>119 ··<ul>
133 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00677.html">EliminateableFactorGraph.h</a></li>120 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00677.html">MetisIndex-inl.h</a></li>
134 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>121 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">EliminateableFactorGraph.h</div></div>104 ··<div·class="headertitle"><div·class="title">MetisIndex-inl.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00677.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00677.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;functional&gt;</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/variant.hpp&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00596.html">gtsam/inference/Ordering.h</a>&gt;</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00623.html">gtsam/inference/VariableIndex.h</a>&gt;</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="comment">/*·*************************************************************************·*/</span></div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FACTORGRAPH&gt;</div>
 127 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="}">
 128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03676.html#a7dc9b4a64d6c83cbb6500c6889843153">···27</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03676.html#a7dc9b4a64d6c83cbb6500c6889843153">MetisIndex::augment</a>(<span·class="keyword">const</span>·FACTORGRAPH&amp;·factors)·{</div>
 129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··std::map&lt;int32_t,·std::set&lt;int32_t&gt;·&gt;·iAdjMap;·<span·class="comment">//·Stores·a·set·of·keys·that·are·adjacent·to·key·x,·with··adjMap.first</span></div>
 130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··std::map&lt;int32_t,·std::set&lt;int32_t&gt;·&gt;::iterator·iAdjMapIt;</div>
 131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··std::set&lt;Key&gt;·keySet;</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·GRAPH&gt;</div> 
131 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};"> 
132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03548.html">···35</a></span>··<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03548.html">EliminationTraits</a></div>133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="comment">/*·**********·Convert·to·CSR·format·**********·*/</span></div>
 134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="comment">//·Assuming·that·vertex·numbering·starts·from·0·(C·style),</span></div>
 135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="comment">//·then·the·adjacency·list·of·vertex·i·is·stored·in·array·adjncy</span></div>
 136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="comment">//·starting·at·index·xadj[i]·and·ending·at(but·not·including)</span></div>
 137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="comment">//·index·xadj[i·+·1](i.e.,·adjncy[xadj[i]]·through</span></div>
 138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="comment">//·and·including·adjncy[xadj[i·+·1]·-·1]).</span></div>
 139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··int32_t·keyCounter·=·0;</div>
 140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
 141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="comment">//·First:·Record·a·copy·of·each·key·inside·the·factorgraph·and·create·a</span></div>
 142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·key·to·integer·mapping.·This·is·referenced·during·the·adjaceny·step</span></div>
 143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·0;·i·&lt;·factors.size();·i++)·{</div>
 144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keywordflow">if</span>·(factors[i])·{</div>
 145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·key:·*factors[i])·{</div>
 146 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>········keySet.insert(keySet.end(),·key);·<span·class="comment">//·Keep·a·track·of·all·unique·keys</span></div>
 147 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>········<span·class="keywordflow">if</span>·(intKeyBMap_.left.find(key)·==·intKeyBMap_.left.end())·{</div>
 148 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··········intKeyBMap_.insert(bm_type::value_type(key,·keyCounter));</div>
 149 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··········keyCounter++;</div>
 150 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>········}</div>
 151 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······}</div>
 152 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····}</div>
 153 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div>
 154 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 155 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="comment">//·Create·an·adjacency·mapping·that·stores·the·set·of·all·adjacent·keys·for·every·key</span></div>
 156 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·0;·i·&lt;·factors.size();·i++)·{</div>
 157 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····<span·class="keywordflow">if</span>·(factors[i])·{</div>
 158 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·k1:·*factors[i])</div>
 159 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>········<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·k2:·*factors[i])</div>
 160 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··········<span·class="keywordflow">if</span>·(k1·!=·k2)·{</div>
 161 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>············<span·class="comment">//·Store·both·in·Key·and·int32_t·format</span></div>
 162 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>············<span·class="keywordtype">int</span>·i·=·intKeyBMap_.left.at(k1);</div>
 163 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>············<span·class="keywordtype">int</span>·j·=·intKeyBMap_.left.at(k2);</div>
 164 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>············iAdjMap[i].insert(iAdjMap[i].end(),·j);</div>
 165 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··········}</div>
 166 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····}</div>
133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··{</div>167 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div>
 168 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
 169 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="comment">//·Number·of·keys·referenced·in·this·factor·graph</span></div>
 170 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··nKeys_·=·keySet.size();</div>
 171 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
 172 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··xadj_.push_back(0);·<span·class="comment">//·Always·set·the·first·index·to·zero</span></div>
 173 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keywordflow">for</span>·(iAdjMapIt·=·iAdjMap.begin();·iAdjMapIt·!=·iAdjMap.end();·++iAdjMapIt)·{</div>
 174 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····std::vector&lt;int32_t&gt;·temp;</div>
134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="comment">//·Template·for·deriving:</span></div>175 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="comment">//·Copy·from·the·FastSet·into·a·temporary·vector</span></div>
 176 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····std::copy(iAdjMapIt-&gt;second.begin(),·iAdjMapIt-&gt;second.end(),</div>
 177 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>········std::back_inserter(temp));</div>
 178 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····<span·class="comment">//·Insert·each·index&#39;s·set·in·order·by·appending·them·to·the·end·of·adj_</span></div>
 179 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····adj_.insert(adj_.end(),·temp.begin(),·temp.end());</div>
135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="comment">//·typedef·MyFactor·FactorType;···················///&lt;·Type·of·factors·in·factor·graph·(e.g.·GaussianFactor)</span></div> 
136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="comment">//·typedef·MyFactorGraphType·FactorGraphType;·····///&lt;·Type·of·the·factor·graph·(e.g.·GaussianFactorGraph)</span></div> 
137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<span·class="comment">//·typedef·MyConditional·ConditionalType;·········///&lt;·Type·of·conditionals·from·elimination·(e.g.·GaussianConditional)</span></div> 
138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="comment">//·typedef·MyBayesNet·BayesNetType;···············///&lt;·Type·of·Bayes·net·from·sequential·elimination·(e.g.·GaussianBayesNet)</span></div> 
139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="comment">//·typedef·MyEliminationTree·EliminationTreeType;·///&lt;·Type·of·elimination·tree·(e.g.·GaussianEliminationTree)</span></div> 
140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="comment">//·typedef·MyBayesTree·BayesTreeType;·············///&lt;·Type·of·Bayes·tree·(e.g.·GaussianBayesTree)</span></div> 
141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="comment">//·typedef·MyJunctionTree·JunctionTreeType;·······///&lt;·Type·of·Junction·tree·(e.g.·GaussianJunctionTree)</span></div> 
142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····<span·class="comment">//·static·pair&lt;shared_ptr&lt;ConditionalType&gt;,·shared_ptr&lt;FactorType&gt;</span></div> 
143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····<span·class="comment">//···DefaultEliminate(</span></div>180 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="comment">//adj_.push_back(temp);</span></div>
144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="comment">//···const·MyFactorGraph&amp;·factors,·const·Ordering&amp;·keys);·///&lt;·The·default·dense·elimination·function</span></div>181 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····xadj_.push_back((int32_t)·adj_.size());</div>
145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··};</div>182 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··}</div>
 183 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>}</div>
146 </div>184 </div>
147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
148 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FACTOR_GRAPH&gt;</div> 
150 <div·class="foldopen"·id="foldopen00056"·data-start="{"·data-end="};"> 
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/BayesTree.h·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/ISAM.h·File·Reference</title>
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96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">BayesTree.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">ISAM.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Bayes·Tree·is·a·tree·of·cliques·of·a·Bayes·Chain.··105 <p>Incremental·update·functionality·(iSAM)·for·BayesTree.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00680_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00680_source.html">Go·to·the·source·code·of·this·file.</a></p>
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110 Classes</h2></td></tr>110 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03532.html">gtsam::BayesTreeCliqueStats</a></td></tr> 
112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">clique·statistics··<a·href="a03532.html#details">More...</a><br·/></td></tr> 
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03536.html">gtsam::BayesTreeCliqueData</a></td></tr> 
115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">store·all·the·sizes·<br··/> 
116 ··<a·href="a03536.html#details">More...</a><br·/></td></tr> 
117 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
118 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03540.html">gtsam::BayesTree&lt;·CLIQUE·&gt;</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03640.html">gtsam::ISAM&lt;·BAYESTREE·&gt;</a></td></tr>
119 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Bayes·tree.··<a·href="a03540.html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·Bayes·tree·with·an·update·methods·that·implements·the·iSAM·algorithm.··<a·href="a03640.html#details">More...</a><br·/></td></tr>
120 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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125 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
126 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
127 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
128 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 </table>120 </table>
130 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
131 <div·class="textblock"><p>Bayes·Tree·is·a·tree·of·cliques·of·a·Bayes·Chain.·</p>122 <div·class="textblock"><p>Incremental·update·functionality·(iSAM)·for·BayesTree.·</p>
132 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>123 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess·</dd></dl>
133 </div></div><!--·contents·-->124 </div></div><!--·contents·-->
134 </div><!--·doc-content·-->125 </div><!--·doc-content·-->
135 <!--·start·footer·part·-->126 <!--·start·footer·part·-->
136 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->127 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
137 ··<ul>128 ··<ul>
138 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00680.html">BayesTree.h</a></li>129 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00680.html">ISAM.h</a></li>
139 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>130 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
140 ··</ul>131 ··</ul>
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>··</div>
101 ··<div·class="headertitle"><div·class="title">VariableIndex-inl.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">BayesTreeCliqueBase-inst.h·File·Reference</div></div>
102 </div><!--header-->102 </div><!--header-->
103 <div·class="contents">103 <div·class="contents">
  
 104 <p>Base·class·for·cliques·of·a·BayesTree.··
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104 <p><a·href="a00683_source.html">Go·to·the·source·code·of·this·file.</a></p>106 <p><a·href="a00683_source.html">Go·to·the·source·code·of·this·file.</a></p>
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107 Namespaces</h2></td></tr>109 Namespaces</h2></td></tr>
108 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>110 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
109 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>111 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
110 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
111 </table>113 </table>
112 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>114 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 115 <div·class="textblock"><p>Base·class·for·cliques·of·a·BayesTree.·</p>
113 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>116 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·and·Frank·Dellaert·</dd></dl>
114 <dl·class="section·date"><dt>Date</dt><dd>March·26,·2013·</dd></dl> 
115 </div></div><!--·contents·-->117 </div></div><!--·contents·-->
116 </div><!--·doc-content·-->118 </div><!--·doc-content·-->
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119 ··<ul>121 ··<ul>
120 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00683.html">VariableIndex-inl.h</a></li>122 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00683.html">BayesTreeCliqueBase-inst.h</a></li>
121 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>123 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">VariableIndex-inl.h</div></div>104 ··<div·class="headertitle"><div·class="title">BayesTreeCliqueBase-inst.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00683.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00683.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div> 
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>117 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00587.html">gtsam/inference/BayesTreeCliqueBase.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00623.html">gtsam/inference/VariableIndex.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00608.html">gtsam/inference/FactorGraph-inst.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/timing.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00113.html">gtsam/base/timing.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="comment">/*·*************************************************************************·*/</span></div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FG&gt;</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·DERIVED,·<span·class="keyword">class</span>·FACTORGRAPH&gt;</div>
127 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="}">127 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="}">
128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03700.html#aedf0942d75479fc6ce0ed9166c9a3f82">···27</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03700.html#aedf0942d75479fc6ce0ed9166c9a3f82">VariableIndex::augment</a>(<span·class="keyword">const</span>·FG&amp;·factors,</div> 
129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>····boost::optional&lt;const·FactorIndices&amp;&gt;·newFactorIndices)·{</div>128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03552.html#afb3a025fa21a798cd6cafa931d54ab63">···27</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03552.html#afb3a025fa21a798cd6cafa931d54ab63">BayesTre[·...·truncated·by·diffoscope;·len:·66,·SHA:·8deed288fe7ab8d35e1c804e4a42f40743c249509fa91886e1397b4075788f6d·...·]</div>
 129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>····<span·class="keyword">const</span>·<span·class="keyword">typename</span>·FactorGraphType::EliminationResult&amp;·eliminationResult)</div>
130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··gttic(VariableIndex_augment);</div>130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··{</div>
 131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>····conditional_·=·eliminationResult.first;</div>
 132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··}</div>
 133 </div>
131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>134 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="comment">//·Augment·index·for·each·factor</span></div> 
133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·0;·i·&lt;·factors.size();·++i)·{</div>135 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 136 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·DERIVED,·<span·class="keyword">class</span>·FACTORGRAPH&gt;</div>
 137 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="}">
 138 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03552.html#a93d41d0b550a8fb9fb95f5c892fb2615">···35</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a03552.html#a93d41d0b550a8fb9fb95f5c892fb2615">BayesTreeCliqueBase&lt;DERIVED,·FACTORGRAPH&gt;::equals</a>(</div>
 139 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">const</span>·DERIVED&amp;·other,·<span·class="keywordtype">double</span>·tol)<span·class="keyword">·const</span></div>
134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keywordflow">if</span>·(factors[i])·{</div>140 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">··</span>{</div>
 141 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="keywordflow">return</span>·(!conditional_·&amp;&amp;·!other.conditional())</div>
 142 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······||·conditional_-&gt;<a·class="code·hl_struct"·href="a02480.html">equals</a>(*other.conditional(),·tol);</div>
135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>······<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·globalI·=</div> 
136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··········newFactorIndices·?·(*newFactorIndices)[i]·:·nFactors_;</div> 
137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>······<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key:·*factors[i])·{</div> 
138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>········index_[key].push_back(globalI);</div> 
139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>········++nEntries_;</div> 
140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······}</div> 
141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····}</div>143 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··}</div>
 144 </div>
142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>145 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="comment">//·Increment·factor·count·even·if·factors·are·null,·to·keep·indices·consistent</span></div> 
144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keywordflow">if</span>·(newFactorIndices)·{</div> 
145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<span·class="keywordflow">if</span>·((*newFactorIndices)[i]·&gt;=·nFactors_)</div> 
146 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>········nFactors_·=·(*newFactorIndices)[i]·+·1;</div>146 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 147 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·DERIVED,·<span·class="keyword">class</span>·FACTORGRAPH&gt;</div>
 148 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a></div>
 149 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="}">
 150 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a03552.html#acf1ef12f8527f4c2c708ef158362949d">···45</a></span>····<a·class="code·hl_function"·href="a03552.html#acf1ef12f8527f4c2c708ef158362949d">BayesTreeCliqueBase&lt;DERIVED,·FACTORGRAPH&gt;::separator_setminus_B</a>(<span·class="keyword">const</span>·derived_ptr&amp;·B)<span·class="keyword">·const</span></div>
147 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····}·<span·class="keywordflow">else</span>·{</div>151 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">··</span>{</div>
148 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······++nFactors_;</div> 
149 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····}</div> 
150 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··}</div>152 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<a·class="code·hl_class"·href="a02320.html">KeySet</a>·p_F_S_parents(this-&gt;conditional()-&gt;beginParents(),·this-&gt;conditional()-&gt;endParents());</div>
 153 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<a·class="code·hl_class"·href="a02320.html">KeySet</a>·indicesB(B-&gt;conditional()-&gt;begin(),·B-&gt;conditional()-&gt;end());</div>
 154 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·S_setminus_B;</div>
 155 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····std::set_difference(p_F_S_parents.begin(),·p_F_S_parents.end(),</div>
 156 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······indicesB.begin(),·indicesB.end(),·back_inserter(S_setminus_B));</div>
 157 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keywordflow">return</span>·S_setminus_B;</div>
151 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>}</div>158 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··}</div>
152 </div>159 </div>
153 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>160 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
154 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="comment">/*·*************************************************************************·*/</span></div>161 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
155 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·ITERATOR,·<span·class="keyword">class</span>·FG&gt;</div>162 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·DERIVED,·<span·class="keyword">class</span>·FACTORGRAPH&gt;</div>
156 <div·class="foldopen"·id="foldopen00054"·data-start="{"·data-end="}">163 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}">
157 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03700.html#a4094920c9d0ce534ff3d8a953730f09b">···54</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03700.html#a4094920c9d0ce534ff3d8a953730f09b">VariableIn[·...·truncated·by·diffoscope;·len:·58,·SHA:·d5a99092f1455c75d22a5af9b6949a9ca31b23ac217575a760014b98224035a6·...·]</div>164 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a03552.html#ab3ed1131e643eb5b93220129cf84c681">···57</a></span>··<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·<a·class="code·hl_function"·href=[·...·truncated·by·diffoscope;·len:·118,·SHA:·ee13eedbc2db9df379580edbc32aa1775ea91b9dba476ceb22f1390434719a86·...·]</div>
 165 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keyword">const</span>·derived_ptr&amp;·B,·<span·class="keyword">const</span>·FactorGraphType&amp;·p_Cp_B)<span·class="keyword">·const</span></div>
158 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<span·class="keyword">const</span>·FG&amp;·factors)·{</div>166 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span><span·class="keyword">··</span>{</div>
159 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··gttic(VariableIndex_remove);</div>167 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····gttic(shortcut_indices);</div>
 168 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<a·class="code·hl_class"·href="a02320.html">KeySet</a>·allKeys·=·p_Cp_B.keys();</div>
 169 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<a·class="code·hl_class"·href="a02320.html">KeySet</a>·indicesB(B-&gt;conditional()-&gt;begin(),·B-&gt;conditional()-&gt;end());</div>
 170 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·S_setminus_B·=·separator_setminus_B(B);</div>
 171 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·keep;</div>
 172 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="comment">//·keep·=·S\B·intersect·allKeys·(S_setminus_B·is·already·sorted)</span></div>
 173 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····std::set_intersection(S_setminus_B.begin(),·S_setminus_B.end(),·<span·class="comment">//</span></div>
 174 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······allKeys.begin(),·allKeys.end(),·back_inserter(keep));</div>
 175 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="comment">//·keep·+=·B·intersect·allKeys</span></div>
 176 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····std::set_intersection(indicesB.begin(),·indicesB.end(),·<span·class="comment">//</span></div>
 177 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······allKeys.begin(),·allKeys.end(),·back_inserter(keep));</div>
 178 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="keywordflow">return</span>·keep;</div>
 179 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··}</div>
 180 </div>
160 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>181 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
 182 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 183 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·DERIVED,·<span·class="keyword">class</span>·FACTORGRAPH&gt;</div>
 184 <div·class="foldopen"·id="foldopen00076"·data-start="{"·data-end="}">
 185 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno"><a·class="line"·href="a03552.html#ad03372d87f70713d127a4a702cfcdf23">···76</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03552.html#ad03372d87f70713d127a4a702cfcdf23">BayesTreeCliqueBase&lt;DERIVED,·FACTORGRAPH&gt;::print</a>(</div>
 186 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····<span·class="keyword">const</span>·std::string&amp;·s,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter)<span·class="keyword">·const</span></div>
161 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="comment">//·NOTE:·We·intentionally·do·not·decrement·nFactors_·because·the·factor</span></div> 
162 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="comment">//·indices·need·to·remain·consistent.··Removing·factors·from·a·factor·graph</span></div> 
163 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="comment">//·does·not·shift·the·indices·of·other·factors.··Also,·we·keep·nFactors_</span></div> 
164 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="comment">//·one·greater·than·the·highest-numbered·factor·referenced·in·a·VariableIndex.</span></div> 
165 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··ITERATOR·factorIndex·=·firstFactor;</div> 
166 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keywordtype">size_t</span>·i·=·0;</div> 
167 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keywordflow">for</span>·(;·factorIndex·!=·lastFactor;·++factorIndex,·++i)·{</div> 
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99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">BayesNet.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">Conditional.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Bayes·network.··105 <p>Base·class·for·conditional·densities.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00686_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00686_source.html">Go·to·the·source·code·of·this·file.</a></p>
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110 Classes</h2></td></tr>110 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03516.html">gtsam::BayesNet&lt;·CONDITIONAL·&gt;</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03572.html">gtsam::Conditional&lt;·FACTOR,·DERIVEDCONDITIONAL·&gt;</a></td></tr>
112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·<a·class="el"·href="a03516.html"·title="A·BayesNet·is·a·tree·of·conditionals,·stored·in·elimination·order.">BayesNet</a>·is·a·tree·of·conditionals,·stored·in·elimination·order.··<a·href="a03516.html#details">More...</a><br·/></td></tr> 
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122 <div·class="textblock"><p>Bayes·network.·</p>121 <div·class="textblock"><p>Base·class·for·conditional·densities.·</p>
123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>122 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
124 <dd> 
125 Richard·Roberts·</dd></dl> 
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13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">BayesNet.h</div></div>104 ··<div·class="headertitle"><div·class="title">Conditional.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00686.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00686.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">//·\callgraph</span></div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00656.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;boost/range.hpp&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05044.html">HybridValues</a>;</div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a05044.html">HybridValues</a>;··<span·class="comment">//·forward·declaration.</span></div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CONDITIONAL&gt;</div>129 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FACTOR,·<span·class="keyword">class</span>·DERIVEDCONDITIONAL&gt;</div>
130 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">130 <div·class="foldopen"·id="foldopen00063"·data-start="{"·data-end="};">
 131 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a03572.html">···63</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03572.html">Conditional</a></div>
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03516.html">···35</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03516.html">BayesNet</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03524.html">FactorGraph</a>&lt;CONDITIONAL&gt;·{</div> 
132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·<span·class="keyword">private</span>:</div> 
133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03524.html">FactorGraph&lt;CONDITIONAL&gt;</a>·<a·class="code·hl_class"·href="a03524.html">Base</a>;</div> 
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div> 
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·<span·class="keyword">public</span>:</div> 
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·boost::shared_ptr&lt;CONDITIONAL&gt;</div> 
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a03516.html#a88103713b4df54500caaf6791f874a1c">···41</a></span>······<a·class="code·hl_typedef"·href="a03516.html#a88103713b4df54500caaf6791f874a1c">sharedConditional</a>;··</div> 
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·<span·class="keyword">protected</span>:</div> 
140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a03516.html#ae6a59fca7b59061bffe9d3aad97cca69">···48</a></span>··<a·class="code·hl_function"·href="a03516.html#ae6a59fca7b59061bffe9d3aad97cca69">BayesNet</a>()·{}</div> 
142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·ITERATOR&gt;</div> 
144 <div·class="foldopen"·id="foldopen00052"·data-start="{"·data-end="}"> 
145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a03516.html#ad1f05fb1c55edbb9c84ccb29a0b7464c">···52</a></span>··<a·class="code·hl_function"·href="a03516.html#ad1f05fb1c55edbb9c84ccb29a0b7464c">BayesNet</a>(ITERATOR·firstConditional,·ITERATOR·lastConditional)</div> 
146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······:·<a·class="code·hl_class"·href="a03524.html">Base</a>(firstConditional,·lastConditional)·{}</div> 
147 </div> 
148 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div> 
149 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="}"> 
150 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a03516.html#a59aa8d5cffc44d6921cdd347f48f6d65">···60</a></span>··<a·class="code·hl_function"·href="a03516.html#a59aa8d5cffc44d6921cdd347f48f6d65">BayesNet</a>(std::initializer_list&lt;sharedConditional&gt;·conditionals)</div> 
151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······:·<a·class="code·hl_class"·href="a03524.html">Base</a>(conditionals)·{}</div> 
152 </div> 
153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div> 
154 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>132 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··{</div>
155 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·<span·class="keyword">public</span>:</div>133 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">protected</span>:</div>
 134 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a03572.html#a1700745916154a78b30a2fc15e28ce70">···67</a></span>····<span·class="keywordtype">size_t</span>·<a·class="code·hl_variable"·href="a03572.html#a1700745916154a78b30a2fc15e28ce70">nrFrontals_</a>;</div>
156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>135 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 136 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="keyword">private</span>:</div>
 137 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03572.html">Conditional&lt;FACTOR,DERIVEDCONDITIONAL&gt;</a>·<a·class="code·hl_class"·href="a03572.html">This</a>;</div>
157 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03516.html#a5a0adcde7519254c34f75b3563081dcd">print</a>(</div> 
158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;BayesNet&quot;</span>,</div> 
159 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div> 
160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>138 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
 139 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="keyword">public</span>:</div>
 140 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a03572.html#abcbfbd27ed84d38425130d72c522dcea">···75</a></span>····<span·class="keyword">typedef</span>·boost::iterator_range&lt;typename·FACTOR::const_iterator&gt;·<a·class="code·hl_typedef"·href="a03572.html#abcbfbd27ed84d38425130d72c522dcea">Frontals</a>;</div>
161 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>141 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
162 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03516.html#a7b9f765c63538beca9e5e667b5c676f8">dot</a>(std::ostream&amp;·os,</div> 
163 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>···········<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter,</div> 
164 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>···········<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>&amp;·writer·=·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>())·<span·class="keyword[·...·truncated·by·diffoscope;·len:·13,·SHA:·6f6b02288253ff884b548d17852716cf3df0d070cd6813e279cf2f7400b3ea61·...·]>;</div>142 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a03572.html#a7023eb6fc34dc7dc0d0be1f92481721f">···78</a></span>····<span·class="keyword">typedef</span>·boost::iterator_range&lt;typename·FACTOR::const_iterator&gt;·<a·class="code·hl_typedef"[·...·truncated·by·diffoscope;·len:·64,·SHA:·25b0686367d3098b6f35e471d0309b1f13392a168668c6134b2b5a1dd6d5cd8e·...·]>;</div>
 143 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
 144 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keyword">protected</span>:</div>
165 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>145 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
 146 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno"><a·class="line"·href="a03572.html#a92872ac46ea07c2953eabbdfe816f3ed">···85</a></span>····<a·class="code·hl_function"·href="a03572.html#a92872ac46ea07c2953eabbdfe816f3ed">Conditional</a>()·:·<a·class="code·hl_variable"·href="a03572.html#a1700745916154a78b30a2fc15e28ce70">nrFrontals_</a>(0)·{}</div>
166 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··std::string·<a·class="code·hl_function"·href="a03516.html#a7b9f765c63538beca9e5e667b5c676f8">dot</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter,</div> 
167 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··················<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>&amp;·writer·=·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>())·<span·class="keyword">const</span>;</div> 
168 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>147 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
 148 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno"><a·class="line"·href="a03572.html#a97b7d1439af9d6bd666946a7d22d2fd5">···88</a></span>····<a·class="code·hl_function"·href="a03572.html#a97b7d1439af9d6bd666946a7d22d2fd5">Conditional</a>(<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a03572.html#a87e48132e41995e8327bc5b1daefd41d">nrFrontals</a>)·:·<a·class="code·hl_variable"·href="a03572.html#a1700745916154a78b30a2fc15e28ce70">nrFrontals_</a>(<a·class="code·hl_function"·href="a03572.html#a87e48132e41995e8327bc5b1daefd41d">nrFrontals</a>)·{}</div>
 149 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>
169 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03516.html#ae0b05918d78c0dd95363bb4affc22f8a">saveGraph</a>(<span·class="keyword">const</span>·std::string&amp;·filename,</div> 
170 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter,</div> 
171 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·················<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>&amp;·writer·=·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>())·<span·class="keyword">const</span>;</div> 
172 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>150 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>
 151 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··<span·class="keyword">public</span>:</div>
173 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>152 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>
 153 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03572.html#ae420d24aff203ccfb249e939a48730f5">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;Conditional&quot;</span>,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)·<span·class="keyword">const</span>;</div>
174 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··<span·class="comment">//·Expose·HybridValues·version·of·logProbability.</span></div> 
175 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··<span·class="keywordtype">double</span>·logProbability(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03504.html">HybridValues</a>&amp;·x)·<span·class="keyword">const</span>;</div> 
176 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>·</div>154 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>·</div>
 155 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·This&amp;·c,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div>
177 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>··<span·class="comment">//·Expose·HybridValues·version·of·evaluate.</span></div> 
178 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>··<span·class="keywordtype">double</span>·evaluate(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03504.html">HybridValues</a>&amp;·c)·<span·class="keyword">const</span>;</div> 
179 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>·</div>156 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>·</div>
180 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>};</div>157 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>·</div>
181 </div> 
182 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>·</div> 
183 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>}··<span·class="comment">//·namespace·gtsam</span></div> 
184 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>·</div>158 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>·</div>
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 160 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>·</div>
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 162 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>·</div>
 163 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno"><a·class="line"·href="a03572.html#ae19763bc0d1b12bea9e7bfcb304b40bb">··113</a></span>····<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a03572.html#ae19763bc0d1b12bea9e7bfcb304b40bb">nrParents</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·asFactor().size()·-·<a·class="code·hl_variable"·href="a03572.html#a1700745916154a78b30a2fc15e28ce70">nrFrontals_</a>;·}</div>
 164 <div·class="line"><a·id="l00114"·name="l00114"></a><span·class="lineno">··114</span>·</div>
 165 <div·class="foldopen"·id="foldopen00116"·data-start="{"·data-end="}">
 166 <div·class="line"><a·id="l00116"·name="l00116"></a><span·class="lineno"><a·class="line"·href="a03572.html#a2c239cc3a58d08302df173d4e464f2f1">··116</a></span>····<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·<a·class="code·hl_function"·href="a03572.html#a2c239cc3a58d08302df173d4e464f2f1">firstFrontalKey</a>()<span·class="keyword">·const·</span>{</div>
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103 <div·class="contents">104 <div·class="contents">
  
 105 <p>Exceptions·that·may·be·thrown·by·inference·algorithms.··
 106 <a·href="#details">More...</a></p>
  
104 <p><a·href="a00689_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00689_source.html">Go·to·the·source·code·of·this·file.</a></p>
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 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">An·inference·algorithm·was·called·with·inconsistent·arguments.··<a·href="a03636.html#details">More...</a><br·/></td></tr>
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109 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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111 </table>120 </table>
112 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
113 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Andrew·Melim·</dd></dl>122 <div·class="textblock"><p>Exceptions·that·may·be·thrown·by·inference·algorithms.·</p>
 123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
114 <dl·class="section·date"><dt>Date</dt><dd>Oct.·10,·2014·</dd></dl>124 <dl·class="section·date"><dt>Date</dt><dd>Apr·25,·2013·</dd></dl>
115 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
116 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
117 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
118 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
119 ··<ul>129 ··<ul>
120 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00689.html">MetisIndex-inl.h</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00689.html">inferenceExceptions.h</a></li>
121 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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106 <div·class="contents">106 <div·class="contents">
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
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116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01394.html">gtsam/global_includes.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;boost/lexical_cast.hpp&gt;</span></div>
122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;exception&gt;</span></div>
123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="comment">/*·*************************************************************************·*/</span></div> 
127 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FACTORGRAPH&gt;</div> 
128 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="}">127 <div·class="foldopen"·id="foldopen00029"·data-start="{"·data-end="};">
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno"><a·class="line"·href="a03636.html">···29</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03636.html">InconsistentEliminationRequested</a>·:·<span·class="keyword">public</span>·std::exception·{</div>
129 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03676.html#a7dc9b4a64d6c83cbb6500c6889843153">···27</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03676.html#a7dc9b4a64d6c83cbb6500c6889843153">MetisIndex::augment</a>(<span·class="keyword">const</span>·FACTORGRAPH&amp;·factors)·{</div> 
130 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··std::map&lt;int32_t,·std::set&lt;int32_t&gt;·&gt;·iAdjMap;·<span·class="comment">//·Stores·a·set·of·keys·that·are·adjacent·to·key·x,·with··adjMap.first</span></div> 
131 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··std::map&lt;int32_t,·std::set&lt;int32_t&gt;·&gt;::iterator·iAdjMapIt;</div> 
132 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··std::set&lt;Key&gt;·keySet;</div> 
133 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">public</span>:</div>
 130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>····<a·class="code·hl_class"·href="a03636.html">InconsistentEliminationRequested</a>()·<span·class="keyword">noexcept</span>·{}</div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<a·class="code·hl_class"·href="a03636.html">~InconsistentEliminationRequested</a>()·<span·class="keyword">noexcept</span>·<span·class="keyword">override</span>·{}</div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keyword">const</span>·<span·class="keywordtype">char</span>*·what()·<span·class="keyword">const</span>·<span·class="keyword">noexcept</span>·<span·class="keyword">override</span>·{</div>
134 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="comment">/*·**********·Convert·to·CSR·format·**********·*/</span></div> 
135 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="comment">//·Assuming·that·vertex·numbering·starts·from·0·(C·style),</span></div> 
136 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="comment">//·then·the·adjacency·list·of·vertex·i·is·stored·in·array·adjncy</span></div> 
137 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="comment">//·starting·at·index·xadj[i]·and·ending·at(but·not·including)</span></div> 
138 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="comment">//·index·xadj[i·+·1](i.e.,·adjncy[xadj[i]]·through</span></div> 
139 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="comment">//·and·including·adjncy[xadj[i·+·1]·-·1]).</span></div> 
140 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··int32_t·keyCounter·=·0;</div>133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>······<span·class="keywordflow">return</span></div>
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>········<span·class="stringliteral">&quot;An·inference·algorithm·was·called·with·inconsistent·arguments.··The\n&quot;</span></div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>········<span·class="stringliteral">&quot;factor·graph,·ordering,·or·variable·index·were·inconsistent·with·each\n&quot;</span></div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>········<span·class="stringliteral">&quot;other,·or·a·full·elimination·routine·was·called·with·an·ordering·that\n&quot;</span></div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>········<span·class="stringliteral">&quot;does·not·include·all·of·the·variables.&quot;</span>;</div>
141 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····}</div>
142 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="comment">//·First:·Record·a·copy·of·each·key·inside·the·factorgraph·and·create·a</span></div> 
143 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·key·to·integer·mapping.·This·is·referenced·during·the·adjaceny·step</span></div> 
144 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·0;·i·&lt;·factors.size();·i++)·{</div> 
145 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keywordflow">if</span>·(factors[i])·{</div> 
146 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·key:·*factors[i])·{</div> 
147 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>········keySet.insert(keySet.end(),·key);·<span·class="comment">//·Keep·a·track·of·all·unique·keys</span></div> 
148 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>········<span·class="keywordflow">if</span>·(intKeyBMap_.left.find(key)·==·intKeyBMap_.left.end())·{</div> 
149 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··········intKeyBMap_.insert(bm_type::value_type(key,·keyCounter));</div> 
150 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··········keyCounter++;</div> 
151 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>········}</div> 
152 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······}</div> 
153 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····}</div> 
154 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div> 
155 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div> 
156 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="comment">//·Create·an·adjacency·mapping·that·stores·the·set·of·all·adjacent·keys·for·every·key</span></div> 
157 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·0;·i·&lt;·factors.size();·i++)·{</div> 
158 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····<span·class="keywordflow">if</span>·(factors[i])·{</div> 
159 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·k1:·*factors[i])</div> 
160 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>········<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·k2:·*factors[i])</div> 
161 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··········<span·class="keywordflow">if</span>·(k1·!=·k2)·{</div> 
162 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>············<span·class="comment">//·Store·both·in·Key·and·int32_t·format</span></div> 
163 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>············<span·class="keywordtype">int</span>·i·=·intKeyBMap_.left.at(k1);</div> 
164 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>············<span·class="keywordtype">int</span>·j·=·intKeyBMap_.left.at(k2);</div> 
165 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>············iAdjMap[i].insert(iAdjMap[i].end(),·j);</div> 
166 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··········}</div> 
167 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····}</div> 
168 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div> 
169 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div> 
170 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="comment">//·Number·of·keys·referenced·in·this·factor·graph</span></div> 
171 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··nKeys_·=·keySet.size();</div> 
172 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··};</div>
173 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··xadj_.push_back(0);·<span·class="comment">//·Always·set·the·first·index·to·zero</span></div> 
174 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keywordflow">for</span>·(iAdjMapIt·=·iAdjMap.begin();·iAdjMapIt·!=·iAdjMap.end();·++iAdjMapIt)·{</div> 
175 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····std::vector&lt;int32_t&gt;·temp;</div> 
176 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="comment">//·Copy·from·the·FastSet·into·a·temporary·vector</span></div> 
177 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····std::copy(iAdjMapIt-&gt;second.begin(),·iAdjMapIt-&gt;second.end(),</div> 
178 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>········std::back_inserter(temp));</div> 
179 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····<span·class="comment">//·Insert·each·index&#39;s·set·in·order·by·appending·them·to·the·end·of·adj_</span></div> 
180 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····adj_.insert(adj_.end(),·temp.begin(),·temp.end());</div> 
181 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="comment">//adj_.push_back(temp);</span></div> 
182 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····xadj_.push_back((int32_t)·adj_.size());</div> 
183 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··}</div> 
184 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>}</div> 
185 </div>140 </div>
186 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
187 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>}·<span·class="comment">//·\·gtsam</span></div>142 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>}</div>
 143 <div·class="ttc"·id="aa01394_html"><div·class="ttname"><a·href="a01394.html">global_includes.h</a></div><div·class="ttdoc">Included·from·all·GTSAM·files.</div></div>
188 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>144 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
 145 <div·class="ttc"·id="aa03636_html"><div·class="ttname"><a·href="a03636.html">gtsam::InconsistentEliminationRequested</a></div><div·class="ttdoc">An·inference·algorithm·was·called·with·inconsistent·arguments.</div><div·class="ttdef"><b>Definition</b>·inferenceExceptions.h:29</div></div>
189 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div> 
190 <div·class="ttc"·id="aa03676_html_a7dc9b4a64d6c83cbb6500c6889843153"><div·class="ttname"><a·href="a03676.html#a7dc9b4a64d6c83cbb6500c6889843153">gtsam::MetisIndex::augment</a></div><div·class="ttdeci">void·augment(const·FACTORGRAPH·&amp;factors)</div><div·class="ttdoc">Augment·the·variable·index·with·new·factors.</div><div·class="ttdef"><b>Definition</b>·MetisIndex-inl.h:27</div></div> 
191 </div><!--·fragment·--></div><!--·contents·-->146 </div><!--·fragment·--></div><!--·contents·-->
192 </div><!--·doc-content·-->147 </div><!--·doc-content·-->
193 <!--·start·footer·part·-->148 <!--·start·footer·part·-->
194 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->149 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
195 ··<ul>150 ··<ul>
196 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00689.html">MetisIndex-inl.h</a></li>151 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00689.html">inferenceExceptions.h</a></li>
197 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>152 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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96 </div>96 </div>
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">JunctionTree.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">BayesNet.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>The·junction·tree.··105 <p>Bayes·network.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00692_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00692_source.html">Go·to·the·source·code·of·this·file.</a></p>
108 <table·class="memberdecls">108 <table·class="memberdecls">
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110 Classes</h2></td></tr>110 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03652.html">gtsam::JunctionTree&lt;·BAYESTREE,·GRAPH·&gt;</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03516.html">gtsam::BayesNet&lt;·CONDITIONAL·&gt;</a></td></tr>
112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·<a·class="el"·href="a03652.html"·title="A·JunctionTree·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...">JunctionTree</a>·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,·with·the·additional·property·that·it·repres[·...·truncated·by·diffoscope;·len:·66,·SHA:·a61c406eac72df2052728b9e39863d46345d6c2f7c09a17032004c8cc4a5f25f·...·].html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·<a·class="el"·href="a03516.html"·title="A·BayesNet·is·a·tree·of·conditionals,·stored·in·elimination·order.">BayesNet</a>·is·a·tree·of·conditionals,·stored·in·elimination·order.··<a·href="a03516.html#details">More...</a><br·/></td></tr>
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
114 </table><table·class="memberdecls">114 </table><table·class="memberdecls">
115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
116 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 </table>120 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>The·junction·tree.·</p>122 <div·class="textblock"><p>Bayes·network.·</p>
123 <dl·class="section·date"><dt>Date</dt><dd>Feb·4,·2010·</dd></dl> 
124 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd>123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
125 <dd> 
126 Frank·Dellaert·</dd> 
127 <dd>124 <dd>
128 Richard·Roberts·</dd></dl>125 Richard·Roberts·</dd></dl>
129 </div></div><!--·contents·-->126 </div></div><!--·contents·-->
130 </div><!--·doc-content·-->127 </div><!--·doc-content·-->
131 <!--·start·footer·part·-->128 <!--·start·footer·part·-->
132 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
133 ··<ul>130 ··<ul>
134 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00692.html">JunctionTree.h</a></li>131 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00692.html">BayesNet.h</a></li>
135 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>132 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
136 ··</ul>133 ··</ul>
137 </div>134 </div>
138 </body>135 </body>
139 </html>136 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/JunctionTree.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/BayesNet.h·Source·File</title>
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13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">JunctionTree.h</div></div>104 ··<div·class="headertitle"><div·class="title">BayesNet.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00692.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00692.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00599.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
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122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
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124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="comment">//·Forward·declarations</span></div> 
125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·BAYESNET,·<span·class="keyword">class</span>·GRAPH&gt;·<span·class="keyword">class·</span>EliminationTree;</div> 
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128 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="};">130 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
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130 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div> 
131 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">public</span>:</div>132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·<span·class="keyword">private</span>:</div>
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132 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
133 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03652.html#a5cd5f2112feb82893591bc85c5608dfc">···54</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03652.html">JunctionTree&lt;BAYESTREE,·GRAPH&gt;</a>·<a·class="code·hl_typedef"·href="a03652.html#a5cd5f2112feb82893591bc85c5608dfc">This</a>;·</div> 
134 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a03652.html#acf4f22ad215c4df3d6f76cc82189a205">···55</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03652.html#acf4f22ad215c4df3d6f76cc82189a205">shared_ptr</a>;·</div> 
135 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a03652.html#ab2fa0727164979796294c2231971bfb4">···56</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03528.html">EliminatableClusterTree&lt;BAYESTREE,·GRAPH[·...·truncated·by·diffoscope;·len:·99,·SHA:·32f66cb5c0bf20fc4793e072102d9b72f986e9cfad2a4199e3d391b8c0c192e2·...·]</div>135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·<span·class="keyword">public</span>:</div>
 136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·boost::shared_ptr&lt;CONDITIONAL&gt;</div>
 137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a03516.html#a88103713b4df54500caaf6791f874a1c">···41</a></span>······<a·class="code·hl_typedef"·href="a03516.html#a88103713b4df54500caaf6791f874a1c">sharedConditional</a>;··</div>
136 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
137 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keyword">protected</span>:</div>139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·<span·class="keyword">protected</span>:</div>
 140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a03516.html#ae6a59fca7b59061bffe9d3aad97cca69">···48</a></span>··<a·class="code·hl_function"·href="a03516.html#ae6a59fca7b59061bffe9d3aad97cca69">BayesNet</a>()·{}</div>
138 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·ITERATOR&gt;</div>
 144 <div·class="foldopen"·id="foldopen00052"·data-start="{"·data-end="}">
 145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a03516.html#ad1f05fb1c55edbb9c84ccb29a0b7464c">···52</a></span>··<a·class="code·hl_function"·href="a03516.html#ad1f05fb1c55edbb9c84ccb29a0b7464c">BayesNet</a>(ITERATOR·firstConditional,·ITERATOR·lastConditional)</div>
 146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······:·<a·class="code·hl_class"·href="a03524.html">Base</a>(firstConditional,·lastConditional)·{}</div>
 147 </div>
 148 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 149 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="}">
 150 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a03516.html#a59aa8d5cffc44d6921cdd347f48f6d65">···60</a></span>··<a·class="code·hl_function"·href="a03516.html#a59aa8d5cffc44d6921cdd347f48f6d65">BayesNet</a>(std::initializer_list&lt;sharedConditional&gt;·conditionals)</div>
 151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······:·<a·class="code·hl_class"·href="a03524.html">Base</a>(conditionals)·{}</div>
 152 </div>
139 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
140 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ETREE&gt;</div> 
141 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a03652.html#a0a0aed924d0fb7d666de293d7e8611d1">···65</a></span>······<span·class="keyword">static</span>·<a·class="code·hl_typedef"·href="a03652.html#a5cd5f2112feb82893591bc85c5608dfc">This</a>·<a·class="code·hl_function"·href="a03652.html#a0a0aed924d0fb7d666de293d7e8611d1">FromEliminationTree</a>(<span·class="keyword">const</span>·ETREE&amp;·eliminationTree)·{·<span·class="keywordflow">return</span>·<a·class="code·hl_typedef"·href="a03652.html#a5cd5f2112feb82893591bc85c5608dfc">This</a>(eliminationTree);·}</div> 
142 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>154 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
143 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ETREE_BAYESNET,·<span·class="keyword">class</span>·ETREE_GRAPH&gt;</div> 
144 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<a·class="code·hl_class"·href="a03652.html">JunctionTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree&lt;ETREE_BAYESNET,·ETREE_GRAPH&gt;</a>&amp[·...·truncated·by·diffoscope;·len:·19,·SHA:·2051c7fb427e3d3ea8b7acea0547f4337cebae898f0c3d0cbd82f9a3107a95a0·...·]</div>155 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·<span·class="keyword">public</span>:</div>
 156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 157 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03516.html#a5a0adcde7519254c34f75b3563081dcd">print</a>(</div>
 158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;BayesNet&quot;</span>,</div>
 159 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div>
145 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
146 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div> 
147 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="keyword">protected</span>:</div> 
148 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div> 
149 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="comment">//·Private·default·constructor·(used·in·static·construction·methods)</span></div> 
150 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<a·class="code·hl_class"·href="a03652.html">JunctionTree</a>()·{}</div> 
151 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>161 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
 162 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03516.html#a7b9f765c63538beca9e5e667b5c676f8">dot</a>(std::ostream&amp;·os,</div>
 163 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>···········<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter,</div>
 164 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>···········<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>&amp;·writer·=·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>())·<span·class="keyword">const</span>;</div>
152 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··};</div>165 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>
 166 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··std::string·<a·class="code·hl_function"·href="a03516.html#a7b9f765c63538beca9e5e667b5c676f8">dot</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter,</div>
 167 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··················<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>&amp;·writer·=·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>())·<span·class="keyword">const</span>;</div>
 168 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
 169 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03516.html#ae0b05918d78c0dd95363bb4affc22f8a">saveGraph</a>(<span·class="keyword">const</span>·std::string&amp;·filename,</div>
 170 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter,</div>
 171 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·················<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>&amp;·writer·=·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>())·<span·class="keyword">const</span>;</div>
 172 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>
 173 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>
 174 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··<span·class="comment">//·Expose·HybridValues·version·of·logProbability.</span></div>
 175 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··<span·class="keywordtype">double</span>·logProbability(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03504.html">HybridValues</a>&amp;·x)·<span·class="keyword">const</span>;</div>
 176 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>·</div>
 177 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>··<span·class="comment">//·Expose·HybridValues·version·of·evaluate.</span></div>
 178 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>··<span·class="keywordtype">double</span>·evaluate(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03504.html">HybridValues</a>&amp;·c)·<span·class="keyword">const</span>;</div>
 179 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>·</div>
 180 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>};</div>
153 </div>181 </div>
154 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>182 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>·</div>
 183 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>}··<span·class="comment">//·namespace·gtsam</span></div>
155 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>}</div>184 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>·</div>
156 <div·class="ttc"·id="aa00674_html"><div·class="ttname"><a·href="a00674.html">ClusterTree.h</a></div><div·class="ttdoc">Collects·factorgraph·fragments·defined·on·variable·clusters,·arranged·in·a·tree.</div></div>185 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span><span·class="preprocessor">#include·&lt;gtsam/inference/BayesNet-inst.h&gt;</span></div>
 186 <div·class="ttc"·id="aa00599_html"><div·class="ttname"><a·href="a00599.html">FactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·Base·Class.</div></div>
157 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>187 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
158 <div·class="ttc"·id="aa03528_html"><div·class="ttname"><a·href="a03528.html">gtsam::EliminatableClusterTree</a></div><div·class="ttdoc">A·cluster-tree·that·eliminates·to·a·Bayes·tree.</div><div·class="ttdef"><b>Definition</b>·ClusterTree.h:184</div></div> 
159 <div·class="ttc"·id="aa03584_html"><div·class="ttname"><a·href="a03584.html">gtsam::EliminationTree</a></div><div·class="ttdoc">An·elimination·tree·is·a·data·structure·used·intermediately·during·elimination.</div><div·class="ttdef"><b>Definition</b>·EliminationTree.h:52</div></div> 
160 <div·class="ttc"·id="aa03652_html"><div·class="ttname"><a·href="a03652.html">gtsam::JunctionTree</a></div><div·class="ttdoc">A·JunctionTree·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·JunctionTree.h:50</div></div> 
161 <div·class="ttc"·id="aa03652_html_a0a0aed924d0fb7d666de293d7e8611d1"><div·class="ttname"><a·href="a03652.html#a0a0aed924d0fb7d666de293d7e8611d1">gtsam::JunctionTree::FromEliminationTree</a></div><div·class="ttdeci">static·This·FromEliminationTree(const·ETREE·&amp;eliminationTree)</div><div·class="ttdoc">Build·the·junction·tree·from·an·elimination·tree.</div><div·class="ttdef"><b>Definition</b>·JunctionTree.h:65</div></div> 
162 <div·class="ttc"·id="aa03652_html_a5cd5f2112feb82893591bc85c5608dfc"><div·class="ttname"><a·href="a03652.html#a5cd5f2112feb82893591bc85c5608dfc">gtsam::JunctionTree::This</a></div><div·class="ttdeci">JunctionTree&lt;·BAYESTREE,·GRAPH·&gt;·This</div><div·class="ttdoc">This·class.</div><div·class="ttdef"><b>Definition</b>·JunctionTree.h:54</div></div> 
163 <div·class="ttc"·id="aa03652_html_ab2fa0727164979796294c2231971bfb4"><div·class="ttname"><a·href="a03652.html#ab2fa0727164979796294c2231971bfb4">gtsam::JunctionTree::Base</a></div><div·class="ttdeci">EliminatableClusterTree&lt;·BAYESTREE,·GRAPH·&gt;·Base</div><div·class="ttdoc">Our·base·class.</div><div·class="ttdef"><b>Definition</b>·JunctionTree.h:56</div></div> 
164 <div·class="ttc"·id="aa03652_html_acf4f22ad215c4df3d6f76cc82189a205"><div·class="ttname"><a·href="a03652.html#acf4f22ad215c4df3d6f76cc82189a205">gtsam::JunctionTree::shared_ptr</a></div><div·class="ttdeci">boost::shared_ptr&lt;·This·&gt;·shared_ptr</div><div·class="ttdoc">Shared·[·...·truncated·by·diffoscope;·len:·81,·SHA:·bc6c03945914170b79a215dc73906bcadedf86990ca356ead77dd73bf7788fa0·...·]5</div></div>188 <div·class="ttc"·id="aa01428_html_ae4b4e8e7f0d745882c6a02b507d5bffe"><div·class="ttname"><a·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">gtsam::KeyFormatter</a></div><div·class="ttdeci">std::function&lt;·std::string(Key)&gt;·KeyFormatter</div><div·class="ttdoc">Typedef·fo[·...·truncated·by·diffoscope;·len:·111,·SHA:·0d6ad3652a4069584b0d5353f3b089014eb4e60cb7c62bc47c8be68a3f90b6d5·...·]5</div></div>
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96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">ClusterTree-inst.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">EliminateableFactorGraph.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Collects·factorgraph·fragments·defined·on·variable·clusters,·arranged·in·a·tree.··105 <p>Variable·elimination·algorithms·for·factor·graphs.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00701_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00701_source.html">Go·to·the·source·code·of·this·file.</a></p>
108 <table·class="memberdecls">108 <table·class="memberdecls">
109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
110 Classes</h2></td></tr>110 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03556.html">gtsam::EliminationData&lt;·CLUSTERTREE·&gt;</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03548.html">gtsam::EliminationTraits&lt;·GRAPH·&gt;</a></td></tr>
 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Traits·class·for·eliminateable·factor·graphs,·specifies·the·types·that·result·from·elimination,·etc.··<a·href="a03548.html#details">More...</a><br·/></td></tr>
112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
113 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03560.html">gtsam::EliminationData&lt;·CLUSTERTREE·&gt;::EliminationPostOrderVisitor</a></td></tr>114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03580.html">gtsam::EliminateableFactorGraph&lt;·FACTOR_GRAPH·&gt;</a></td></tr>
 115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a03580.html"·title="EliminateableFactorGraph·is·a·base·class·for·factor·graphs·that·contains·elimination·algorithms.">EliminateableFactorGraph</a>·is·a·base·class·for·factor·graphs·that·contains·elimination·algorithms.··<a·href="a03580.html#details">More...</a><br·/></td></tr>
114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>116 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
115 </table><table·class="memberdecls">117 </table><table·class="memberdecls">
116 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>118 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
117 Namespaces</h2></td></tr>119 Namespaces</h2></td></tr>
118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>120 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
119 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
120 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>122 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
121 </table>123 </table>
122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
123 <div·class="textblock"><p>Collects·factorgraph·fragments·defined·on·variable·clusters,·arranged·in·a·tree.·</p>125 <div·class="textblock"><p>Variable·elimination·algorithms·for·factor·graphs.·</p>
 126 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
124 <dl·class="section·date"><dt>Date</dt><dd>Oct·8,·2013·</dd></dl>127 <dl·class="section·date"><dt>Date</dt><dd>Apr·21,·2013·</dd></dl>
125 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd> 
126 <dd> 
127 Richard·Roberts·</dd> 
128 <dd> 
129 Frank·Dellaert·</dd></dl> 
130 </div></div><!--·contents·-->128 </div></div><!--·contents·-->
131 </div><!--·doc-content·-->129 </div><!--·doc-content·-->
132 <!--·start·footer·part·-->130 <!--·start·footer·part·-->
133 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->131 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
134 ··<ul>132 ··<ul>
135 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00701.html">ClusterTree-inst.h</a></li>133 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00701.html">EliminateableFactorGraph.h</a></li>
136 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>134 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
137 ··</ul>135 ··</ul>
138 </div>136 </div>
139 </body>137 </body>
140 </html>138 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/Preconditioner.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/HessianFactor-inl.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Preconditioner.h</div></div>104 ··<div·class="headertitle"><div·class="title">HessianFactor-inl.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
 107 <a·href="a00707.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*</span></div> 
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment">·*·Preconditioner.h</span></div> 
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*</span></div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
 109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*··Created·on:·Jun·2,·2014</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*······Author:·Yong-Dian·Jian</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*······Author:·Sungtae·An</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment">·*/</span></div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
 114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
 115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
 116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Vector.h</a>&gt;</span></div> 
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div> 
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div> 
120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="preprocessor">#include·&lt;map&gt;</span></div> 
121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div> 
123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div> 
125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="keyword">class·</span>GaussianFactorGraph;</div> 
126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="keyword">class·</span>KeyInfo;</div> 
127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div> 
128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="comment">/*·parameters·for·the·preconditioner·*/</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·KEYS&gt;</div>
130 <div·class="foldopen"·id="foldopen00024"·data-start="{"·data-end="};">124 <div·class="foldopen"·id="foldopen00025"·data-start="{"·data-end="}">
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno"><a·class="line"·href="a03812.html#aea53397c9d43a943410ca33a4d8953d4">···25</a></span>··<a·class="code·hl_function"·href="a03812.html#acdcbc6dc5ead9bfdb6010f74bee3c8df">HessianFactor::HessianFactor</a>(<span·class="keyword">const</span>·KEYS&amp;·keys,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02472.html">SymmetricBlockMatrix</a>&amp;·augmentedInformation)·:</div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>····<a·class="code·hl_class"·href="a03780.html">GaussianFactor</a>(keys),·info_(augmentedInformation)</div>
131 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno"><a·class="line"·href="a03984.html">···24</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a03984.html">PreconditionerParameters</a>·{</div> 
132 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div> 
133 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>···<span·class="keyword">typedef</span>·boost::shared_ptr&lt;PreconditionerParameters&gt;·shared_ptr;</div> 
134 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··{</div>
135 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>···<span·class="keyword">enum</span>·Kernel·{·<span·class="comment">/*·Preconditioner·Kernel·*/</span></div> 
136 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·····GTSAM·=·0,</div> 
137 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·····CHOLMOD·····<span·class="comment">/*·experimental·*/</span></div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>····<span·class="comment">//·Check·number·of·variables</span></div>
138 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>···}·kernel_·;</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>····<span·class="keywordflow">if</span>((<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>)<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2f[·...·truncated·by·diffoscope;·len:·247,·SHA:·90b5d12004d331834617a866564120296ba05b1442ccce356341b2c05697d85d·...·]</div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>······<span·class="keywordflow">throw</span>·std::invalid_argument(</div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>······<span·class="stringliteral">&quot;Error·in·HessianFactor·constructor·input.··Number·of·provided·keys·plus\n&quot;</span></div>
 132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>······<span·class="stringliteral">&quot;one·for·the·information·vector·must·equal·the·number·of·provided·matrix·blocks.·&quot;</span>);</div>
139 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
 134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>····<span·class="comment">//·Check·RHS·dimension</span></div>
 135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>····<span·class="keywordflow">if</span>(<a·class="code·hl_function"·href="a03812.html#a08697c1955144897f7ece0e610ea6ccb">augmentedInformation</a>.getDim(<a·class="code·hl_function"·href="a03812.html#a08697c1955144897f7ece0e610ea6ccb">augmentedInformation</a>.nBlocks()·-·1)·!=·1)</div>
140 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>···<span·class="keyword">enum</span>·Verbosity·{</div>136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>······<span·class="keywordflow">throw</span>·std::invalid_argument(</div>
 137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>······<span·class="stringliteral">&quot;Error·in·HessianFactor·constructor·input.··The·last·provided·matrix·block\n&quot;</span></div>
 138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>······<span·class="stringliteral">&quot;must·be·the·information·vector,·but·the·last·provided·block·had·more·than·one·column.&quot;</span>);</div>
141 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·····SILENT·=·0,</div> 
142 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·····COMPLEXITY·=·1,</div> 
143 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·····ERROR·=·2</div> 
144 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>···}·verbosity_·;</div> 
145 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··}</div>
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 124 <tr·class="memitem:a6516ea957c3a22ddf429cefef1fe9486"><td·class="memTemplItemLeft"·align="right"·valign="top">V&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a6516ea957c3a22ddf429cefef1fe9486">gtsam::conjugateGradients</a>·(const·S·&amp;Ab,·V·x,·const·<a·class="el"·href="a03728.html">ConjugateGradientParameters</a>·&amp;parameters,·bool·steepest=false)</td></tr>
 125 <tr·class="memdesc:a6516ea957c3a22ddf429cefef1fe9486"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Method·of·conjugate·gradients·(CG)·template·"System"·class·S·needs·gradient(S,v),·e=S*v,·v=S^e·"Vector"·class·V·needs·dot(v,v),·-v,·v+v,·s*v·"Vector"·class·E·needs·dot(v,v)··<br·/></td></tr>
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113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>128 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
114 <div·class="textblock"><p>Simple·linear·Kalman·filter.·</p> 
115 <p>Implemented·using·factor·graphs,·i.e.,·does·Cholesky-based·SRIF,·really.</p>129 <div·class="textblock"><p>Iterative·methods,·template·implementation.·</p>
 130 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
116 <dl·class="section·date"><dt>Date</dt><dd>Sep·3,·2011·</dd></dl>131 <dl·class="section·date"><dt>Date</dt><dd>Dec·28,·2009·</dd></dl>
117 <dl·class="section·author"><dt>Author</dt><dd>Stephen·Williams·</dd> 
118 <dd> 
119 Frank·Dellaert·</dd></dl> 
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 117 <dd>
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122 <div·class="textblock"><p>Power·method·for·fast·eigenvalue·and·eigenvector·computation.·</p>114 <div·class="textblock"><p>Exceptions·that·may·be·thrown·by·linear·solver·components.·</p>
 115 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
123 <dl·class="section·date"><dt>Date</dt><dd>Sept·2020·</dd></dl>116 <dl·class="section·date"><dt>Date</dt><dd>Aug·17,·2012·</dd></dl>
124 <dl·class="section·author"><dt>Author</dt><dd>Jing·Wu·</dd></dl> 
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125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div> 
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·TERMS&gt;</div>
 126 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="}">
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03844.html#a5d8fe47dc30033bc65b1a17ad209bb77">···27</a></span>··<a·class="code·hl_function"·href="a03844.html#a1c9ccededa7bf3a937dd59d9b8e4a22d">JacobianFactor::JacobianFactor</a>(<span·class="keyword">const</span>·TERMS&amp;terms,·<span·class="keyword">const</span>·Vector·&amp;b,·<span·class="keyword">const</span>·SharedDiagonal&amp;·model)</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>{</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··{</div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">namespace·</span>internal</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>····<a·class="code·hl_function"·href="a03844.html#a87edd57f5afdc5a429163d6a917b6cec">fillTerms</a>(terms,·b,·model);</div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··{</div>130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··}</div>
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>····<span·class="keyword">namespace·</span>linearAlgorithms</div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····{</div> 
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>······<span·class="comment">/*·*************************************************************************·*/</span></div> 
134 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};"> 
135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a03856.html">···34</a></span>······<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03856.html">OptimizeData</a>·{</div> 
136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>········boost::optional&lt;OptimizeData&amp;&gt;·parentData;</div> 
137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>········<a·class="code·hl_class"·href="a02316.html">FastMap&lt;Key,·VectorValues::const_iterator&gt;</a>·cliqueResults;</div> 
138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>········<span·class="comment">//VectorValues·ancestorResults;</span></div> 
139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>········<span·class="comment">//VectorValues·results;</span></div> 
140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······};</div> 
141 </div>131 </div>
142 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
143 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······<span·class="comment">/*·*************************************************************************·*/</span></div>133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·CLIQUE&gt;</div>134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·KEYS&gt;</div>
145 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="};">135 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="}">
146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a03860.html">···49</a></span>······<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03860.html">OptimizeClique</a></div>136 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a03844.html#ab44f80d3aa07952ea28b2ba4a969a057">···34</a></span>··<a·class="code·hl_function"·href="a03844.html#a1c9ccededa7bf3a937dd59d9b8e4a22d">JacobianFactor::JacobianFactor</a>(</div>
 137 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>····<span·class="keyword">const</span>·KEYS&amp;·keys,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02660.html">VerticalBlockMatrix</a>&amp;·augmentedMatrix,·<span·class="keyword">const</span>·SharedDiagonal&amp;·model)·:</div>
 138 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<a·class="code·hl_class"·href="a03780.html">Base</a>(keys),·Ab_(augmentedMatrix)</div>
147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······{</div>139 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··{</div>
148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>········<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·collectedResult;</div>140 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="comment">//·Check·noise·model·dimension</span></div>
 141 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keywordflow">if</span>(model·&amp;&amp;·(<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>)model-&gt;dim()·!=·augmentedMatrix.<a·class="code·hl_function"·href="a02660.html#a503a682bd3ec153c92d274b7b60db5c8">rows</a>())</div>
 142 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>······<span·class="keywordflow">throw</span>·<a·class="code·hl_class"·href="a03868.html">InvalidNoiseModel</a>(augmentedMatrix.<a·class="code·hl_function"·href="a02660.html#a503a682bd3ec153c92d274b7b60db5c8">rows</a>(),·model-&gt;dim());</div>
 143 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 144 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="comment">//·Check·number·of·variables</span></div>
 145 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keywordflow">if</span>((<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>)<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">Base::keys_</a>.<a·class="code·hl_function"·href="a03592.html#afac01740aefd22f4f90f49767010f811">size</a>()·!=·augmentedMatrix.<a·class="code·hl_function"·href="a02660.html#aae2077898052464a33b9af7244c82f87">nBlocks</a>()·-·1)</div>
 146 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<span·class="keywordflow">throw</span>·std::invalid_argument(</div>
 147 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······<span·class="stringliteral">&quot;Error·in·JacobianFactor·constructor·input.··Number·of·provided·keys·plus\n&quot;</span></div>
 148 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>······<span·class="stringliteral">&quot;one·for·the·RHS·vector·must·equal·the·number·of·provided·matrix·blocks.&quot;</span>);</div>
 149 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 150 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="comment">//·Check·RHS·dimension</span></div>
 151 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keywordflow">if</span>(augmentedMatrix(augmentedMatrix.<a·class="code·hl_function"·href="a02660.html#aae2077898052464a33b9af7244c82f87">nBlocks</a>()·-·1).<a·class="code·hl_function"·href="a02660.html#a643d937b08596158d61440c5d8407ddf">cols</a>()·!=·1)</div>
 152 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······<span·class="keywordflow">throw</span>·std::invalid_argument(</div>
 153 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······<span·class="stringliteral">&quot;Error·in·JacobianFactor·constructor·input.··The·last·provided·matrix·block\n&quot;</span></div>
 154 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<span·class="stringliteral">&quot;must·be·the·RHS·vector,·but·the·last·provided·block·had·more·than·one·column.&quot;</span>);</div>
149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>155 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 156 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="comment">//·Take·noise·model</span></div>
 157 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····model_·=·model;</div>
150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>········<a·class="code·hl_struct"·href="a03856.html">OptimizeData</a>·operator()(</div> 
151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··········<span·class="keyword">const</span>·boost::shared_ptr&lt;CLIQUE&gt;&amp;·clique,</div> 
152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··········<a·class="code·hl_struct"·href="a03856.html">OptimizeData</a>&amp;·parentData)</div> 
153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>········{</div>158 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··}</div>
154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··········<a·class="code·hl_struct"·href="a03856.html">OptimizeData</a>·myData;</div>159 </div>
155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··········myData.parentData·=·parentData;</div>160 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 161 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 162 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·TERMS&gt;</div>
 163 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="}">
 164 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a03844.html#a87edd57f5afdc5a429163d6a917b6cec">···60</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03844.html#a87edd57f5afdc5a429163d6a917b6cec">JacobianFactor::fillTerms</a>(<span·class="keyword">const</span>·TERMS&amp;·terms,·<span·class="keyword">const</span>·Vector&amp;·b,·<span·class="keyword">const</span>·SharedDiagonal&amp;·noiseModel)</div>
 165 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··{</div>
156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··········<span·class="comment">//·Take·any·ancestor·results·we&#39;ll·need</span></div>166 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<span·class="comment">//·Check·noise·model·dimension</span></div>
157 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··········<span·class="keywordflow">for</span>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent:·clique-&gt;conditional_-&gt;parents())</div> 
158 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>············myData.cliqueResults.emplace(parent,·myData.parentData-&gt;cliqueResults.at(parent));</div>167 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="keywordflow">if</span>(noiseModel·&amp;&amp;·(<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>)noiseModel-&gt;dim()·!=·b.size())</div>
 168 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="keywordflow">throw</span>·<a·class="code·hl_class"·href="a03868.html">InvalidNoiseModel</a>(b.size(),·noiseModel-&gt;dim());</div>
159 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>169 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
160 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··········<span·class="comment">//·Solve·and·store·in·our·results</span></div> 
161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··········{</div> 
162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>············<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>&amp;·c·=·*clique-&gt;conditional();</div> 
163 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>············<span·class="comment">//·Solve·matrix</span></div>170 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="comment">//·Resize·base·class·key·vector</span></div>
164 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>············Vector·xS;</div>171 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">Base::keys_</a>.resize(terms.size());</div>
165 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>············{</div>172 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
166 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··············<span·class="comment">//·Count·dimensions·of·vector</span></div>173 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="comment">//·Get·dimensions·of·matrices</span></div>
 174 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····std::vector&lt;size_t&gt;·dimensions;</div>
167 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··············<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·dim·=·0;</div> 
168 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··············<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector&lt;VectorValues::const_iterator&gt;</a>·parentPointers;</div> 
169 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··············parentPointers.reserve(clique-&gt;conditional()-&gt;nrParents());</div>175 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····dimensions.reserve(terms.size());</div>
170 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··············<span·class="keywordflow">for</span>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent:·clique-&gt;conditional()-&gt;parents())·{</div>176 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="keywordflow">for</span>(<span·class="keyword">typename</span>·TERMS::const_iterator·it·=·terms.begin();·it·!=·terms.end();·++it)·{</div>
 177 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······<span·class="keyword">const</span>·std::pair&lt;Key,·Matrix&gt;&amp;·term·=·*it;</div>
 178 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······<span·class="keyword">const</span>·Matrix&amp;·Ai·=·term.second;</div>
171 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>················parentPointers.push_back(myData.cliqueResults.at(parent));</div>179 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>······dimensions.push_back(Ai.cols());</div>
172 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>················dim·+=·parentPointers.<a·class="code·hl_function"·href="a03592.html#ae38e5024d5b20aa06a5a6bd289e626c4">back</a>()-&gt;second.size();</div> 
173 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··············}</div>180 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····}</div>
174 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>181 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
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105 <p>Subgraph·Solver·from·IROS·2010.··106 <p>Linear·Factor·Graph·where·all·factors·are·Gaussians.··
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123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>127 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 128 <div·class="textblock"><p>Linear·Factor·Graph·where·all·factors·are·Gaussians.·</p>
124 <div·class="textblock"><p>Subgraph·Solver·from·IROS·2010.·</p> 
125 <dl·class="section·date"><dt>Date</dt><dd>2010·</dd></dl> 
126 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>129 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd>
 130 <dd>
 131 Christian·Potthast·</dd>
 132 <dd>
 133 Richard·Roberts·</dd>
127 <dd>134 <dd>
128 Yong·Dian·Jian·</dd></dl>135 Frank·Dellaert·</dd></dl>
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
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 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">//·Forward·declarations</span></div>
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">struct·</span>KeyInfoEntry;</div>
134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·KEYS&gt;</div>135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">class·</span>KeyInfo;</div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">class·</span>GaussianFactorGraph;</div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05076.html">Values</a>;</div>
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div>
 139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
135 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="}">140 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="};">
 141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a03828.html">···44</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03828.html">IterativeOptimizationParameters</a>·{</div>
136 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a03844.html#ab44f80d3aa07952ea28b2ba4a969a057">···34</a></span>··<a·class="code·hl_function"·href="a03844.html#a1c9ccededa7bf3a937dd59d9b8e4a22d">JacobianFactor::JacobianFactor</a>(</div> 
137 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>····<span·class="keyword">const</span>·KEYS&amp;·keys,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02660.html">VerticalBlockMatrix</a>&amp;·augmentedMatrix,·<span·class="keyword">const</span>·SharedDiagonal&amp;·model)·:</div> 
138 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<a·class="code·hl_class"·href="a03780.html">Base</a>(keys),·Ab_(augmentedMatrix)</div> 
139 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··{</div> 
140 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="comment">//·Check·noise·model·dimension</span></div> 
141 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keywordflow">if</span>(model·&amp;&amp;·(<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>)model-&gt;dim()·!=·augmentedMatrix.<a·class="code·hl_function"·href="a02660.html#a503a682bd3ec153c92d274b7b60db5c8">rows</a>())</div> 
142 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>······<span·class="keywordflow">throw</span>·<a·class="code·hl_class"·href="a03868.html">InvalidNoiseModel</a>(augmentedMatrix.<a·class="code·hl_function"·href="a02660.html#a503a682bd3ec153c92d274b7b60db5c8">rows</a>(),·model-&gt;dim());</div> 
143 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
144 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="comment">//·Check·number·of·variables</span></div> 
145 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keywordflow">if</span>((<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>)<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">Base::keys_</a>.<a·class="code·hl_function"·href="a03592.html#afac01740aefd22f4f90f49767010f811">size</a>()·!=·augmentedMatrix.<a·class="code·hl_function"·href="a02660.html#aae2077898052464a33b9af7244c82f87">nBlocks</a>()·-·1)</div> 
146 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<span·class="keywordflow">throw</span>·std::invalid_argument(</div>143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">public</span>:</div>
147 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······<span·class="stringliteral">&quot;Error·in·JacobianFactor·constructor·input.··Number·of·provided·keys·plus\n&quot;</span></div> 
148 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>······<span·class="stringliteral">&quot;one·for·the·RHS·vector·must·equal·the·number·of·provided·matrix·blocks.&quot;</span>);</div> 
149 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;IterativeOptimizationParameters&gt;·shared_ptr;</div>
150 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="comment">//·Check·RHS·dimension</span></div> 
151 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keywordflow">if</span>(augmentedMatrix(augmentedMatrix.<a·class="code·hl_function"·href="a02660.html#aae2077898052464a33b9af7244c82f87">nBlocks</a>()·-·1).<a·class="code·hl_function"·href="a02660.html#a643d937b08596158d61440c5d8407ddf">cols</a>()·!=·1)</div> 
152 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······<span·class="keywordflow">throw</span>·std::invalid_argument(</div>146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">enum</span>·Verbosity·{</div>
153 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······<span·class="stringliteral">&quot;Error·in·JacobianFactor·constructor·input.··The·last·provided·matrix·block\n&quot;</span></div> 
154 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<span·class="stringliteral">&quot;must·be·the·RHS·vector,·but·the·last·provided·block·had·more·than·one·column.&quot;</span>);</div>147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····SILENT·=·0,·COMPLEXITY,·ERROR</div>
 148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··}·verbosity_;</div>
155 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
156 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="comment">//·Take·noise·model</span></div>150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">public</span>:</div>
157 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····model_·=·model;</div> 
158 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··}</div>151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
159 </div>152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<a·class="code·hl_class"·href="a03828.html">IterativeOptimizationParameters</a>(Verbosity·v·=·SILENT)·:</div>
 153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······verbosity_(v)·{</div>
160 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··}</div>
 155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a03828.html">~IterativeOptimizationParameters</a>()·{</div>
 157 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··}</div>
161 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="comment">/*·*************************************************************************·*/</span></div> 
162 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·TERMS&gt;</div> 
163 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="}"> 
164 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a03844.html#a87edd57f5afdc5a429163d6a917b6cec">···60</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03844.html#a87edd57f5afdc5a429163d6a917b6cec">JacobianFactor::fillTerms</a>(<span·class="keyword">const</span>·TERMS&amp;·terms,·<span·class="keyword">const</span>·Vector&amp;·b,·<span·class="keyword">const</span>·SharedDiagonal&amp;·noiseModel)</div> 
165 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··{</div>158 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
166 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<span·class="comment">//·Check·noise·model·dimension</span></div>159 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="comment">/*·utility·*/</span></div>
167 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="keywordflow">if</span>(noiseModel·&amp;&amp;·(<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>)noiseModel-&gt;dim()·!=·b.size())</div> 
168 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="keywordflow">throw</span>·<a·class="code·hl_class"·href="a03868.html">InvalidNoiseModel</a>(b.size(),·noiseModel-&gt;dim());</div>160 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keyword">inline</span>·Verbosity·verbosity()<span·class="keyword">·const·</span>{</div>
 161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keywordflow">return</span>·verbosity_;</div>
169 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··}</div>
170 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="comment">//·Resize·base·class·key·vector</span></div> 
171 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">Base::keys_</a>.resize(terms.size());</div>163 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··GTSAM_EXPORT·std::string·getVerbosity()·<span·class="keyword">const</span>;</div>
 164 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··GTSAM_EXPORT·<span·class="keywordtype">void</span>·setVerbosity(<span·class="keyword">const</span>·std::string·&amp;s);</div>
172 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>165 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
173 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="comment">//·Get·dimensions·of·matrices</span></div>166 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="comment">/*·matlab·interface·*/</span></div>
 167 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··GTSAM_EXPORT·<span·class="keywordtype">void</span>·print()·<span·class="keyword">const</span>;</div>
174 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····std::vector&lt;size_t&gt;·dimensions;</div> 
175 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····dimensions.reserve(terms.size());</div> 
176 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="keywordflow">for</span>(<span·class="keyword">typename</span>·TERMS::const_iterator·it·=·terms.begin();·it·!=·terms.end();·++it)·{</div> 
177 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······<span·class="keyword">const</span>·std::pair&lt;Key,·Matrix&gt;&amp;·term·=·*it;</div> 
178 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······<span·class="keyword">const</span>·Matrix&amp;·Ai·=·term.second;</div> 
179 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>······dimensions.push_back(Ai.cols());</div> 
180 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····}</div> 
181 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>168 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
182 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="comment">//·Construct·block·matrix</span></div>169 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="comment">/*·virtual·print·function·*/</span></div>
 170 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··GTSAM_EXPORT·<span·class="keyword">virtual</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(std::ostream·&amp;os)·<span·class="keyword">const</span>;</div>
183 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····Ab_·=·<a·class="code·hl_class"·href="a02660.html">VerticalBlockMatrix</a>(dimensions,·b.size(),·<span·class="keyword">true</span>);</div> 
184 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div> 
185 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>····<span·class="comment">//·Check·and·add·terms</span></div> 
186 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·i·=·0;·<span·class="comment">//·For·block·index</span></div> 
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103 ··<div·class="headertitle"><div·class="title">ConjugateGradientSolver.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">IterativeSolver.cpp·File·Reference</div></div>
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105 <div·class="contents">104 <div·class="contents">
  
106 <p>Implementation·of·Conjugate·Gradient·solver·for·a·linear·system.··105 <p>Some·support·classes·for·iterative·solvers.··
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131 <dd> 
132 Christian·Potthast·</dd> 
133 <dd>121 <dd>
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134 Frank·Dellaert·</dd></dl> 
135 <dl·class="section·date"><dt>Date</dt><dd>Dec·8,·2010·</dd></dl> 
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 124 <dl·class="section·date"><dt>Date</dt><dd>Jan·21,·2012·</dd></dl>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">GaussianISAM.h</div></div>104 ··<div·class="headertitle"><div·class="title">GaussianDensity.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00746.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00746.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">//·\callgraph</span></div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00785.html">gtsam/linear/GaussianBayesTree.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00653.html">gtsam/inference/ISAM.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00749.html">gtsam/linear/GaussianConditional.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
126 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="};">125 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03800.html">···27</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03800.html">GaussianISAM</a>·:·<span·class="keyword">public</span>·<a·class="cod[·...·truncated·by·diffoscope;·len:·64,·SHA:·4ab72278f8d0714b0972c21d6dda0b59a03d1952360711baa8e7a7bc455b7d8c·...·]</div>126 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a03772.html">···32</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03772.html">GaussianDensity</a>·:·<span·class="keyword">public</span>·<a·class="[·...·truncated·by·diffoscope;·len:·59,·SHA:·0296f5288d64be037e25da24f0b4b1a87b908bd6043d9f2ceee96b556968b493·...·]</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··{</div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">public</span>:</div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03640.html">ISAM&lt;GaussianBayesTree&gt;</a>·<a·class="code·hl_class"·href="a03640.html">Base</a>;</div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03800.html">GaussianISAM</a>·<a·class="code·hl_class"·href="a03800.html">This</a>;</div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div> 
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
 128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">public</span>:</div>
134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<a·class="code·hl_class"·href="a03800.html">GaussianISAM</a>();</div>130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;GaussianDensity&gt;·shared_ptr;</div>
136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<a·class="code·hl_class"·href="a03800.html">GaussianISAM</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03756.html">GaussianBayesTree</a>&amp;·bayesTree);</div> 
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>132 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="}">
 133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03772.html#a5e87d41948515b0ea5548aed04227acd">···39</a></span>····<a·class="code·hl_function"·href="a03772.html#a5e87d41948515b0ea5548aed04227acd">GaussianDensity</a>()·:</div>
 134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>······<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>()·{</div>
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··};</div>135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····}</div>
141 </div>136 </div>
142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 138 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="}">
 139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a03772.html#ab87337fa52b848ce99be24006daef46c">···44</a></span>····<a·class="code·hl_function"·href="a03772.html#ab87337fa52b848ce99be24006daef46c">GaussianDensity</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>&amp;·conditional)·:</div>
 140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>(conditional)·{</div>
 141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>········<span·class="keywordflow">if</span>(conditional.<a·class="code·hl_function"·href="a03572.html#ae19763bc0d1b12bea9e7bfcb304b40bb">nrParents</a>()·!=·0)</div>
 142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··········<span·class="keywordflow">throw</span>·std::invalid_argument(<span·class="stringliteral">&quot;GaussianDensity·can·only·be·created·from·a·conditional·with·no·parents&quot;</span>);</div>
143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">template</span>·&lt;&gt;</div>143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····}</div>
144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a03804.html">···49</a></span>··<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03800[·...·truncated·by·diffoscope;·len:·148,·SHA:·4ad4facce2bd378c78ebcc808f46acfe110ab45b07613776adb79937197adc14·...·]/div>144 </div>
 145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 146 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="}">
 147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a03772.html#a4c8ce2cd6b2708df545c4fe7778169ee">···51</a></span>····<a·class="code·hl_function"·href="a03772.html#a4c8ce2cd6b2708df545c4fe7778169ee">GaussianDensity</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keyword">const</span>·Vector&amp;·d,·<span·class="keyword">const</span>·Matrix&amp;·R,·<span·class="keyword">const</span>·SharedDiagonal&amp;·noiseModel·=·SharedDiagonal())·:</div>
 148 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>(key,·d,·R,·noiseModel)·{}</div>
 149 </div>
145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03772.html">GaussianDensity</a>·FromMeanAndStddev(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keyword">const</span>·Vector&amp;·mean,</div>
 152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·············································<span·class="keywordtype">double</span>·sigma);</div>
146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>}</div>153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 154 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·=·<span·class="stringliteral">&quot;GaussianDensity&quot;</span>,</div>
 155 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div>
 156 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 157 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····Vector·<a·class="code·hl_function"·href="a01428.html#a300205092710091b8745c0a145da20a1">mean</a>()·<span·class="keyword">const</span>;</div>
 158 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 159 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····Matrix·covariance()·<span·class="keyword">const</span>;</div>
 160 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
 161 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··};</div>
 162 </div>
 163 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="comment">//·GaussianDensity</span></div>
 164 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
 165 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>}<span·class="comment">//·gtsam</span></div>
147 <div·class="ttc"·id="aa00071_html"><div·class="ttname"><a·href="a00071.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>166 <div·class="ttc"·id="aa00749_html"><div·class="ttname"><a·href="a00749.html">GaussianConditional.h</a></div><div·class="ttdoc">Conditional·Gaussian·Base·class.</div></div>
148 <div·class="ttc"·id="aa00653_html"><div·class="ttname"><a·href="a00653.html">ISAM.h</a></div><div·class="ttdoc">Incremental·update·functionality·(iSAM)·for·BayesTree.</div></div> 
149 <div·class="ttc"·id="aa00785_html"><div·class="ttname"><a·href="a00785.html">GaussianBayesTree.h</a></div><div·class="ttdoc">Gaussian·Bayes·Tree,·the·result·of·eliminating·a·GaussianJunctionTree.</div></div> 
150 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>167 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
151 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div> 
152 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div> 
153 <div·class="ttc"·id="aa03640_html"><div·class="ttname"><a·href="a03640.html">gtsam::ISAM</a></div><div·class="ttdoc">A·Bayes·tree·with·an·update·methods·that·implements·the·iSAM·algorithm.</div><div·class="ttdef"><b>Definition</b>·ISAM.h:31</div></div> 
154 <div·class="ttc"·id="aa03756_html"><div·class="ttname"><a·href="a03756.html">gtsam::GaussianBayesTree</a></div><div·class="ttdoc">A·Bayes·tree·representing·a·Gaussian·density.</div><div·class="ttdef"><b>Definition</b>·GaussianBayesTree.h:52</div></div> 
155 <div·class="ttc"·id="aa03800_html"><div·class="ttname"><a·href="a03800.html">gtsam::GaussianISAM</a></div><div·class="ttdef"><b>Definition</b>·GaussianISAM.h:28</div></div>168 <div·class="ttc"·id="aa01428_html_a300205092710091b8745c0a145da20a1"><div·class="ttname"><a·href="a01428.html#a300205092710091b8745c0a145da20a1">gtsam::mean</a></div><div·class="ttdeci">Point3·mean(const·CONTAINER·&amp;points)</div><div·class="ttdoc">mean</div><div·class="ttdef">[·...·truncated·by·diffoscope;·len:·28,·SHA:·55e262466a853b41c28edbed31431fc8d5abf691b1a41c4389d20327e8176249·...·]8</div></div>
 169 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>
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135 <div·class="textblock"><p>Contains·the·HessianFactor·class,·a·general·quadratic·factor.·</p> 
136 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
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 129 <p>GaussianBayesTree·</p><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 130 <dd>
 131 Richard·Roberts·</dd></dl>
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113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>128 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
114 <div·class="textblock"><p>Conditional·Gaussian·Base·class.·</p> 
115 <dl·class="section·author"><dt>Author</dt><dd>Christian·Potthast,·Frank·Dellaert·</dd></dl>129 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
 130 <dl·class="section·date"><dt>Date</dt><dd>Dec·8,·2010·</dd></dl>
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132 </table>147 </table>
133 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>148 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
134 <div·class="textblock"><p>Linear·Factor·Graph·where·all·factors·are·Gaussians.·</p>149 <div·class="textblock"><p>Factor·Graph·<a·class="el"·href="a05076.html"·title="In·nonlinear·factors,·the·error·function·returns·the·negative·log-likelihood·as·a·non-linear·function...">Values</a>.·</p>
135 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd>150 <p>Errors·</p><dl·class="section·author"><dt>Author</dt><dd>Carlos·Nieto·</dd>
136 <dd> 
137 Christian·Potthast·</dd> 
138 <dd> 
139 Alireza·Fathi·</dd> 
140 <dd> 
141 Richard·Roberts·</dd> 
142 <dd>151 <dd>
143 Frank·Dellaert·</dd></dl>152 Christian·Potthast·</dd></dl>
144 </div></div><!--·contents·-->153 </div></div><!--·contents·-->
145 </div><!--·doc-content·-->154 </div><!--·doc-content·-->
146 <!--·start·footer·part·-->155 <!--·start·footer·part·-->
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98 <div·class="header">98 <div·class="header">
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103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Conditional·Gaussian·Base·class.·· 
106 <a·href="#details">More...</a></p> 
  
107 <p><a·href="a00773_source.html">Go·to·the·source·code·of·this·file.</a></p>105 <p><a·href="a00773_source.html">Go·to·the·source·code·of·this·file.</a></p>
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113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>110 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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123 </table>120 </table>
124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
125 <div·class="textblock"><p>Conditional·Gaussian·Base·class.·</p>122 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Dec·31,·2009·</dd></dl>
126 <dl·class="section·author"><dt>Author</dt><dd>Christian·Potthast·</dd></dl>123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert,·Yong-Dian·Jian·</dd></dl>
127 </div></div><!--·contents·-->124 </div></div><!--·contents·-->
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129 <!--·start·footer·part·-->126 <!--·start·footer·part·-->
130 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->127 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
131 ··<ul>128 ··<ul>
132 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_8b9ec42722111795f76d34c6471319a6.html">linear</a></li><li·class="navelem"><a·class="el"·href="a00773.html">GaussianConditional.h</a></li>129 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_8b9ec42722111795f76d34c6471319a6.html">linear</a></li><li·class="navelem"><a·class="el"·href="a00773.html">SubgraphPreconditioner.h</a></li>
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103 <div·class="header">103 <div·class="header">
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105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00773.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00773.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
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 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00896.html">gtsam/linear/SubgraphBuilder.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00869.html">gtsam/linear/Errors.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00734.html">gtsam/linear/GaussianBayesNet.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00725.html">gtsam/linear/IterativeSolver.h</a>&gt;</span></div>
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;gtsam/linear/Preconditioner.h&gt;</span></div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00890.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;boost/utility.hpp&gt;</span></div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01397.html">gtsam/global_includes.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00731.html">gtsam/linear/JacobianFactor.h</a>&gt;</span></div> 
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00605.html">gtsam/inference/Conditional.h</a>&gt;</span></div> 
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;gtsam/inference/Conditional-inst.h&gt;</span></div>131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/VectorValues.h</a>&gt;</span></div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;random&gt;</span>·<span·class="comment">//·for·std::mt19937_64·</span></div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="comment">//·Forward·declarations</span></div>
 136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">class·</span>GaussianBayesNet;</div>
 137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">class·</span>GaussianFactorGraph;</div>
 138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div>
 139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
134 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="};">140 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="};">
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a03764.html">···40</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>·:</div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03844.html">JacobianFactor</a>,</div> 
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03572.html">Conditional</a>&lt;JacobianFactor,·GaussianConditional&gt;</div>141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04048.html">···40</a></span>··<span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04048.html">SubgraphPreconditionerParameters</a>·:·<span·class="keyword">public[·...·truncated·by·diffoscope;·len:·83,·SHA:·8ae65149ca846cece6b59ff4f85e00f7210be92ec67c01b3362f8ed187407eaa·...·]</div>
 142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;SubgraphPreconditionerParameters&gt;·shared_ptr;</div>
 143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<a·class="code·hl_struct"·href="a04048.html">SubgraphPreconditionerParameters</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>·&amp;p·=·<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>())</div>
 144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>······:·builderParams(p)·{}</div>
 145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>·builderParams;</div>
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··{</div>146 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··};</div>
 147 </div>
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">public</span>:</div> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a03764.html#a0f8b1ce7a6a1414f8c24e160af2f8d4e">···45</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>·<a·class="code·hl_typedef"·href="a03764.html#a0f8b1ce7a6a1414f8c24e160af2f8d4e">This</a>;·</div> 
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a03764.html#aca05dc6ca9aea64f4621a8c8d2bf3d01">···46</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03764.html#aca05dc6ca9aea64f4621a8c8d2bf3d01">shared_ptr</a>;·</div> 
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a03764.html#a2fdd1b89f3665eda71256f3a57f4a4d0">···47</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03844.html">JacobianFactor</a>·<a·class="code·hl_typedef"·href="a03764.html#a2fdd1b89f3665eda71256f3a57f4a4d0">BaseFactor</a>;·</div> 
143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a03764.html#a42acbab01dda87c1017d4f996bfb9ff7">···48</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03572.html">Conditional&lt;BaseFactor,·This&gt;</a>·<a·class="code·hl_typedef"·href="a03764.html#a42acbab01dda87c1017d4f996bfb9ff7">BaseConditional</a>;·</div> 
144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>148 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03764.html#a350122154dc86824df762ae59ee51f80">···54</a></span>····<a·class="code·hl_function"·href="a03764.html#a350122154dc86824df762ae59ee51f80">GaussianConditional</a>()·[·...·truncated·by·diffoscope;·len:·7,·SHA:·80ad8d978e057dc7da613ccc3883f419ab990aba1d9e3516ecb8bfdcc475ffe7·...·]>149 <div·class="foldopen"·id="foldopen00054"·data-start="{"·data-end="};">
 150 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a04052.html">···54</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04052.html">SubgraphPreconditioner</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03988.html">Preconditioner</a>·{</div>
147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
148 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keyword">const</span>·Vector&amp;·d,·<span·class="keyword">const</span>·Matrix&amp;·R,</div> 
149 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······<span·class="keyword">const</span>·SharedDiagonal&amp;·sigmas·=·SharedDiagonal());</div>152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">public</span>:</div>
 153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;SubgraphPreconditioner&gt;·shared_ptr;</div>
150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>154 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keyword">const</span>·Vector&amp;·d,·<span·class="keyword">const</span>·Matrix&amp;·R,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent1,</div> 
152 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>························<span·class="keyword">const</span>·Matrix&amp;·S,</div>155 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">private</span>:</div>
153 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>························<span·class="keyword">const</span>·SharedDiagonal&amp;·sigmas·=·SharedDiagonal());</div>156 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·Ab2_;</div>
 157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<a·class="code·hl_class"·href="a03740.html">GaussianBayesNet</a>·Rc1_;</div>
 158 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·xbar_;··</div>
 159 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<a·class="code·hl_class"·href="a02312.html">Errors</a>·b2bar_;·</div>
154 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>160 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
155 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keyword">const</span>·Vector&amp;·d,·<span·class="keyword">const</span>·Matrix&amp;·R,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent1,</div> 
156 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>························<span·class="keyword">const</span>·Matrix&amp;·S,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent2,·<span·class="keyword">const</sp[·...·truncated·by·diffoscope;·len:·18,·SHA:·af63cedc16f3e16373e2b89436bf340d8f77a40ff65e8705a4f435d674788fd5·...·]</div>161 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<a·class="code·hl_class"·href="a03840.html">KeyInfo</a>·keyInfo_;</div>
 162 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<a·class="code·hl_struct"·href="a04048.html">SubgraphPreconditionerParameters</a>·parameters_;</div>
 163 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
157 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>························<span·class="keyword">const</span>·SharedDiagonal&amp;·sigmas·=·SharedDiagonal());</div>164 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="keyword">public</span>:</div>
158 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>165 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 166 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<a·class="code·hl_class"·href="a04052.html">SubgraphPreconditioner</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04048.html">SubgraphPreconditionerParameters</a>·&amp;p·=·<a·class="code·hl_struct"·href="a04048.html">SubgraphPreconditionerParameters</a>());</div>
159 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·TERMS&gt;</div> 
160 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>(<span·class="keyword">const</span>·TERMS&amp;·terms,</div> 
161 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>······<span·class="keywordtype">size_t</span>·nrFrontals,·<span·class="keyword">const</span>·Vector&amp;·d,</div> 
162 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>······<span·class="keyword">const</span>·SharedDiagonal&amp;·sigmas·=·SharedDiagonal());</div> 
163 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>167 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 168 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<a·class="code·hl_class"·href="a04052.html">SubgraphPreconditioner</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>&amp;·Ab2,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03740.html">GaussianBayesNet</a>&amp;·Rc1,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04064.html">VectorValues</a>&amp;·xbar,</div>
 169 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>···························<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04048.html">SubgraphPreconditionerParameters</a>·&amp;p·=·<a·class="code·hl_struct"·href="a04048.html">SubgraphPreconditionerParameters</a>());</div>
164 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·KEYS&gt;</div> 
165 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>(</div> 
166 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>······<span·class="keyword">const</span>·KEYS&amp;·keys,·<span·class="keywordtype">size_t</span>·nrFrontals,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02660.html">VerticalBlockMatrix</a>&amp;·augmentedMatrix,</div> 
167 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>······<span·class="keyword">const</span>·SharedDiagonal&amp;·sigmas·=·SharedDiagonal());</div> 
168 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>170 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
 171 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>····<a·class="code·hl_class"·href="a04052.html">~SubgraphPreconditioner</a>()<span·class="keyword">·override·</span>{}</div>
169 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>·FromMeanAndStddev(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keyword">const</span>·Vector&amp;·mu,</div> 
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 102 <a·href="#func-members">Functions</a>··</div>
102 ··<div·class="headertitle"><div·class="title">GaussianBayesNet.h·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">linearAlgorithms-inst.h·File·Reference</div></div>
103 </div><!--header-->104 </div><!--header-->
104 <div·class="contents">105 <div·class="contents">
  
105 <p>Chordal·Bayes·Net,·the·result·of·eliminating·a·factor·graph.··106 <p>Templated·algorithms·that·are·used·in·multiple·places·in·linear.··
106 <a·href="#details">More...</a></p>107 <a·href="#details">More...</a></p>
  
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a03740.html"·title="GaussianBayesNet·is·a·Bayes·net·made·from·linear-Gaussian·conditionals.">GaussianBayesNet</a>·is·a·Bayes·net·made·from·linear-Gaussian·conditionals.··<a·href="a03740.html#details">More...</a><br·/></td></tr> 
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a03744.html#details">More...</a><br·/></td></tr>115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Pre-order·visitor·for·back-substitution·in·a·Bayes·tree.··<a·href="a03860.html#details">More...</a><br·/></td></tr>
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 127 template&lt;class·BAYESTREE·&gt;·</td></tr>
 128 <tr·class="memitem:a5b0f8cf3f4bb574cd0af2d3173ec9feb"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a04064.html">VectorValues</a>&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::internal::linearAlgorithms::optimizeBayesTree</b>·(const·BAYESTREE·&amp;bayesTree)</td></tr>
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124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>131 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
125 <div·class="textblock"><p>Chordal·Bayes·Net,·the·result·of·eliminating·a·factor·graph.·</p> 
126 <p>GaussianBayesNet·</p><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>132 <div·class="textblock"><p>Templated·algorithms·that·are·used·in·multiple·places·in·linear.·</p>
 133 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
127 </div></div><!--·contents·-->134 </div></div><!--·contents·-->
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131 ··<ul>138 ··<ul>
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133 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>140 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">GaussianBayesNet.h</div></div>104 ··<div·class="headertitle"><div·class="title">linearAlgorithms-inst.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00776.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00776.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
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119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div> 
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00890.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00773.html">gtsam/linear/GaussianConditional.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00749.html">gtsam/linear/GaussianConditional.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00026.html">gtsam/base/treeTraversal-inst.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00686.html">gtsam/inference/BayesNet.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00656.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01397.html">gtsam/global_includes.h</a>&gt;</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a></div>
 128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>{</div>
 129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">namespace·</span>internal</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··{</div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>····<span·class="keyword">namespace·</span>linearAlgorithms</div>
 132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····{</div>
 133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>······<span·class="comment">/*·*************************************************************************·*/</span></div>
130 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">134 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03740.html">···35</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03740.html">GaussianBayesNet</a>:·<span·class="keyword">public</span>·<a·class="c[·...·truncated·by·diffoscope;·len:·72,·SHA:·7de41e732b4c90ab7878adf5b46083d4fc63e019724902114b1744f0e0b71406·...·]</div>135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a03856.html">···34</a></span>······<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03856.html">OptimizeData</a>·{</div>
 136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>········boost::optional&lt;OptimizeData&amp;&gt;·parentData;</div>
 137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>········<a·class="code·hl_class"·href="a02316.html">FastMap&lt;Key,·VectorValues::const_iterator&gt;</a>·cliqueResults;</div>
 138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>········<span·class="comment">//VectorValues·ancestorResults;</span></div>
 139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>········<span·class="comment">//VectorValues·results;</span></div>
132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··{</div>140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······};</div>
133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">public</span>:</div> 
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div> 
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03516.html">BayesNet&lt;GaussianConditional&gt;</a>·<a·class="code·hl_class"·href="a03516.html">Base</a>;</div> 
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03740.html">GaussianBayesNet</a>·<a·class="code·hl_class"·href="a03740.html">This</a>;</div> 
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>·<a·class="code·hl_class"·href="a03764.html">ConditionalType</a>;</div> 
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div> 
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;ConditionalType&gt;·sharedConditional;</div> 
140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div> 
141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a03740.html#adecacf9eadcbced34a26cd234e34d197">···49</a></span>····<a·class="code·hl_function"·href="a03740.html#adecacf9eadcbced34a26cd234e34d197">GaussianBayesNet</a>()·{}</div> 
143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·ITERATOR&gt;</div> 
145 <div·class="foldopen"·id="foldopen00053"·data-start="{"·data-end="}"> 
146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a03740.html#ae4f5f693d7582da70a64ea80024fdf12">···53</a></span>····<a·class="code·hl_function"·href="a03740.html#ae4f5f693d7582da70a64ea80024fdf12">GaussianBayesNet</a>(ITERATOR·firstConditional,·ITERATOR·lastConditional)</div> 
147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(firstConditional,·lastConditional)·{}</div> 
148 </div>141 </div>
149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
150 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CONTAINER&gt;</div> 
151 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="}"> 
152 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a03740.html#ac863c8c8203f4cb9d099d6d1adf8fb3b">···58</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03740.html#ac863c8c8203f4cb9d099d6d1adf8fb3b">GaussianBayesNet</a>(<span·class="keyword">const</span>·CONTAINER&amp;·conditionals)·{</div> 
153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······push_back(conditionals);</div> 
154 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····}</div> 
155 </div> 
156 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div> 
157 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·DERIVEDCONDITIONAL&gt;</div> 
158 <div·class="foldopen"·id="foldopen00065"·data-start="{"·data-end="}"> 
159 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a03740.html#a91b6b8d6390efc036e690dbaf5493ff4">···65</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03740.html#a91b6b8d6390efc036e690dbaf5493ff4">GaussianBayesNet</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03524.html">FactorGraph&lt;DERIVEDCONDITIONAL&gt;</a>&amp;·graph)</div> 
160 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(graph)·{}</div> 
161 </div> 
162 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div> 
163 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·DERIVEDCONDITIONAL&gt;</div> 
164 <div·class="foldopen"·id="foldopen00073"·data-start="{"·data-end="}"> 
165 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a03740.html#a8ee2b4fa6d395890878484a8fc4412bd">···73</a></span>····<a·class="code·hl_function"·href="a03740.html#a8ee2b4fa6d395890878484a8fc4412bd">GaussianBayesNet</a>(</div> 
166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>········std::initializer_list&lt;boost::shared_ptr&lt;DERIVEDCONDITIONAL&gt;·&gt;·conditionals)</div> 
167 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(conditionals)·{}</div> 
168 </div> 
169 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div> 
170 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a03740.html#aa254332448c98d4c8bfdc860c794acf8">···78</a></span>····<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a03740.html#aa254332448c98d4c8bfdc860c794acf8">~GaussianBayesNet</a>()·=·<span·class="keywordflow">default</span>;</div> 
171 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div> 
172 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div> 
173 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>142 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
174 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03740.html">This</a>&amp;·bn,·<span·[·...·truncated·by·diffoscope;·len:·81,·SHA:·fa4eeffb3131cfab4dfd5487990fd860b2603207b850f7149768c70a34e5b0c1·...·]</div>143 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······<span·class="comment">/*·*************************************************************************·*/</span></div>
 144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·CLIQUE&gt;</div>
 145 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="};">
 146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a03860.html">···49</a></span>······<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03860.html">OptimizeClique</a></div>
 147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······{</div>
 148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>········<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·collectedResult;</div>
 149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>········<a·class="code·hl_struct"·href="a03856.html">OptimizeData</a>·operator()(</div>
 151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··········<span·class="keyword">const</span>·boost::shared_ptr&lt;CLIQUE&gt;&amp;·clique,</div>
 152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··········<a·class="code·hl_struct"·href="a03856.html">OptimizeData</a>&amp;·parentData)</div>
 153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>········{</div>
 154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··········<a·class="code·hl_struct"·href="a03856.html">OptimizeData</a>·myData;</div>
 155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··········myData.parentData·=·parentData;</div>
 156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··········<span·class="comment">//·Take·any·ancestor·results·we&#39;ll·need</span></div>
 157 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··········<span·class="keywordflow">for</span>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent:·clique-&gt;conditional_-&gt;parents())</div>
 158 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>············myData.cliqueResults.emplace(parent,·myData.parentData-&gt;cliqueResults.at(parent));</div>
 159 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 160 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··········<span·class="comment">//·Solve·and·store·in·our·results</span></div>
 161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··········{</div>
 162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>············<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>&amp;·c·=·*clique-&gt;conditional();</div>
 163 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>············<span·class="comment">//·Solve·matrix</span></div>
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94 </div>94 </div>
95 </div>95 </div>
96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124; 
101 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">IterativeSolver.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">KalmanFilter.cpp·File·Reference</div></div>
103 </div><!--header-->102 </div><!--header-->
104 <div·class="contents">103 <div·class="contents">
  
105 <p>Some·support·classes·for·iterative·solvers.··104 <p>Simple·linear·Kalman·filter.··
106 <a·href="#details">More...</a></p>105 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00782_source.html">Go·to·the·source·code·of·this·file.</a></p> 
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 131 <dl·class="section·author"><dt>Author</dt><dd>Stephen·Williams·</dd>
130 <dd>132 <dd>
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114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00776.html">gtsam/linear/GaussianBayesNet.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00746.html">gtsam/linear/GaussianDensity.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00770.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00680.html">gtsam/inference/BayesTree.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00839.html">gtsam/linear/NoiseModel.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00602.html">gtsam/inference/BayesTreeCliqueBase.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#ifndef·KALMANFILTER_DEFAULT_FACTORIZATION</span></div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#define·KALMANFILTER_DEFAULT_FACTORIZATION·QR</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#endif</span></div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="comment">//·Forward·declarations</span></div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a05068.html">GaussianConditional</a>;</div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="comment">/*·*************************************************************************·*/</span></div> 
133 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">131 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="};">
 132 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a03852.html">···41</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03852.html">KalmanFilter</a>·{</div>
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03752.html">···35</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03752.html">GaussianBayesTreeClique</a>·:</div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase</a>&lt;GaussianBayesTreeClique,·GaussianFactorGraph&gt;</div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··{</div>133 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">public</span>:</div>134 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">public</span>:</div>
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03752.html">GaussianBayesTreeClique</a>·<a·class="code·hl_class"·href="a03752.html">This</a>;</div> 
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase&lt;GaussianBayesTreeClique,·GaussianFactorGraph&gt;</a>·<a·class="code·hl_class"·href="a03552.html">Base</a>;</div> 
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div> 
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">typedef</span>·boost::weak_ptr&lt;This&gt;·weak_ptr;</div> 
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<a·class="code·hl_class"·href="a03752.html">GaussianBayesTreeClique</a>()·{}</div> 
143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a03752.html">~GaussianBayesTreeClique</a>()·{}</div> 
144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····<a·class="code·hl_class"·href="a03752.html">GaussianBayesTreeClique</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;GaussianConditional&gt;&amp;·conditional)·:·<a·class="code·hl_class"·href="a03552.html">Base</a>(conditional)·{}</div> 
145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··};</div>135 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
 136 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="};">
 137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a03852.html#a0e169084c003be746ef37e980b8266a0">···49</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a03852.html#a0e169084c003be746ef37e980b8266a0">Factorization</a>·{</div>
 138 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····QR,·CHOLESKY</div>
 139 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··};</div>
146 </div>140 </div>
147 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
148 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="comment">/*·*************************************************************************·*/</span></div> 
149 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="};"> 
150 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a03756.html">···50</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03756.html">GaussianBayesTree</a>·:</div> 
151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree</a>&lt;GaussianBayesTreeClique&gt;</div> 
152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··{</div>141 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">···56</a></span>··<span·class="keyword">typedef</span>·GaussianDensity::shared_ptr·<a·class="code·hl_typedef"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">State</a>;</div>
 143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">private</span>:</div>144 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><span·class="keyword">private</span>:</div>
154 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree&lt;GaussianBayesTreeClique&gt;</a>·<a·class="code·hl_class"·href="a03540.html">Base</a>;</div> 
155 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
156 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">public</span>:</div> 
157 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03756.html">GaussianBayesTree</a>·<a·class="code·hl_class"·href="a03756.html">This</a>;</div> 
158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div> 
159 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>145 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a03756.html#a10a6eb7dac9a7fcd873d0c0a3c01ca82">···61</a></span>····<a·class="code·hl_function"·href="a03756.html#a10a6eb7dac9a7fcd873d0c0a3c01ca82">GaussianBayesTree</a>()·{}</div>146 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·n_;·</div>
 147 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">const</span>·Matrix·I_;·</div>
 148 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03580.html#a4053522180fd649baf38a49c515e7b53">GaussianFactorGraph::Eliminate</a>·function_;·</div>
 149 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<a·class="code·hl_typedef"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">State</a>·solve(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>&amp;·factorGraph)·<span·class="keyword">const</span>;</div>
 150 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<a·class="code·hl_typedef"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">State</a>·fuse(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">State</a>&amp;·p,·<a·class="code·hl_typedef"·href="a03780.html#a0eeee0de6e144fedc937d7272be80a36">GaussianFactor::shared_ptr</a>·newFactor)·<span·class="keyword">const</span>;</div>
161 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>151 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
162 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·This&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div> 
163 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>152 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span><span·class="keyword">public</span>:</div>
164 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·<a·class="code·hl_function"·href="a01428.html#a4b0057879b0c5f323185452b0d1a4232">optimize</a>()·<span·class="keyword">const</span>;</div> 
165 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>153 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
166 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>····<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·optimizeGradientSearch()·<span·class="keyword">const</span>;</div>154 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="comment">//·Constructor</span></div>
 155 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<a·class="code·hl_class"·href="a03852.html">KalmanFilter</a>(<span·class="keywordtype">size_t</span>·n,·<a·class="code·hl_enumeration"·href="a03852.html#a0e169084c003be746ef37e980b8266a0">Factorization</a>·method·=</div>
 156 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······KALMANFILTER_DEFAULT_FACTORIZATION)·:</div>
 157 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······n_(n),·I_(Matrix::Identity(n_,·n_)),·function_(</div>
 158 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··········method·==·QR·?·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>::Eliminate(<a·class="code·hl_function"·href="a01428.html#ab56c4bfa363f8c23c48eb078e9c84a9c">EliminateQR</a>)·:</div>
 159 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··············<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>::Eliminate(<a·class="code·hl_function"·href="a01410.html#ga37760d3ca31c6d8d60a3a2a17babc3a4">EliminateCholesky</a>))·{</div>
 160 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··}</div>
 161 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 162 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··State·init(<span·class="keyword">const</span>·Vector&amp;·x0,·<span·class="keyword">const</span>·SharedDiagonal&amp;·P0)·<span·class="keyword">const</span>;</div>
 163 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>
 164 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··State·init(<span·class="keyword">const</span>·Vector&amp;·x0,·<span·class="keyword">const</span>·Matrix&amp;·P0)·<span·class="keyword">const</span>;</div>
 165 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>
 166 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const</span>;</div>
 167 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>
 168 <div·class="foldopen"·id="foldopen00092"·data-start="{"·data-end="}">
 169 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno"><a·class="line"·href="a03852.html#a511b92f76e4d965f50f88a805af12ff8">···92</a></span>··<span·class="keyword">static</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·<a·class="code·hl_function"·href="a03852.html#a511b92f76e4d965f50f88a805af12ff8">step</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">State</a>&amp;·p)·{</div>
 170 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>····<span·class="keywordflow">return</span>·p-&gt;firstFrontalKey();</div>
 171 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··}</div>
 172 </div>
167 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>173 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>
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 116 <dl·class="section·date"><dt>Date</dt><dd>Jan·21,·2012·</dd></dl>
129 <dd> 
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153 <div·class="textblock"><p>Iterative·methods,·implementation.·</p>127 <div·class="textblock"><p>Implementations·for·<a·class="el"·href="a05072.html"·title="The·Factor::error·simply·extracts·the.">VectorValues</a>.·</p>
154 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>128 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>
155 <dl·class="section·date"><dt>Date</dt><dd>Dec·28,·2009·</dd></dl>129 <dd>
 130 Alex·Cunningham·</dd></dl>
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104 <div·class="contents">103 <div·class="contents">
  
105 <p>Gaussian·Bayes·Tree,·the·result·of·eliminating·a·GaussianJunctionTree.·· 
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118 <tr·class="separator:a93b526a1339ed094afafd352347a57b1"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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120 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
121 <div·class="textblock"><p>Gaussian·Bayes·Tree,·the·result·of·eliminating·a·GaussianJunctionTree.·</p>112 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·29,·2013·</dd></dl>
122 <p>GaussianBayesTree·</p><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>113 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
123 <dd>114 <dd>
124 Richard·Roberts·</dd></dl>115 Richard·Roberts·</dd></dl>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div> 
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*··Created·on:·Jun·2,·2014</span></div>
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119 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>132 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
 133 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>···<span·class="keyword">typedef</span>·boost::shared_ptr&lt;PreconditionerParameters&gt;·shared_ptr;</div>
120 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00770.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/VectorValues.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>134 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
123 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;Eigen/Sparse&gt;</span></div>135 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>···<span·class="keyword">enum</span>·Kernel·{·<span·class="comment">/*·Preconditioner·Kernel·*/</span></div>
 136 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·····GTSAM·=·0,</div>
 137 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·····CHOLMOD·····<span·class="comment">/*·experimental·*/</span></div>
124 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>138 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>···}·kernel_·;</div>
125 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
126 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>139 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
127 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a01428.html#a52b9b28b076a8ae17d6d3d72ee1229c3">···35</a></span><span·class="keyword">typedef</span>·Eigen::SparseMatrix&lt;double,·Eigen::ColMajor,·int&gt;·<a·class="code·hl_typedef"·href="a01[·...·truncated·by·diffoscope;·len:·60,·SHA:·45286677e09a1801b8038f004add16c7746ee3813f6486ec215f88016b2abb9a·...·]</div>140 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>···<span·class="keyword">enum</span>·Verbosity·{</div>
 141 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·····SILENT·=·0,</div>
 142 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·····COMPLEXITY·=·1,</div>
 143 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·····ERROR·=·2</div>
 144 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>···}·verbosity_·;</div>
128 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>145 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
129 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="}"> 
130 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a01428.html#aa9013a9053629f0c00b97726d9d8e19e">···38</a></span><a·class="code·hl_typedef"·href="a01428.html#a52b9b28b076a8ae17d6d3d72ee1229c3">SparseEigen</a>·<a·class="code·hl_function"·href="a01428.html#aa9013a9053629f0c00b97726d9d8e19e">sparseJacobianEigen</a>(</div> 
131 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·&amp;gfg,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>·&amp;ordering)·{</div>146 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>···<a·class="code·hl_struct"·href="a03984.html">PreconditionerParameters</a>():·kernel_(GTSAM),·verbosity_(SILENT)·{}</div>
 147 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>···<a·class="code·hl_struct"·href="a03984.html">PreconditionerParameters</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03984.html">PreconditionerParameters</a>·&amp;p)·:·kernel_(p.kernel_),·verbosity_(p.verbosity_)·{}</div>
 148 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>···<span·class="keyword">virtual</span>·<a·class="code·hl_struct"·href="a03984.html">~PreconditionerParameters</a>()·{}</div>
132 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··gttic_(SparseEigen_sparseJacobianEigen);</div>149 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
133 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·intermediate·`entries`·vector·is·kind·of·unavoidable·due·to·how·expensive</span></div> 
134 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="comment">//·factor-&gt;rows()·is,·which·prevents·us·from·populating·SparseEigen·directly.</span></div> 
135 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keywordtype">size_t</span>·nrows,·ncols;</div> 
136 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">auto</span>·entries·=·gfg.<a·class="code·hl_function"·href="a03792.html#a2ec5f64848183b75a6a3470c0750aeaa">sparseJacobian</a>(ordering,·nrows,·ncols);</div> 
137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="comment">//·declare·sparse·matrix</span></div>150 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>···<span·class="comment">/*·general·interface·*/</span></div>
 151 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>···<span·class="keyword">inline</span>·Kernel·kernel()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·kernel_;·}</div>
 152 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>···<span·class="keyword">inline</span>·Verbosity·verbosity()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·verbosity_;·}</div>
138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_typedef"·href="a01428.html#a52b9b28b076a8ae17d6d3d72ee1229c3">SparseEigen</a>·Ab(nrows,·ncols);</div> 
139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="comment">//·See·Eigen::set_from_triplets.··This·is·about·5%·faster.</span></div> 
140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="comment">//·pass·1:·count·the·nnz·per·inner-vector</span></div> 
141 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··std::vector&lt;int&gt;·nnz(ncols,·0);</div>153 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
142 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keywordflow">for</span>·(<span·class="keyword">const</span>·<span·class="keyword">auto</span>·&amp;entry·:·entries)·nnz[std::get&lt;1&gt;(entry)]++;</div>154 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>···<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>()·<span·class="keyword">const</span>;</div>
 155 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 156 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>···<span·class="keyword">virtual</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(std::ostream·&amp;os)·<span·class="keyword">const</span>;</div>
143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··Ab.reserve(nnz);</div>157 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 158 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>···<span·class="keyword">static</span>·Kernel·kernelTranslator(<span·class="keyword">const</span>·std::string·&amp;s);</div>
 159 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>···<span·class="keyword">static</span>·Verbosity·verbosityTranslator(<span·class="keyword">const</span>·std::string·&amp;s);</div>
 160 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>···<span·class="keyword">static</span>·std::string·kernelTranslator(Kernel·k);</div>
 161 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>···<span·class="keyword">static</span>·std::string·verbosityTranslator(Verbosity·v);</div>
 162 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="comment">//·pass·2:·insert·the·elements</span></div>163 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>···<span·class="comment">/*·for·serialization·*/</span></div>
 164 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>···<span·class="keyword">friend</span>·std::ostream&amp;·operator&lt;&lt;(std::ostream·&amp;os,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03984.html">PreconditionerParameters</a>·&amp;p);</div>
145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keywordflow">for</span>·(<span·class="keyword">const</span>·<span·class="keyword">auto</span>·&amp;entry·:·entries)</div> 
146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····Ab.insert(std::get&lt;0&gt;(entry),·std::get&lt;1&gt;(entry))·=·std::get&lt;2&gt;(entry);</div> 
147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordflow">return</span>·Ab;</div> 
148 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>}</div>165 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·};</div>
149 </div>166 </div>
150 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>167 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
151 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><a·class="code·hl_typedef"·href="a01428.html#a52b9b28b076a8ae17d6d3d72ee1229c3">SparseEigen</a>·<a·class="code·hl_function"·href="a01428.html#aa9013a9053629f0c00b97726d9d8e19e">sparseJacobianEigen</a>(<span·class="keyword">const</span>·GaussianFactorGraph·&amp;gfg)·{</div> 
152 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··gttic_(SparseEigen_sparseJacobianEigen_defaultOrdering);</div> 
153 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a01428.html#aa9013a9053629f0c00b97726d9d8e19e">sparseJacobianEigen</a>(gfg,·Ordering(gfg.keys()));</div>168 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="comment">/*·PCG·aims·to·solve·the·problem:·A·x·=·b·by·reparametrizing·it·as</span></div>
 169 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span><span·class="comment">·*·L^{-1}·A·L^{-T}·y·=·L^{-1}·b···or···M^{-1}·A·x·=·M^{-1}·b,</span></div>
 170 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span><span·class="comment">·*·where·A·\approx·L·L^{T},·or·A·\approx·M</span></div>
 171 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span><span·class="comment">·*·The·goal·of·this·class·is·to·provide·a·general·interface·to·all·preconditioners·*/</span></div>
 172 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="};">
 173 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03988.html">···64</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03988.html">Preconditioner</a>·{</div>
154 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>}</div>174 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span><span·class="keyword">public</span>:</div>
 175 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;Preconditioner&gt;·shared_ptr;</div>
 176 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keyword">typedef</span>·std::vector&lt;size_t&gt;·Dimensions;</div>
155 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>177 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 178 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="comment">/*·Generic·Constructor·and·Destructor·*/</span></div>
 179 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<a·class="code·hl_class"·href="a03988.html">Preconditioner</a>()·{}</div>
 180 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a03988.html">~Preconditioner</a>()·{}</div>
 181 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
156 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>}··<span·class="comment">//·namespace·gtsam</span></div>182 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="comment">/*·</span></div>
157 <div·class="ttc"·id="aa00770_html"><div·class="ttname"><a·href="a00770.html">GaussianFactorGraph.h</a></div><div·class="ttdoc">Linear·Factor·Graph·where·all·factors·are·Gaussians.</div></div>183 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span><span·class="comment">··*·Abstract·interface·for·raw·vectors.·VectorValues·is·a·speed·bottleneck</span></div>
 184 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span><span·class="comment">··*·and·Yong-Dian·has·profiled·preconditioners·(outside·GTSAM)·with·the·the</span></div>
 185 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span><span·class="comment">··*·three·methods·below.·In·GTSAM,·unfortunately,·we·are·still·using·the</span></div>
 186 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span><span·class="comment">··*·VectorValues·methods·called·in·iterative-inl.h</span></div>
 187 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span><span·class="comment">··*/</span></div>
 188 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
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96 </div>96 </div>
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124; 
101 <a·href="#namespaces">Namespaces</a>·&#124;100 <a·href="#namespaces">Namespaces</a>·&#124;
102 <a·href="#typedef-members">Typedefs</a>·&#124;101 <a·href="#typedef-members">Typedefs</a>·&#124;
103 <a·href="#func-members">Functions</a>··</div>102 <a·href="#func-members">Functions</a>··</div>
104 ··<div·class="headertitle"><div·class="title">Errors.h·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">JacobianFactor.cpp·File·Reference</div></div>
105 </div><!--header-->104 </div><!--header-->
106 <div·class="contents">105 <div·class="contents">
  
107 <p>vector·of·errors·· 
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141 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::equality</b>·(const·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;actual,·const·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;expected,·double·tol)</td></tr> 
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149 <tr·class="memdesc:af2dc48a6a2e9abf4d0636578847a6b5a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Subtraction.·<br·/></td></tr> 
150 <tr·class="separator:af2dc48a6a2e9abf4d0636578847a6b5a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>123 <tr·class="separator:ad694dc473cd9cf50cd0f1018b565b074"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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153 <tr·class="memdesc:aa91c0485819ec2bfd249a922c81e3eb4"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Negation.·<br·/></td></tr> 
154 <tr·class="separator:aa91c0485819ec2bfd249a922c81e3eb4"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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157 <tr·class="memdesc:a106ec458ddb425604809da93346af55d"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Dot·product.·<br·/></td></tr> 
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160 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::axpy</b>·(double·alpha,·const·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;x,·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;y)</td></tr> 
161 <tr·class="memdesc:a5644e12e89afaac433f5d61c3d8e9003"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">BLAS·level·2·style·AXPY,·<code>y·:=·alpha*x·+·y</code>·<br·/></td></tr> 
162 <tr·class="separator:a5644e12e89afaac433f5d61c3d8e9003"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
163 </table>127 </table>
164 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>128 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
165 <div·class="textblock"><p>vector·of·errors·</p> 
166 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>129 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>
 130 <dd>
 131 Christian·Potthast·</dd>
 132 <dd>
 133 Frank·Dellaert·</dd></dl>
 134 <dl·class="section·date"><dt>Date</dt><dd>Dec·8,·2010·</dd></dl>
167 </div></div><!--·contents·-->135 </div></div><!--·contents·-->
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171 ··<ul>139 ··<ul>
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173 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>141 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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 113 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert,·Yong-Dian·Jian·</dd></dl>
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 132 <dl·class="section·date"><dt>Date</dt><dd>Aug·17,·2012·</dd></dl>
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178 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Jan·13,·2010·</dd></dl> 
179 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>130 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>
 131 <dd>
 132 Christian·Potthast·</dd>
180 <dd>133 <dd>
181 Frank·Dellaert·</dd></dl>134 Frank·Dellaert·</dd></dl>
 135 <dl·class="section·date"><dt>Date</dt><dd>Dec·8,·2010·</dd></dl>
182 </div></div><!--·contents·-->136 </div></div><!--·contents·-->
183 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
184 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
185 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
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104 <p>Chordal·Bayes·Net,·the·result·of·eliminating·a·factor·graph.··105 <p>Gaussian·Bayes·Tree,·the·result·of·eliminating·a·GaussianJunctionTree.··
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114 <div·class="textblock"><p>Chordal·Bayes·Net,·the·result·of·eliminating·a·factor·graph.·</p>127 <div·class="textblock"><p>Gaussian·Bayes·Tree,·the·result·of·eliminating·a·GaussianJunctionTree.·</p>
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 129 <dd>
 130 Richard·Roberts·</dd></dl>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">PCGSolver.h</div></div>104 ··<div·class="headertitle"><div·class="title">Sampler.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00833.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div> 
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·PCGSolver.h</span></div> 
120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@brief·Preconditioned·Conjugate·Gradient·Solver·for·linear·systems</span></div> 
121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·Jan·31,·2012</span></div> 
122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*·@author·Yong-Dian·Jian</span></div> 
123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">·*·@author·Sungtae·An</span></div> 
124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">·*/</span></div> 
125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00728.html">gtsam/linear/ConjugateGradientSolver.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00839.html">gtsam/linear/NoiseModel.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;random&gt;</span></div>
130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
133 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">class·</span>GaussianFactorGraph;</div> 
134 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">class·</span>KeyInfo;</div> 
135 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">class·</span>Preconditioner;</div> 
136 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div> 
137 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">struct·</span>PreconditionerParameters;</div> 
138 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div> 
139 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};">
140 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03968.html">···36</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a03968.html">PCGSolverParameters</a>:·<span·class="keyword">public</span>·<a·class[·...·truncated·by·diffoscope;·len:·63,·SHA:·e77de71c6e42d7290ae99755da459c7d2e267b6d5cc29ceec5b88f5e714a490e·...·]</a>·{</div>127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a04020.html">···31</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04020.html">Sampler</a>·{</div>
 128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·<span·class="keyword">protected</span>:</div>
 129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04020.html#a715947053d2c801444799e4ce00e6118">···34</a></span>··noiseModel::Diagonal::shared_ptr·<a·class="code·hl_variable"·href="a04020.html#a715947053d2c801444799e4ce00e6118">model_</a>;</div>
 130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
 131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04020.html#aafc871086f7dd8ee5bf99795c8f98ba1">···37</a></span>··<span·class="keyword">mutable</span>·std::mt19937_64·<a·class="code·hl_variable"·href="a04020.html#aafc871086f7dd8ee5bf99795c8f98ba1">generator_</a>;</div>
 132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
141 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">public</span>:</div>133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·<span·class="keyword">public</span>:</div>
142 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03728.html">ConjugateGradientParameters</a>·<a·class="code·hl_class"·href="a03728.html">Base</a>;</div> 
143 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;PCGSolverParameters&gt;·shared_ptr;</div>134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;Sampler&gt;·shared_ptr;</div>
144 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
145 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<a·class="code·hl_struct"·href="a03968.html">PCGSolverParameters</a>()·{</div> 
146 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··}</div> 
147 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>136 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
148 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(std::ostream·&amp;os)·<span·class="keyword">const·override</span>;</div>137 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a04020.html">Sampler</a>(<span·class="keyword">const</span>·noiseModel::Diagonal::shared_ptr&amp;·model,</div>
149 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>138 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>···················uint_fast64_t·seed·=·42u);</div>
150 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">/*·interface·to·preconditioner·parameters·*/</span></div> 
151 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">inline</span>·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03984.html">PreconditionerParameters</a>&amp;·preconditioner()<span·class="keyword">·const·</span>{</div> 
152 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keywordflow">return</span>·*preconditioner_;</div> 
153 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··}</div> 
154 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
155 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·needed·for·python·wrapper</span></div> 
156 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string·&amp;s)·<span·class="keyword">const</span>;</div> 
157 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>139 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 140 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a04020.html">Sampler</a>(<span·class="keyword">const</span>·Vector&amp;·sigmas,·uint_fast64_t·seed·=·42u);</div>
158 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··boost::shared_ptr&lt;PreconditionerParameters&gt;·preconditioner_;</div> 
159 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
160 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keywordtype">void</span>·setPreconditionerParams(<span·class="keyword">const</span>·boost::shared_ptr&lt;PreconditionerParameters&gt;·preconditioner);</div> 
161 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>};</div> 
162 </div> 
163 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div> 
164 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="};"> 
165 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a03972.html">···62</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03972.html">PCGSolver</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03832.html">IterativeSolver</a>·{</div> 
166 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span><span·class="keyword">public</span>:</div> 
167 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03832.html">IterativeSolver</a>·<a·class="code·hl_class"·href="a03832.html">Base</a>;</div> 
168 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;PCGSolver&gt;·shared_ptr;</div> 
169 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>141 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
170 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span><span·class="keyword">protected</span>:</div> 
171 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>142 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
172 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<a·class="code·hl_struct"·href="a03968.html">PCGSolverParameters</a>·parameters_;</div> 
173 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··boost::shared_ptr&lt;Preconditioner&gt;·preconditioner_;</div>143 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="keywordtype">size_t</span>·dim()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·model_-&gt;dim();·}</div>
 144 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
 145 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··Vector·sigmas()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·model_-&gt;sigmas();·}</div>
 146 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 147 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keyword">const</span>·noiseModel::Diagonal::shared_ptr&amp;·model()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·model_;·}</div>
174 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>148 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
175 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span><span·class="keyword">public</span>:</div> 
176 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="comment">/*·Interface·to·initialize·a·solver·without·a·problem·*/</span></div> 
177 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<a·class="code·hl_class"·href="a03972.html">PCGSolver</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03968.html">PCGSolverParameters</a>·&amp;p);</div> 
178 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<a·class="code·hl_class"·href="a03972.html">~PCGSolver</a>()<span·class="keyword">·override·</span>{</div> 
179 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··}</div> 
180 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>149 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
181 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">using·</span>IterativeSolver::optimize;</div>150 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··Vector·sample()·<span·class="keyword">const</span>;</div>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/GaussianEliminationTree.h·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/SubgraphSolver.h·File·Reference</title>
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96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">GaussianEliminationTree.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">SubgraphSolver.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
 105 <p>Subgraph·Solver·from·IROS·2010.··
 106 <a·href="#details">More...</a></p>
  
105 <p><a·href="a00836_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00836_source.html">Go·to·the·source·code·of·this·file.</a></p>
106 <table·class="memberdecls">108 <table·class="memberdecls">
107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
108 Classes</h2></td></tr>110 Classes</h2></td></tr>
 111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04056.html">gtsam::SubgraphSolverParameters</a></td></tr>
 112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03776.html">gtsam::GaussianEliminationTree</a></td></tr>113 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04060.html">gtsam::SubgraphSolver</a></td></tr>
 114 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·class·implements·the·linear·SPCG·solver·presented·in·Dellaert·et·al·in·IROS'10.··<a·href="a04060.html#details">More...</a><br·/></td></tr>
110 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>115 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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113 Namespaces</h2></td></tr>118 Namespaces</h2></td></tr>
114 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>119 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
115 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>120 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
116 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>121 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
117 </table>122 </table>
118 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 124 <div·class="textblock"><p>Subgraph·Solver·from·IROS·2010.·</p>
119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·29,·2013·</dd></dl>125 <dl·class="section·date"><dt>Date</dt><dd>2010·</dd></dl>
120 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>126 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
121 <dd>127 <dd>
122 Richard·Roberts·</dd></dl>128 Yong·Dian·Jian·</dd></dl>
123 </div></div><!--·contents·-->129 </div></div><!--·contents·-->
124 </div><!--·doc-content·-->130 </div><!--·doc-content·-->
125 <!--·start·footer·part·-->131 <!--·start·footer·part·-->
126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->132 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
127 ··<ul>133 ··<ul>
128 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_8b9ec42722111795f76d34c6471319a6.html">linear</a></li><li·class="navelem"><a·class="el"·href="a00836.html">GaussianEliminationTree.h</a></li>134 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_8b9ec42722111795f76d34c6471319a6.html">linear</a></li><li·class="navelem"><a·class="el"·href="a00836.html">SubgraphSolver.h</a></li>
129 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>135 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
130 ··</ul>136 ··</ul>
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132 </body>138 </body>
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102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">GaussianEliminationTree.h</div></div>104 ··<div·class="headertitle"><div·class="title">SubgraphSolver.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00836.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00836.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
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122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00671.html">gtsam/inference/EliminationTree.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
 124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;utility&gt;</span>··<span·class="comment">//·pair</span></div>
 125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div> 
126 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="};"> 
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03776.html">···27</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03776.html">GaussianEliminationTree</a>·:</div> 
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree</a>&lt;GaussianBayesNet,·GaussianFactorGraph&gt;</div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··{</div>127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·Forward·declarations</span></div>
 129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">class·</span>GaussianFactorGraph;</div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">public</span>:</div>130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">class·</span>GaussianBayesNet;</div>
 131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">class·</span>SubgraphPreconditioner;</div>
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a03776.html#a57a688c5bdfa87413e5982fb1ec61489">···31</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree&lt;GaussianBayesNet,·GaussianFactorGraph&gt;</a>·<a·class="code·hl_typedef"·href="a03776.html#a57a688c5bdfa87413e5982fb1ec61489">Base</a>;·</div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a03776.html#a3d599a4ee436838e5ffba795580c2ab1">···32</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03776.html">GaussianEliminationTree</a>·<a·class="code·hl_typedef"·href="a03776.html#a3d599a4ee436838e5ffba795580c2ab1">This</a>;·</div> 
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a03776.html#a888dd1388dc43d47fda35ade35583279">···33</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03776.html#a888dd1388dc43d47fda35ade35583279">shared_ptr</a>;·</div> 
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
135 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<a·class="code·hl_class"·href="a03776.html">GaussianEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>&amp;·factorGraph,</div> 
136 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03700.html">VariableIndex</a>&amp;·structure,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href=[·...·truncated·by·diffoscope;·len:·44,·SHA:·f056f51c265d88f739a5a2839df5bb339c3af9a43049d00788935fb6fda6f5e9·...·]>133 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04056.html">···35</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04056.html">SubgraphSolverParameters</a></div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03728.html">ConjugateGradientParameters</a>·{</div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>·builderParams;</div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_struct"·href="a04056.html">SubgraphSolverParameters</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>·&amp;p·=·<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>())</div>
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····:·builderParams(p)·{}</div>
 139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>()<span·class="keyword">·const·</span>{·Base::print();·}</div>
 140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(std::ostream·&amp;os)<span·class="keyword">·const·override·</span>{</div>
 141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····Base::print(os);</div>
 142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··}</div>
 143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>};</div>
 144 </div>
137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
138 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<a·class="code·hl_class"·href="a03776.html">GaussianEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>&amp;·factorGraph,</div> 
139 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div>146 <div·class="foldopen"·id="foldopen00076"·data-start="{"·data-end="};">
 147 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno"><a·class="line"·href="a04060.html">···76</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04060.html">SubgraphSolver</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03832.html">IterativeSolver</a>·{</div>
 148 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·<span·class="keyword">public</span>:</div>
 149 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_struct"·href="a04056.html">SubgraphSolverParameters</a>·<a·class="code·hl_struct"·href="a04056.html">Parameters</a>;</div>
 150 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
 151 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·<span·class="keyword">protected</span>:</div>
 152 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<a·class="code·hl_struct"·href="a04056.html">Parameters</a>·parameters_;</div>
 153 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno"><a·class="line"·href="a04060.html#ade9c0e75a53cc84a283c0b19c6965ceb">···82</a></span>··boost::shared_ptr&lt;SubgraphPreconditioner&gt;·<a·class="code·hl_variable"·href="a04060.html#ade9c0e75a53cc84a283c0b19c6965ceb">pc_</a>;··</div>
140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>154 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
141 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03776.html">This</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div> 
142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div> 
143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">private</span>:</div>155 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·<span·class="keyword">public</span>:</div>
144 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>156 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>
145 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keyword">friend</span>·class·::EliminationTreeTester;</div>157 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>··<a·class="code·hl_class"·href="a04060.html">SubgraphSolver</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·&amp;A,·<span·class="keyword">con[·...·truncated·by·diffoscope;·len:·86,·SHA:·e1fe9e8bad5827611d07e1ce3b6ac2e252444ee99de9955fe50d811f2a93c2c8·...·]</div>
 158 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·················<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>·&amp;ordering);</div>
146 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>159 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>
 160 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>··<a·class="code·hl_class"·href="a04060.html">SubgraphSolver</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·&amp;Ab1,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·&amp;Ab2,</div>
 161 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>·················<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04056.html">Parameters</a>·&amp;parameters,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>·&amp;ordering);</div>
 162 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>··<a·class="code·hl_class"·href="a04060.html">SubgraphSolver</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03740.html">GaussianBayesNet</a>·&amp;Rc1,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·&amp;Ab2,</div>
 163 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>·················<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04056.html">Parameters</a>·&amp;parameters);</div>
 164 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>·</div>
 165 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno"><a·class="line"·href="a04060.html#a746e64930e1800b405433301529d3f29">··112</a></span>··<a·class="code·hl_function"·href="a04060.html#a746e64930e1800b405433301529d3f29">~SubgraphSolver</a>()<span·class="keyword">·override·</span>{}</div>
 166 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno">··113</span>·</div>
 167 <div·class="line"><a·id="l00117"·name="l00117"></a><span·class="lineno">··117</span>·</div>
 168 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>··<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·<a·class="code·hl_function"·href="a01428.html#a4b0057879b0c5f323185452b0d1a4232">optimize</a>()·<span·class="keyword">const</span>;</div>
 169 <div·class="line"><a·id="l00120"·name="l00120"></a><span·class="lineno">··120</span>·</div>
 170 <div·class="line"><a·id="l00122"·name="l00122"></a><span·class="lineno">··122</span>··<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·<a·class="code·hl_function"·href="a01428.html#a4b0057879b0c5f323185452b0d1a4232">optimize</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·&amp;gfg,</div>
 171 <div·class="line"><a·id="l00123"·name="l00123"></a><span·class="lineno">··123</span>························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03840.html">KeyInfo</a>·&amp;keyInfo,</div>
 172 <div·class="line"><a·id="l00124"·name="l00124"></a><span·class="lineno">··124</span>························<span·class="keyword">const</span>·std::map&lt;Key,·Vector&gt;·&amp;lambda,</div>
 173 <div·class="line"><a·id="l00125"·name="l00125"></a><span·class="lineno">··125</span>························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·&amp;initial)·<span·class="keyword">override</span>;</div>
 174 <div·class="line"><a·id="l00126"·name="l00126"></a><span·class="lineno">··126</span>·</div>
 175 <div·class="line"><a·id="l00130"·name="l00130"></a><span·class="lineno">··130</span>·</div>
 176 <div·class="line"><a·id="l00132"·name="l00132"></a><span·class="lineno">··132</span>··std::pair&lt;GaussianFactorGraph,·GaussianFactorGraph&gt;·splitGraph(</div>
 177 <div·class="line"><a·id="l00133"·name="l00133"></a><span·class="lineno">··133</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·&amp;gfg);</div>
 178 <div·class="line"><a·id="l00134"·name="l00134"></a><span·class="lineno">··134</span>·</div>
147 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··};</div>179 <div·class="line"><a·id="l00136"·name="l00136"></a><span·class="lineno">··136</span>};</div>
148 </div>180 </div>
149 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div> 
150 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>}</div>181 <div·class="line"><a·id="l00137"·name="l00137"></a><span·class="lineno">··137</span>·</div>
 182 <div·class="line"><a·id="l00138"·name="l00138"></a><span·class="lineno">··138</span>}··<span·class="comment">//·namespace·gtsam</span></div>
 183 <div·class="ttc"·id="aa00884_html"><div·class="ttname"><a·href="a00884.html">ConjugateGradientSolver.h</a></div><div·class="ttdoc">Implementation·of·Conjugate·Gradient·solver·for·a·linear·system.</div></div>
151 <div·class="ttc"·id="aa00671_html"><div·class="ttname"><a·href="a00671.html">EliminationTree.h</a></div></div>184 <div·class="ttc"·id="aa00896_html"><div·class="ttname"><a·href="a00896.html">SubgraphBuilder.h</a></div></div>
152 <div·class="ttc"·id="aa00770_html"><div·class="ttname"><a·href="a00770.html">GaussianFactorGraph.h</a></div><div·class="ttdoc">Linear·Factor·Graph·where·all·factors·are·Gaussians.</div></div> 
153 <div·class="ttc"·id="aa00776_html"><div·class="ttname"><a·href="a00776.html">GaussianBayesNet.h</a></div><div·class="ttdoc">Chordal·Bayes·Net,·the·result·of·eliminating·a·factor·graph.</div></div> 
154 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>185 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
155 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div> 
156 <div·class="ttc"·id="aa03584_html"><div·class="ttname"><a·href="a03584.html">gtsam::EliminationTree</a></div><div·class="ttdoc">An·elimination·tree·is·a·data·structure·used·intermediately·during·elimination.</div><div·class="ttdef"><b>Definition</b>·EliminationTree.h:52</div></div>186 <div·class="ttc"·id="aa01428_html_a4b0057879b0c5f323185452b0d1a4232"><div·class="ttname"><a·href="a01428.html#a4b0057879b0c5f323185452b0d1a4232">gtsam::optimize</a></div><div·class="ttdeci">Point3·optimize(const·NonlinearFactorGraph·&amp;graph,·const·Values·&amp;values,·Key·landm[·...·truncated·by·diffoscope;·len:·123,·SHA:·d7be15b3373fc27537cb4bb63268ebd9b3c7e48a85f2697057a06c014c227a27·...·]</div></div>
 187 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>
157 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>188 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>
 189 <div·class="ttc"·id="aa03728_html"><div·class="ttname"><a·href="a03728.html">gtsam::ConjugateGradientParameters</a></div><div·class="ttdoc">parameters·for·the·conjugate·gradient·method</div><div·class="ttdef"><b>Definition</b>·ConjugateGradientSolver.h:29</div></div>
 190 <div·class="ttc"·id="aa03740_html"><div·class="ttname"><a·href="a03740.html">gtsam::GaussianBayesNet</a></div><div·class="ttdoc">GaussianBayesNet·is·a·Bayes·net·made·from·linear-Gaussian·conditionals.</div><div·class="ttdef"><b>Definition</b>·GaussianBayesNet.h:36</div></div>
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 174 boost::optional&lt;·Vector·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::noiseModel::checkIfDiagonal</b>·(const·Matrix·&amp;M)</td></tr>
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121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>177 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p><a·class="el"·href="a05064.html"·title="In·Gaussian·factors,·the·error·function·returns·either·the·negative·log-likelihood,...">JacobianFactor</a>·class·with·fixed·sized·blcoks.·</p>178 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Jan·13,·2010·</dd></dl>
123 <dl·class="section·author"><dt>Author</dt><dd>Sungtae·An·</dd></dl>179 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>
124 <dl·class="section·date"><dt>Date</dt><dd>Nov·11,·2014·</dd></dl>180 <dd>
 181 Frank·Dellaert·</dd></dl>
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111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
112 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·29,·2013·</dd></dl>114 <div·class="textblock"><p>Chordal·Bayes·Net,·the·result·of·eliminating·a·factor·graph.·</p>
113 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>115 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert,·Varun·Agrawal·</dd></dl>
114 <dd> 
115 Richard·Roberts·</dd></dl> 
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122 </table>113 </table>
123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>114 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 115 <div·class="textblock"><p>Conditional·Gaussian·Base·class.·</p>
124 <div·class="textblock"><p>A·binary·<a·class="el"·href="a05064.html"·title="In·Gaussian·factors,·the·error·function·returns·either·the·negative·log-likelihood,...">JacobianFactor</a>·specialization·that·uses·fixed·matrix·math·for·speed.·</p> 
125 <dl·class="section·date"><dt>Date</dt><dd>June·2015·</dd></dl> 
126 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>116 <dl·class="section·author"><dt>Author</dt><dd>Christian·Potthast·</dd></dl>
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118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00731.html">gtsam/linear/JacobianFactor.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00113.html">gtsam/base/SymmetricBlockMatrix.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/timing.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div> 
124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
126 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">template</span>&lt;<span·class="keywordtype">int</span>·M,·<span·class="keywordtype">int</span>·N1,·<span·class="keywordtype">int</span>·N2&gt;</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·TERMS&gt;</div>
127 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};"> 
128 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a03720.html">···33</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03720.html">BinaryJacobianFactor</a>:·<a·class="code·hl_class"·href="a03844.html">JacobianFactor</a>·{</div> 
129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div> 
130 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="}">126 <div·class="foldopen"·id="foldopen00026"·data-start="{"·data-end="}">
 127 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno"><a·class="line"·href="a03764.html#aef1269abaa639f7f2fbd9608bdb9e034">···26</a></span>··<a·class="code·hl_function"·href="a03764.html#a350122154dc86824df762ae59ee51f80">GaussianConditional::GaussianConditional</a>(<span·class="keyword">const</span>·TERMS&amp;·terms,</div>
 128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>····<span·class="keywordtype">size_t</span>·nrFrontals,·<span·class="keyword">const</span>·Vector&amp;·d,·<span·class="keyword">const</span>·SharedDiagonal&amp;·sigmas)·:</div>
 129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<a·class="code·hl_class"·href="a03844.html">BaseFactor</a>(terms,·d,·sigmas),·<a·class="code·hl_typedef"·href="a03764.html#a42acbab01dda87c1017d4f996bfb9ff7">BaseConditional</a>(nrFrontals)·{}</div>
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03720.html#adef0324d93ae1dd00943ea9a088b9bee">···36</a></span>··<a·class="code·hl_function"·href="a03720.html#adef0324d93ae1dd00943ea9a088b9bee">BinaryJacobianFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1,·<span·class="keyword">const</span>·Eigen::Matrix&lt;double,·M,·N1&gt;&amp;·A1,</div> 
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>······<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2,·<span·class="keyword">const</span>·Eigen::Matrix&lt;double,·M,·N2&gt;&amp;·A2,</div> 
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>······<span·class="keyword">const</span>·Eigen::Matrix&lt;double,·M,·1&gt;&amp;·b,·<span·class="comment">//</span></div> 
134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·SharedDiagonal())·:</div> 
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>······<a·class="code·hl_class"·href="a03844.html">JacobianFactor</a>(key1,·A1,·key2,·A2,·b,·model)·{</div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··}</div> 
137 </div>130 </div>
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>131 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 132 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 133 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·KEYS&gt;</div>
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">inline</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1()<span·class="keyword">·const·</span>{</div> 
140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">keys_</a>[0];</div> 
141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··}</div> 
142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">inline</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2()<span·class="keyword">·const·</span>{</div> 
143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">keys_</a>[1];</div> 
144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··}</div> 
145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="comment">//·Fixed-size·matrix·update</span></div> 
147 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="}">134 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="}">
 135 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a03764.html#ac9e5299e4c0c1f6a0ff3515f6c08fe92">···32</a></span>··<a·class="code·hl_function"·href="a03764.html#a350122154dc86824df762ae59ee51f80">GaussianConditional::GaussianConditional</a>(</div>
 136 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keyword">const</span>·KEYS&amp;·keys,·<span·class="keywordtype">size_t</span>·nrFrontals,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02660.html">VerticalBlockMatrix</a>&amp;·augmentedMatrix,·<span·class="keyword">const</span>·SharedDiagonal&amp;·sigmas)·:</div>
 137 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<a·class="code·hl_class"·href="a03844.html">BaseFactor</a>(keys,·augmentedMatrix,·sigmas),·<a·class="code·hl_typedef"·href="a03764.html#a42acbab01dda87c1017d4f996bfb9ff7">BaseConditional</a>(nrFrontals)·{}</div>
148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a03720.html#afb114b4f91aa1b56cf5539003696f53a">···51</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03720.html#afb114b4f91aa1b56cf5539003696f53a">updateHessian</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·infoKeys,</div> 
149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<a·class="code·hl_class"·href="a02472.html">SymmetricBlockMatrix</a>*·info)<span·class="keyword">·const·override·</span>{</div> 
150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····gttic(updateHessian_BinaryJacobianFactor);</div> 
151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="comment">//·Whiten·the·factor·if·it·has·a·noise·model</span></div> 
152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·<a·class="code·hl_function"·href="a03844.html#a44a2ce150ef653460b6f2c3c3cd251c6">get_model</a>();</div> 
153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····<span·class="keywordflow">if</span>·(model·&amp;&amp;·!model-&gt;isUnit())·{</div> 
154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<span·class="keywordflow">if</span>·(model-&gt;isConstrained())</div> 
155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>········<span·class="keywordflow">throw</span>·std::invalid_argument(</div> 
156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>············<span·class="stringliteral">&quot;BinaryJacobianFactor::updateHessian:·cannot·update·information·with·&quot;</span></div> 
157 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>················<span·class="stringliteral">&quot;constrained·noise·model&quot;</span>);</div> 
158 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······<a·class="code·hl_struct"·href="a03720.html">BinaryJacobianFactor</a>·whitenedFactor(key1(),·model-&gt;Whiten(<a·class="code·hl_function"·href="a03844.html#a6ec09943327b0cf49a05216eb9c128de">getA</a>(<a·class="code·hl_function"·href="a03592.html#a17c02f11c35bf7768347cad4943f0f64">begin</a>())),</div> 
159 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··········key2(),·model-&gt;Whiten(<a·class="code·hl_function"·href="a03844.html#a6ec09943327b0cf49a05216eb9c128de">getA</a>(<a·class="code·hl_function"·href="a03592.html#aa1f00e05967c0c278beec17af9cb0530">end</a>())),·model-&gt;whiten(<a·class="code·hl_function"·href="a03844.html#a0d0aa9bc7d1cdf639b6731d6cef6b2f8">getb</a>()));</div> 
160 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······whitenedFactor.<a·class="code·hl_function"·href="a03720.html#afb114b4f91aa1b56cf5539003696f53a">updateHessian</a>(infoKeys,·info);</div> 
161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····}·<span·class="keywordflow">else</span>·{</div> 
162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="comment">//·First·build·an·array·of·slots</span></div> 
163 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·slot1·=·Slot(infoKeys,·key1());</div> 
164 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·slot2·=·Slot(infoKeys,·key2());</div> 
165 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·slotB·=·info-&gt;<a·class="code·hl_function"·href="a02472.html#acbbb5bd424e0427ef4672b40e31ffa85">nBlocks</a>()·-·1;</div> 
166 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div> 
167 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······<span·class="keyword">const</span>·Matrix&amp;·Ab·=·Ab_.<a·class="code·hl_function"·href="a02660.html#a1637c4ff95b691fce6b0419996d87061">matrix</a>();</div> 
168 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······Eigen::Block&lt;const·Matrix,·M,·N1&gt;·A1(Ab,·0,·0);</div> 
169 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······Eigen::Block&lt;const·Matrix,·M,·N2&gt;·A2(Ab,·0,·N1);</div> 
170 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······Eigen::Block&lt;const·Matrix,·M,·1&gt;·b(Ab,·0,·N1·+·N2);</div> 
171 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div> 
172 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>······<span·class="comment">//·We·perform·I·+=·A&#39;*A·to·the·upper·triangle</span></div> 
173 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#abb8f0a01919cc6afa0056f0c827d164c">diagonalBlock</a>(slot1).rankUpdate(A1.transpose());</div> 
174 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#aa199f2600852b106241c1084291d79b5">updateOffDiagonalBlock</a>(slot1,·slot2,·A1.transpose()·*·A2);</div> 
175 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#aa199f2600852b106241c1084291d79b5">updateOffDiagonalBlock</a>(slot1,·slotB,·A1.transpose()·*·b);</div> 
176 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#abb8f0a01919cc6afa0056f0c827d164c">diagonalBlock</a>(slot2).rankUpdate(A2.transpose());</div> 
177 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#aa199f2600852b106241c1084291d79b5">updateOffDiagonalBlock</a>(slot2,·slotB,·A2.transpose()·*·b);</div> 
178 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#ac238889d9c141c538f6381619d0c39a4">updateDiagonalBlock</a>(slotB,·b.transpose()·*·b);</div> 
179 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····}</div> 
180 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··}</div> 
181 </div>138 </div>
182 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>};</div> 
183 </div> 
184 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>139 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
185 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span><span·class="keyword">template</span>&lt;<span·class="keywordtype">int</span>·M,·<span·class="keywordtype">int</span>·N1,·<span·class="keywordtype">int</span>·N2&gt;</div> 
186 <div·class="foldopen"·id="foldopen00087"·data-start="{"·data-end="};"> 
187 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a03724.html">···87</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_struct"·href="a03720.html">BinaryJacobianFactor</a>&lt;M,·N1,·N2&gt;·&gt;·:·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;</div> 
188 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····BinaryJacobianFactor&lt;M,·N1,·N2&gt;·&gt;·{</div> 
189 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>};</div> 
190 </div> 
191 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div> 
192 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>}·<span·class="comment">//namespace·gtsam</span></div>140 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>}·<span·class="comment">//·gtsam</span></div>
193 <div·class="ttc"·id="aa00113_html"><div·class="ttname"><a·href="a00113.html">SymmetricBlockMatrix.h</a></div><div·class="ttdoc">Access·to·matrices·via·blocks·of·pre-defined·sizes.</div></div> 
194 <div·class="ttc"·id="aa00119_html"><div·class="ttname"><a·href="a00119.html">timing.h</a></div><div·class="ttdoc">Timing·utilities.</div></div> 
195 <div·class="ttc"·id="aa00731_html"><div·class="ttname"><a·href="a00731.html">JacobianFactor.h</a></div></div> 
196 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>141 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
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 142 <dd>
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129 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd> 
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131 Christian·Potthast·</dd> 
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133 Frank·Dellaert·</dd></dl> 
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 122 <div·class="textblock"><p>Power·method·for·fast·eigenvalue·and·eigenvector·computation.·</p>
112 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Dec·31,·2009·</dd></dl>123 <dl·class="section·date"><dt>Date</dt><dd>Sept·2020·</dd></dl>
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 131 Functions</h2></td></tr>
 132 <tr·class="memitem:aa84fa88db91d429bec261c655fc54bd6"·id="r_aa84fa88db91d429bec261c655fc54bd6"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aa84fa88db91d429bec261c655fc54bd6"·name="aa84fa88db91d429bec261c655fc54bd6"></a>
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 144 <a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::operator+</b>·(const·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;a,·const·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;b)</td></tr>
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 148 <a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::operator-</b>·(const·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;a,·const·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;b)</td></tr>
 149 <tr·class="memdesc:af2dc48a6a2e9abf4d0636578847a6b5a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Subtraction.·<br·/></td></tr>
 150 <tr·class="separator:af2dc48a6a2e9abf4d0636578847a6b5a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 153 <tr·class="memdesc:aa91c0485819ec2bfd249a922c81e3eb4"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Negation.·<br·/></td></tr>
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 156 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::dot</b>·(const·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;a,·const·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;b)</td></tr>
 157 <tr·class="memdesc:a106ec458ddb425604809da93346af55d"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Dot·product.·<br·/></td></tr>
 158 <tr·class="separator:a106ec458ddb425604809da93346af55d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 160 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::axpy</b>·(double·alpha,·const·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;x,·<a·class="el"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">Errors</a>·&amp;y)</td></tr>
 161 <tr·class="memdesc:a5644e12e89afaac433f5d61c3d8e9003"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">BLAS·level·2·style·AXPY,·<code>y·:=·alpha*x·+·y</code>·<br·/></td></tr>
 162 <tr·class="separator:a5644e12e89afaac433f5d61c3d8e9003"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
113 </table>163 </table>
114 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>164 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
115 <div·class="textblock"><p>Conditional·Gaussian·Base·class.·</p>165 <div·class="textblock"><p>vector·of·errors·</p>
116 <dl·class="section·author"><dt>Author</dt><dd>Christian·Potthast·</dd></dl>166 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
117 </div></div><!--·contents·-->167 </div></div><!--·contents·-->
118 </div><!--·doc-content·-->168 </div><!--·doc-content·-->
119 <!--·start·footer·part·-->169 <!--·start·footer·part·-->
120 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->170 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
121 ··<ul>171 ··<ul>
122 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_8b9ec42722111795f76d34c6471319a6.html">linear</a></li><li·class="navelem"><a·class="el"·href="a00869.html">GaussianConditional-inl.h</a></li>172 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_8b9ec42722111795f76d34c6471319a6.html">linear</a></li><li·class="navelem"><a·class="el"·href="a00869.html">Errors.h</a></li>
123 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>173 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
124 ··</ul>174 ··</ul>
125 </div>175 </div>
126 </body>176 </body>
127 </html>177 </html>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">GaussianConditional-inl.h</div></div>104 ··<div·class="headertitle"><div·class="title">Errors.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00869.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00869.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
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111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
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127 <div·class="foldopen"·id="foldopen00026"·data-start="{"·data-end="}"> 
128 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno"><a·class="line"·href="a03764.html#aef1269abaa639f7f2fbd9608bdb9e034">···26</a></span>··<a·class="code·hl_function"·href="a03764.html#a350122154dc86824df762ae59ee51f80">GaussianConditional::GaussianConditional</a>(<span·class="keyword">const</span>·TERMS&amp;·terms,</div> 
129 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>····<span·class="keywordtype">size_t</span>·nrFrontals,·<span·class="keyword">const</span>·Vector&amp;·d,·<span·class="keyword">const</span>·SharedDiagonal&amp;·sigmas)·:</div> 
130 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<a·class="code·hl_class"·href="a03844.html">BaseFactor</a>(terms,·d,·sigmas),·<a·class="code·hl_typedef"·href="a03764.html#a42acbab01dda87c1017d4f996bfb9ff7">BaseConditional</a>(nrFrontals)·{}</div> 
131 </div> 
132 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
133 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·Forward·declarations</span></div>
134 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·KEYS&gt;</div>132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div>
 133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
 134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">···34</a></span><span·class="keyword">using·</span><a·class="code·hl_class"·href="a02312.html">Errors</a>·=·<a·class="code·hl_class"·href="a02312.html">FastList&lt;Vector&gt;</a>;</div>
135 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="}"> 
136 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a03764.html#ac9e5299e4c0c1f6a0ff3515f6c08fe92">···32</a></span>··<a·class="code·hl_function"·href="a03764.html#a350122154dc86824df762ae59ee51f80">GaussianConditional::GaussianConditional</a>(</div> 
137 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keyword">const</span>·KEYS&amp;·keys,·<span·class="keywordtype">size_t</span>·nrFrontals,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02660.html">VerticalBlockMatrix</a>&amp;·augmentedMatrix,·<span·class="keyword">const</span>·SharedDiagonal&amp;·sigmas)·:</div> 
138 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<a·class="code·hl_class"·href="a03844.html">BaseFactor</a>(keys,·augmentedMatrix,·sigmas),·<a·class="code·hl_typedef"·href="a03764.html#a42acbab01dda87c1017d4f996bfb9ff7">BaseConditional</a>(nrFrontals)·{}</div> 
139 </div> 
140 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02312.html">Errors</a>·<a·class="code·hl_function"·href="a01428.html#aa84fa88db91d429bec261c655fc54bd6">createErrors</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04064.html">VectorValues</a>&amp;·V);</div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
 138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>GTSAM_EXPORT·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·e,·<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;Errors&quot;</span>);</div>
 139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 140 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="comment">//·Check·equality·for·unit·testing.</span></div>
 141 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>GTSAM_EXPORT·<span·class="keywordtype">bool</span>·equality(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·actual,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·expected,</div>
 142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>···························<span·class="keywordtype">double</span>·tol·=·1e-9);</div>
 143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02312.html">Errors</a>·<a·class="code·hl_function"·href="a01428.html#a552de56fca49d1b4942dd9b8e8357b0a">operator+</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·a,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·b);</div>
 145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02312.html">Errors</a>·<a·class="code·hl_function"·href="a01428.html#af2dc48a6a2e9abf4d0636578847a6b5a">operator-</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·a,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·b);</div>
 147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02312.html">Errors</a>·<a·class="code·hl_function"·href="a01428.html#af2dc48a6a2e9abf4d0636578847a6b5a">operator-</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·a);</div>
 149 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>GTSAM_EXPORT·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a01428.html#ad80249acf12bbea741e755cd8fc73042">dot</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·a,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·b);</div>
 151 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 152 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>GTSAM_EXPORT·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a5644e12e89afaac433f5d61c3d8e9003">axpy</a>(<span·class="keywordtype">double</span>·alpha,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·x,·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·y);</div>
 153 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span><span·class="keyword">template</span>·&lt;&gt;</div>
 155 <div·class="foldopen"·id="foldopen00063"·data-start="{"·data-end="};">
 156 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a03736.html">···63</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a02312.html">Errors</a>&gt;·{</div>
 157 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·Print(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·e,·<span·class="keyword">const</span>·std::string&amp;·str·=·<span·class="stringliteral">&quot;&quot;</span>)·{</div>
 158 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(e,·str);</div>
 159 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div>
 160 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keyword">static</span>·<span·class="keywordtype">bool</span>·Equals(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·actual,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·expected,</div>
 161 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·····················<span·class="keywordtype">double</span>·tol·=·1e-8)·{</div>
 162 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="keywordflow">return</span>·equality(actual,·expected,·tol);</div>
 163 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··}</div>
 164 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>};</div>
 165 </div>
 166 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
141 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>}·<span·class="comment">//·gtsam</span></div>167 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>}··<span·class="comment">//·namespace·gtsam</span></div>
 168 <div·class="ttc"·id="aa00038_html"><div·class="ttname"><a·href="a00038.html">FastList.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::list·that·uses·boost's·fast_pool_allocator.</div></div>
 169 <div·class="ttc"·id="aa00104_html"><div·class="ttname"><a·href="a00104.html">Vector.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·VectorXd</div></div>
 170 <div·class="ttc"·id="aa00107_html"><div·class="ttname"><a·href="a00107.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>
142 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>171 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
143 <div·class="ttc"·id="aa02660_html"><div·class="ttname"><a·href="a02660.html">gtsam::VerticalBlockMatrix</a></div><div·class="ttdoc">This·class·stores·a·dense·matrix·and·allows·it·to·be·accessed·as·a·collection·of·vertical·blocks.</div><div·class="ttdef"><b>Definition</b>·VerticalBlockMatrix.h:43</div></div> 
144 <div·class="ttc"·id="aa03764_html_a350122154dc86824df762ae59ee51f80"><div·class="ttname"><a·href="a03764.html#a350122154dc86824df762ae59ee51f80">gtsam::GaussianConditional::GaussianConditional</a></div><div·class="ttdeci">GaussianConditional()</div><div·class="ttdoc">default·constructor·needed·for·serialization</div><div·class="ttdef"><b>Definition</b>·GaussianConditional.h:54</div></div> 
145 <div·class="ttc"·id="aa03764_html_a42acbab01dda87c1017d4f996bfb9ff7"><div·class="ttname"><a·href="a03764.html#a42acbab01dda87c1017d4f996bfb9ff7">gtsam::GaussianConditional::BaseConditional</a></div><div·class="ttdeci">Conditional&lt;·BaseFactor,·This·&gt;·BaseConditional</div><div·class="ttdoc">Typedef·to·our·conditional·base·class.</div><div·class="ttdef"><b>Definition</b>·GaussianConditional.h:48</div></div> 
146 <div·class="ttc"·id="aa03844_html"><div·class="ttname"><a·href="a03844.html">gtsam::JacobianFactor</a></div><div·class="ttdoc">A·Gaussian·factor·in·the·squared-error·form.</div><div·class="ttdef"><b>Definition</b>·JacobianFactor.h:91</div></div>172 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="tt[·...·truncated·by·diffoscope;·len:·119,·SHA:·70c72570359adce3f51e881d82463f218d7f8ed90f8aeef2eee26dbf56ff143c·...·]</div></div>
 173 <div·class="ttc"·id="aa01428_html_a552de56fca49d1b4942dd9b8e8357b0a"><div·class="ttname"><a·href="a01428.html#a552de56fca49d1b4942dd9b8e8357b0a">gtsam::operator+</a></div><div·class="ttdeci">Errors·operator+(const·Errors·&amp;a,·const·Errors·&amp;b)</div><div·class="ttdoc">Addition.</div><div·class="ttdef"><b>Definition</b>·Errors.cpp:60</div></div>
 174 <div·class="ttc"·id="aa01428_html_a5644e12e89afaac433f5d61c3d8e9003"><div·class="ttname"><a·href="a01428.html#a5644e12e89afaac433f5d61c3d8e9003">gtsam::axpy</a></div><div·class="ttdeci">void·axpy(double·alpha,·const·Errors·&amp;x,·Errors·&amp;y)</div><div·class="ttdoc">BLAS·level·2·style·AXPY,·y·:=·alpha*x·+·y</div><div·class="ttdef"><b>Definition</b>·Errors.cpp:111</div></div>
 175 <div·class="ttc"·id="aa01428_html_aa84fa88db91d429bec261c655fc54bd6"><div·class="ttname"><a·href="a01428.html#aa84fa88db91d429bec261c655fc54bd6">gtsam::createErrors</a></div><div·class="ttdeci">Errors·createErrors(const·VectorValues·&amp;V)</div><div·class="ttdoc">Break·V·into·pieces·according·to·its·start·indices.</div><div·class="ttdef"><b>Definition</b>·Errors.cpp:29</div></div>
 176 <div·class="ttc"·id="aa01428_html_ad80249acf12bbea741e755cd8fc73042"><div·class="ttname"><a·href="a01428.html#ad80249acf12bbea741e755cd8fc73042">gtsam::dot</a></div><div·class="ttdeci">double·dot(const·V1·&amp;a,·const·V2·&amp;b)</div><div·class="ttdoc">Dot·product.</div><div·class="ttdef"><b>Definition</b>·Vector.h:195</div></div>
 177 <div·class="ttc"·id="aa01428_html_af2dc48a6a2e9abf4d0636578847a6b5a"><div·class="ttname"><a·href="a01428.html#af2dc48a6a2e9abf4d0636578847a6b5a">gtsam::operator-</a></div><div·class="ttdeci">Errors·operator-(const·Errors·&amp;a,·const·Errors·&amp;b)</div><div·class="ttdoc">Subtraction.</div><div·class="ttdef"><b>Definition</b>·Errors.cpp:75</div></div>
 178 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
 179 <div·class="ttc"·id="aa02312_html"><div·class="ttname"><a·href="a02312.html">gtsam::FastList&lt;·Vector·&gt;</a></div></div>
 180 <div·class="ttc"·id="aa04064_html"><div·class="ttname"><a·href="a04064.html">gtsam::VectorValues</a></div><div·class="ttdoc">VectorValues·represents·a·collection·of·vector-valued·variables·associated·each·with·a·unique·integer...</div><div·class="ttdef"><b>Definition</b>·VectorValues.h:74</div></div>
 181 <div·class="ttc"·id="aa05072_html"><div·class="ttname"><a·href="a05072.html">VectorValues</a></div><div·class="ttdoc">The·Factor::error·simply·extracts·the.</div></div>
147 </div><!--·fragment·--></div><!--·contents·-->182 </div><!--·fragment·--></div><!--·contents·-->
148 </div><!--·doc-content·-->183 </div><!--·doc-content·-->
149 <!--·start·footer·part·-->184 <!--·start·footer·part·-->
150 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->185 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
151 ··<ul>186 ··<ul>
152 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_8b9ec42722111795f76d34c6471319a6.html">linear</a></li><li·class="navelem"><a·class="el"·href="a00869.html">GaussianConditional-inl.h</a></li>187 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_8b9ec42722111795f76d34c6471319a6.html">linear</a></li><li·class="navelem"><a·class="el"·href="a00869.html">Errors.h</a></li>
153 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>188 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
154 ··</ul>189 ··</ul>
155 </div>190 </div>
156 </body>191 </body>
157 </html>192 </html>
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123 <div·class="textblock"><p>HessianFactor·class·with·constant·sized·blocks.·</p>132 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Dec·31,·2009·</dd></dl>
124 <dl·class="section·author"><dt>Author</dt><dd>Sungtae·An·</dd></dl>133 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert,·Yong-Dian·Jian·</dd></dl>
125 <dl·class="section·date"><dt>Date</dt><dd>March·2014·</dd></dl> 
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131 <dl·class="section·author"><dt>Author</dt><dd>Stephen·Williams·</dd> 
132 <dd> 
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126 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>131 <dl·class="section·author"><dt>Author</dt><dd>Yong-Dian·Jian·</dd>
 132 <dd>
 133 Sungtae·An·</dd></dl>
 134 <dl·class="section·date"><dt>Date</dt><dd>Nov·6,·2014·</dd></dl>
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 126 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
150 <p>Errors·</p><dl·class="section·author"><dt>Author</dt><dd>Carlos·Nieto·</dd> 
151 <dd> 
152 Christian·Potthast·</dd></dl> 
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 155 <dl·class="section·date"><dt>Date</dt><dd>Dec·28,·2009·</dd></dl>
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140 <div·class="textblock"><p>Iterative·methods,·implementation.·</p>136 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Dec·31,·2009·</dd></dl>
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114 <div·class="textblock"><p>Implementation·file·for·GPS·factor.·</p> 
115 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl> 
116 <dl·class="section·date"><dt>Date</dt><dd>January·28,·2014·</dd></dl>122 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
 123 <dd>
 124 Stephen·Williams·</dd>
 125 <dd>
 126 Richard·Roberts·</dd>
 127 <dd>
 128 Vadim·Indelman·</dd>
 129 <dd>
 130 David·Jensen·</dd>
 131 <dd>
 132 Frank·Dellaert·</dd></dl>
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 114 <div·class="textblock"><p>Implementation·file·for·Barometric·factor.·</p>
 115 <dl·class="section·author"><dt>Author</dt><dd>Peter·Milani·</dd></dl>
 116 <dl·class="section·date"><dt>Date</dt><dd>December·16,·2021·</dd></dl>
125 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd> 
126 <dd> 
127 Stephen·Williams·</dd> 
128 <dd> 
129 Richard·Roberts·</dd> 
130 <dd> 
131 Vadim·Indelman·</dd> 
132 <dd> 
133 David·Jensen·</dd> 
134 <dd> 
135 Frank·Dellaert·</dd></dl> 
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132 <div·class="textblock"><p>Navigation·state·composing·of·attitude,·position,·and·velocity.·</p> 
133 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl> 
134 <dl·class="section·date"><dt>Date</dt><dd>July·2015·</dd></dl>120 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
 121 <dd>
 122 Stephen·Williams·</dd>
 123 <dd>
 124 Richard·Roberts·</dd>
 125 <dd>
 126 Vadim·Indelman·</dd>
 127 <dd>
 128 David·Jensen·</dd>
 129 <dd>
 130 Frank·Dellaert</dd>
 131 <dd>
 132 Frank·Dellaert·</dd></dl>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>
 120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00932.html">gtsam/navigation/PreintegratedRotation.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00296.html">gtsam/geometry/Pose3.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Vector.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Manifold.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno"><a·class="line"·href="a01428.html#ad6ba0a40d5dd8936f4ca53f7bb3ef53b">···28</a></span><span·class="keyword">typedef</span>·Vector3·<a·class="code·hl_typedef"·href="a01428.html#ad6ba0a40d5dd8936f4ca[·...·truncated·by·diffoscope;·len:·33,·SHA:·a90aeb3afca795398f2a73ba0121e35425faa7845fa29e6f308952c7c4599ec8·...·]>125 <div·class="foldopen"·id="foldopen00026"·data-start="{"·data-end="};">
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno"><a·class="line"·href="a04220.html">···26</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04220.html">PreintegrationParams</a>:·<a·class="code·hl_struct"·href="a04204.html">PreintegratedRotationParams</a>·{</div>
 127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno"><a·class="line"·href="a04220.html#a1fb0a8f02d0568b27b2bd6a25c558935">···29</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04220.html#a1fb0a8f02d0568b27b2bd6a25c558935">accelerometerCovariance</a>;</div>
 128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a04220.html#a593988febdb8bbf93a2524f14b98d16a">···30</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04220.html#a593988febdb8bbf93a2524f14b98d16a">integrationCovariance</a>;·</div>
 129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a04220.html#a2732ec155327ae88f23a6b983c173162">···31</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04220.html#a2732ec155327ae88f23a6b983c173162">use2ndOrderCoriolis</a>;·</div>
 130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04220.html#a355a21d1ad3b0ab250ab8596790eb387">···32</a></span>··Vector3·<a·class="code·hl_variable"·href="a04220.html#a355a21d1ad3b0ab250ab8596790eb387">n_gravity</a>;·</div>
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
128 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">132 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="}">
 133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04220.html#a2b734623439aeb465143f0ca4a918ad8">···35</a></span>··<a·class="code·hl_function"·href="a04220.html#a2b734623439aeb465143f0ca4a918ad8">PreintegrationParams</a>()</div>
129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04196.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04196.html">NavState</a>·{</div> 
130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">private</span>:</div> 
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div> 
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="comment">//·TODO(frank):</span></div> 
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="comment">//·-·should·we·rename·t_·to·p_?·if·not,·we·should·rename·dP·do·dT</span></div> 
134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<a·class="code·hl_class"·href="a03228.html">Rot3</a>·R_;·</div>134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>······:·<a·class="code·hl_struct"·href="a04204.html">PreintegratedRotationParams</a>(),</div>
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·t_;·</div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<a·class="code·hl_typedef"·href="a01428.html#ad6ba0a40d5dd8936f4ca53f7bb3ef53b">Velocity3</a>·v_;·</div>135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>········accelerometerCovariance(I_3x3),</div>
 136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>········integrationCovariance(I_3x3),</div>
 137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>········use2ndOrderCoriolis(false),</div>
 138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>········n_gravity(0,·0,·-1)·{}</div>
 139 </div>
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">public</span>:</div> 
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">enum</span>·{</div>141 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="}">
 142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04220.html#a4172ae9d785221171cf39c019547ba51">···44</a></span>··<a·class="code·hl_function"·href="a04220.html#a4172ae9d785221171cf39c019547ba51">PreintegrationParams</a>(<span·class="keyword">const</span>·Vector3&amp;·n_gravity)</div>
 143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······:·<a·class="code·hl_struct"·href="a04204.html">PreintegratedRotationParams</a>(),</div>
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····dimension·=·9</div>144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>········accelerometerCovariance(I_3x3),</div>
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··};</div>145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>········integrationCovariance(I_3x3),</div>
143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>········use2ndOrderCoriolis(false),</div>
144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">typedef</span>·std::pair&lt;Point3,·Velocity3&gt;·PositionAndVelocity;</div>147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>········n_gravity(n_gravity)·{}</div>
 148 </div>
145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·Default·Params·for·a·Z-down·navigation·frame,·such·as·NED:·gravity·points·along·positive·Z-axis</span></div>
 151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">static</span>·boost::shared_ptr&lt;PreintegrationParams&gt;·MakeSharedD(<span·class="keywordtype">double</span>·g·=·9.81)·{</div>
 152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keywordflow">return</span>·boost::shared_ptr&lt;PreintegrationParams&gt;(<span·class="keyword">new</span>·<a·class="code·hl_struct"·href="a04220.html">PreintegrationParams</a>(Vector3(0,·0,·g)));</div>
146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div> 
147 <div·class="foldopen"·id="foldopen00055"·data-start="{"·data-end="}"> 
148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04196.html#a071b7ef082393fab89cf6d80d19c0cd3">···55</a></span>··<a·class="code·hl_function"·href="a04196.html#a071b7ef082393fab89cf6d80d19c0cd3">NavState</a>()·:</div> 
149 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······t_(0,·0,·0),·v_(Vector3::Zero())·{</div> 
150 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··}</div>153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··}</div>
 154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="comment">//·Default·Params·for·a·Z-up·navigation·frame,·such·as·ENU:·gravity·points·along·negative·Z-axis</span></div>
 156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">static</span>·boost::shared_ptr&lt;PreintegrationParams&gt;·MakeSharedU(<span·class="keywordtype">double</span>·g·=·9.81)·{</div>
 157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keywordflow">return</span>·boost::shared_ptr&lt;PreintegrationParams&gt;(<span·class="keyword">new</span>·PreintegrationParams(Vector3(0,·0,·-g)));</div>
 158 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··}</div>
 159 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s=<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const·override</span>;</div>
 161 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·PreintegratedRotationParams&amp;·other,·<span·class="keywordtype">double</span>·tol)·<span·class="keyword">const·override</span>;</div>
 162 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
 163 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keywordtype">void</span>·setAccelerometerCovariance(<span·class="keyword">const</span>·Matrix3&amp;·cov)·{·accelerometerCovariance·=·cov;·}</div>
 164 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keywordtype">void</span>·setIntegrationCovariance(<span·class="keyword">const</span>·Matrix3&amp;·cov)···{·integrationCovariance·=·cov;·}</div>
 165 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="keywordtype">void</span>·setUse2ndOrderCoriolis(<span·class="keywordtype">bool</span>·flag)··············{·use2ndOrderCoriolis·=·flag;·}</div>
 166 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
 167 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="keyword">const</span>·Matrix3&amp;·getAccelerometerCovariance()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·accelerometerCovariance;·}</div>
 168 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="keyword">const</span>·Matrix3&amp;·getIntegrationCovariance()<span·class="keyword">···const·</span>{·<span·class="keywordflow">return</span>·integrationCovariance;·}</div>
 169 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keyword">const</span>·Vector3&amp;·getGravity()<span·class="keyword">···const·</span>{·<span·class="keywordflow">return</span>·n_gravity;·}</div>
 170 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<span·class="keywordtype">bool</span>···········getUse2ndOrderCoriolis()<span·class="keyword">·····const·</span>{·<span·class="keywordflow">return</span>·use2ndOrderCoriolis;·}</div>
 171 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
 172 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span><span·class="keyword">protected</span>:</div>
 173 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 174 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno"><a·class="line"·href="a04220.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">···76</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span>boost::serialization::access;</div>
 175 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
 176 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 177 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keyword">namespace·</span>bs·=·::boost::serialization;</div>
 178 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····ar·&amp;·BOOST_SERIALIZATION_BASE_OBJECT_NVP(<a·class="code·hl_struct"·href="a04204.html">PreintegratedRotationParams</a>);</div>
 179 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(accelerometerCovariance);</div>
 180 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(integrationCovariance);</div>
 181 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis);</div>
 182 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(n_gravity);</div>
 183 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··}</div>
 184 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
 185 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span><span·class="preprocessor">#ifdef·GTSAM_USE_QUATERNIONS</span></div>
 186 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··<span·class="comment">//·Align·if·we·are·using·Quaternions</span></div>
 187 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span><span·class="keyword">public</span>:</div>
 188 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>········<a·class="code·hl_define"·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>
 189 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span><span·class="preprocessor">#endif</span></div>
 190 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>};</div>
151 </div>191 </div>
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1 <!DOCTYPE·html·PUBLIC·"-//W3C//DTD·XHTML·1.0·Transitional//EN"·"https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">1 <!DOCTYPE·html·PUBLIC·"-//W3C//DTD·XHTML·1.0·Transitional//EN"·"https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">
3 <head>3 <head>
4 <meta·http-equiv="Content-Type"·content="text/xhtml;charset=UTF-8"/>4 <meta·http-equiv="Content-Type"·content="text/xhtml;charset=UTF-8"/>
5 <meta·http-equiv="X-UA-Compatible"·content="IE=11"/>5 <meta·http-equiv="X-UA-Compatible"·content="IE=11"/>
6 <meta·name="generator"·content="Doxygen·1.9.8"/>6 <meta·name="generator"·content="Doxygen·1.9.8"/>
7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/BarometricFactor.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/MagPoseFactor.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
14 <script·type="text/javascript"·src="navtreedata.js"></script>14 <script·type="text/javascript"·src="navtreedata.js"></script>
15 <script·type="text/javascript"·src="navtree.js"></script>15 <script·type="text/javascript"·src="navtree.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">BarometricFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">MagPoseFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00911.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span>·</div>
 120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08128.html">gtsam/geometry/concepts.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00296.html">gtsam/geometry/Pose3.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00908.html">gtsam/navigation/NavState.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>
 125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·POSE&gt;</div>
126 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00028"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04100.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04100.html">BarometricFactor</a>·:·<span·class="keyword">public</span>·<a·class="c[·...·truncated·by·diffoscope;·len:·71,·SHA:·78f41bfde77ab9181dcdce79d1fe608399512a2a1cda5ca14bdced5ef5cf6e68·...·]&gt;·{</div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno"><a·class="line"·href="a04188.html">···28</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04188.html">MagPoseFactor</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·hre[·...·truncated·by·diffoscope;·len:·45,·SHA:·b8723e98a86f67d9cf5432959291ecbf6d75264f14220151b217f0300c1712d7·...·]&gt;·{</div>
128 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>···<span·class="keyword">private</span>:</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·<span·class="keyword">private</span>:</div>
129 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;Pose3,·double&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">using·</span>This·=·<a·class="code·hl_class"·href="a04188.html">MagPoseFactor&lt;POSE&gt;</a>;</div>
 130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04536.html">Base</a>·=·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;POSE&gt;</a>;</div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">using·</span>Point·=·<span·class="keyword">typename</span>·POSE::Translation;·</div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">using·</span>Rot·=·<span·class="keyword">typename</span>·POSE::Rotation;</div>
130 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">const</span>·Point·measured_;·</div>
131 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="keywordtype">double</span>·nT_;··</div>135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">const</span>·Point·nM_;·</div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">const</span>·Point·bias_;·</div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··boost::optional&lt;POSE&gt;·body_P_sensor_;·</div>
132 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>···<span·class="keyword">public</span>:</div> 
134 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04100.html#a692169a1939f428218a42ef6aafa014b">···42</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;BarometricFactor&gt;·<a·class="code·hl_typedef"·href="a04100.html#a[·...·truncated·by·diffoscope;·len:·48,·SHA:·f395ff3b232acd0cb104cfb50ad2f07f05077c5e254c2acdab530e13423e96a7·...·];</div>139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·MeasDim·=·Point::RowsAtCompileTime;</div>
 140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·PoseDim·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;POSE&gt;::dimension</a>;</div>
 141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·RotDim·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Rot&gt;::dimension</a>;</div>
135 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
136 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04100.html#a11690ce4f03de94b2c7a1d3a5a46f383">···45</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04100.html">BarometricFactor</a>·<a·class="code·hl_typedef"·href="a04100.html#a11690ce4f03de94b2c7[·...·truncated·by·diffoscope;·len:·23,·SHA:·c45d09e99957a5400677ac432264fe5bb09910779be6580e9b56c3c15a148c52·...·];</div>143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;MagPoseFactor&lt;POSE&gt;&gt;;</div>
137 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
138 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a04100.html#ae0565011b7aefe5503382d68dad48b0a">···48</a></span>····<a·class="code·hl_function"·href="a04100.html#ae0565011b7aefe5503382d68dad48b0a">BarometricFactor</a>()·:·nT_(0)·{}</div>145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··GTSAM_CONCEPT_TESTABLE_TYPE(POSE)</div>
139 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··GTSAM_CONCEPT_POSE_TYPE(POSE)</div>
140 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····<a·class="code·hl_class"·href="a04100.html">~BarometricFactor</a>()<span·class="keyword">·override·</span>{}</div> 
141 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·<span·class="keyword">public</span>:</div>
 149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a04188.html#a656d17c286ec113767ef884aee0f8824">···52</a></span>··<a·class="code·hl_function"·href="a04188.html#a656d17c286ec113767ef884aee0f8824">~MagPoseFactor</a>()<span·class="keyword">·override·</span>{}</div>
 150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04188.html#af2dcbb081485187cf5c939fb6d11971c">···55</a></span>··<a·class="code·hl_function"·href="a04188.html#af2dcbb081485187cf5c939fb6d11971c">MagPoseFactor</a>()·{}</div>
 152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
142 <div·class="foldopen"·id="foldopen00059"·data-start="{"·data-end="}">153 <div·class="foldopen"·id="foldopen00067"·data-start="{"·data-end="}">
143 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a04100.html#a32118f78408e0c408c77b4a380199083">···59</a></span>····<a·class="code·hl_function"·href="a04100.html#a32118f78408e0c408c77b4a380199083">BarometricFactor</a>(<a·class="code·hl_type[·...·truncated·by·diffoscope;·len:·254,·SHA:·b943e8555c0b9132d268e218e5141e9577b8b14e7c52e7aebbc939c03791d343·...·],</div>154 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a04188.html#ae8ceef5add571dd7693f07c94a53bf15">···67</a></span>··<a·class="code·hl_function"·href="a04188.html#ae8ceef5add571dd7693f07c94a53bf15">MagPoseFactor</a>(<a·class="code·hl_typedef"·[·...·truncated·by·diffoscope;·len:·69,·SHA:·8b320ff0eabf32fe8a31914d0162df884c252027baef2bd1c9b447318c68b7a7·...·],</div>
 155 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>················<span·class="keyword">const</span>·Point&amp;·measured,</div>
 156 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>················<span·class="keywordtype">double</span>·scale,</div>
 157 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>················<span·class="keyword">const</span>·Point&amp;·direction,</div>
 158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>················<span·class="keyword">const</span>·Point&amp;·bias,</div>
144 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·····················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model)</div>159 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model,</div>
 160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>················<span·class="keyword">const</span>·boost::optional&lt;POSE&gt;&amp;·body_P_sensor)</div>
145 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>········:·<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·key,·baroKey),·nT_(heightOut(baroIn))·{}</div>161 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······:·<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·pose_key),</div>
 162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>········measured_(body_P_sensor·?·body_P_sensor-&gt;rotation()·*·measured·:·measured),</div>
 163 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>········nM_(scale·*·direction.normalized()),</div>
 164 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>········bias_(body_P_sensor·?·body_P_sensor-&gt;rotation()·*·bias·:·bias),</div>
 165 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>········body_P_sensor_(body_P_sensor)·{}</div>
146 </div>166 </div>
147 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>167 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
148 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">168 <div·class="foldopen"·id="foldopen00081"·data-start="{"·data-end="}">
149 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a04100.html#aa1c053d72e44bed479319b6cdbe37ada">···64</a></span>····gtsam::NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04100.html#aa1c053d72e44bed479319b6cdbe37ada">clone</a>()<span·class="keyword">·const·override·</span>{</div>169 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno"><a·class="line"·href="a04188.html#a92332428d020dd43443bef64b5d7d60b">···81</a></span>··NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04188.html#a92332428d020dd43443bef64b5d7d60b">clone</a>()<span·class="keyword">·const·override·</span>{</div>
150 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>········<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;gtsam::NonlinearFactor&gt;(</div>170 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;NonlinearFactor&gt;(</div>
151 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>············gtsam::NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·<a·class="code·hl_class"·href="a04100.html">This</a>(*<span·class="keyword">this</span>)));</div>171 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>········NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·This(*<span·class="keyword">this</span>)));</div>
152 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····}</div>172 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··}</div>
153 </div>173 </div>
154 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div> 
155 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(</div> 
156 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>········<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,</div> 
157 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>········<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div> 
158 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div> 
159 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>&amp;·expected,</div> 
160 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>················<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const·override</span>;</div> 
161 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div> 
162 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····Vector·evaluateError(</div> 
163 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>········<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&amp;·p,·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·b,</div> 
164 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>········boost::optional&lt;Matrix&amp;&gt;·H·=·boost::none,</div> 
165 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>········boost::optional&lt;Matrix&amp;&gt;·H2·=·boost::none)·<span·class="keyword">const·override</span>;</div> 
166 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div> 
167 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····<span·class="keyword">inline</span>·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·measurementIn()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·nT_;·}</div> 
168 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>174 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
169 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·heightOut(<span·class="keywordtype">double</span>·n)<span·class="keyword">·const·</span>{</div> 
170 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>········<span·class="comment">//·From·https://www.grc.nasa.gov/www/k-12/airplane/atmosmet.html</span></div> 
171 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>········<span·class="keywordflow">return</span>·(std::pow(n·/·101.29,·1.·/·5.256)·*·288.08·-·273.1·-·15.04)·/</div> 
172 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>···············-0.00649;</div> 
173 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>····};</div>175 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>
 176 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··<span·class="comment">//·Print·out·the·factor.</span></div>
 177 <div·class="foldopen"·id="foldopen00089"·data-start="{"·data-end="}">
 178 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno"><a·class="line"·href="a04188.html#a2aca2cdd3d1977fbacd40c4795baf777">···89</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04188.html#a2aca2cdd3d1977fbacd40c4795baf777">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)<span·class="keyword">·const·override·</span>{</div>
 179 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>····<a·class="code·hl_function"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">Base::print</a>(s,·keyFormatter);</div>
 180 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(Vector(nM_),·<span·class="stringliteral">&quot;local·field·(nM):·&quot;</span>);</div>
 181 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(Vector(measured_),·<span·class="stringliteral">&quot;measured·field·(bM):·&quot;</span>);</div>
 182 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>····<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(Vector(bias_),·<span·class="stringliteral">&quot;magnetometer·bias:·&quot;</span>);</div>
174 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>183 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··}</div>
175 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·baroOut(<span·class="keyword">const</span>·<span·class="keywordtype">double</span>&amp;·meters)·{</div> 
176 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>········<span·class="keywordtype">double</span>·temp·=·15.04·-·0.00649·*·meters;</div> 
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102 ··<div·class="headertitle"><div·class="title">AttitudeFactor.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">AttitudeFactor.cpp·File·Reference</div></div>
103 </div><!--header-->102 </div><!--header-->
104 <div·class="contents">103 <div·class="contents">
  
105 <p>Header·file·for·Attitude·factor.··104 <p>Implementation·file·for·Attitude·factor.··
106 <a·href="#details">More...</a></p>105 <a·href="#details">More...</a></p>
  
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115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Version·of·<a·class="el"·href="a04080.html"·title="Base·class·for·prior·on·attitude·Example:">AttitudeFactor</a>·for·<a·class="el"·href="a03228.html"·title="Rot3·is·a·3D·rotation·represented·as·a·rotation·matrix·if·the·preprocessor·symbol·GTSAM_USE_QUATERNIO...">Rot3</a>.··<a·href="a04084.html#details">More...</a><br·/></td></tr> 
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118 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a04088.html#details">More...</a><br·/></td></tr> 
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121 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Version·of·<a·class="el"·href="a04080.html"·title="Base·class·for·prior·on·attitude·Example:">AttitudeFactor</a>·for·<a·class="el"·href="a03180.html"·title="A·3D·pose·(R,t)·:·(Rot3,Point3)">Pose3</a>.··<a·href="a04092.html#details">More...</a><br·/></td></tr> 
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128 Namespaces</h2></td></tr>108 Namespaces</h2></td></tr>
129 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>109 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
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133 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
134 <div·class="textblock"><p>Header·file·for·Attitude·factor.·</p>114 <div·class="textblock"><p>Implementation·file·for·Attitude·factor.·</p>
135 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>115 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
136 <dl·class="section·date"><dt>Date</dt><dd>January·28,·2014·</dd></dl>116 <dl·class="section·date"><dt>Date</dt><dd>January·28,·2014·</dd></dl>
137 </div></div><!--·contents·-->117 </div></div><!--·contents·-->
138 </div><!--·doc-content·-->118 </div><!--·doc-content·-->
139 <!--·start·footer·part·-->119 <!--·start·footer·part·-->
140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->120 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
141 ··<ul>121 ··<ul>
142 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00923.html">AttitudeFactor.h</a></li>122 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00923.html">AttitudeFactor.cpp</a></li>
143 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>123 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>155 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
123 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·2,·2012·</dd></dl>156 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
124 <dl·class="section·author"><dt>Author</dt><dd>Vadim·Indelman,·Stephen·Williams·</dd></dl>157 <dd>
 158 Stephen·Williams·</dd>
 159 <dd>
 160 Richard·Roberts·</dd>
 161 <dd>
 162 Vadim·Indelman·</dd>
 163 <dd>
 164 David·Jensen·</dd>
 165 <dd>
 166 Frank·Dellaert·</dd>
 167 <dd>
 168 Varun·Agrawal·</dd></dl>
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116 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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118 </table>123 </table>
119 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
120 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>125 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
 126 <dd>
 127 Stephen·Williams·</dd>
 128 <dd>
 129 Richard·Roberts·</dd>
 130 <dd>
 131 Vadim·Indelman·</dd>
 132 <dd>
 133 David·Jensen·</dd>
121 <dd>134 <dd>
122 Adam·Bry·</dd></dl>135 Frank·Dellaert·</dd></dl>
123 </div></div><!--·contents·-->136 </div></div><!--·contents·-->
124 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
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127 ··<ul>140 ··<ul>
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129 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>142 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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133 </html>146 </html>
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102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">TangentPreintegration.h</div></div>104 ··<div·class="headertitle"><div·class="title">PreintegratedRotation.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00932.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00932.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00992.html">gtsam/navigation/PreintegrationBase.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
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127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>130 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
 131 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<a·class="code·hl_struct"·href="a04204.html">PreintegratedRotationParams</a>()·:·gyroscopeCovariance(I_3x3)·{}</div>
128 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04244.html#aa35dd8359cdcc5adf12b79602f6f1f11">···35</a></span>··Vector9·<a·class="code·hl_variable"·href="a04244.html#aa35dd8359cdcc5adf12b79602f6f1f11">preintegrated_</a>;</div> 
129 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04244.html#ace8fc0be6d82355b59de1376708185af">···36</a></span>··Matrix93·<a·class="code·hl_variable"·href="a04244.html#ace8fc0be6d82355b59de1376708185af">preintegrated_H_biasAcc_</a>;····</div> 
130 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04244.html#a610e8d7b5615146efd0ae18fe984f1a0">···37</a></span>··Matrix93·<a·class="code·hl_variable"·href="a04244.html#a610e8d7b5615146efd0ae18fe984f1a0">preintegrated_H_biasOmega_</a>;··</div> 
131 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>132 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
132 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="}"> 
133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04244.html#ab0683675722a4b8774b08f4f23538a33">···40</a></span>··<a·class="code·hl_function"·href="a04244.html#ab0683675722a4b8774b08f4f23538a33">TangentPreintegration</a>()·{</div>133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<a·class="code·hl_struct"·href="a04204.html">PreintegratedRotationParams</a>(<span·class="keyword">const</span>·Matrix3&amp;·gyroscope_covariance,</div>
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134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····resetIntegration();</div>137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>········omegaCoriolis.reset(omega_coriolis.get());</div>
135 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··}</div>138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··}</div>
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137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">public</span>:</div>140 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">virtual</span>·~PreintegratedRotationParams()·{}</div>
139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<a·class="code·hl_class"·href="a04244.html">TangentPreintegration</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;Params&gt;&amp;·p,</div> 
141 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>&amp;·biasHat·=·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>());</div>142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">virtual</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span[·...·truncated·by·diffoscope;·len:·56,·SHA:·344fb5d819e8b6cf36c0286b653d71da2f0f66505f1ef58117c57630e86dc8eb·...·];</div>
 143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">virtual</span>·<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·PreintegratedRotationParams&amp;·other,·<span·class="keywordtype">double</span>·tol=1e-9)·<span·class="keyword">const</span>;</div>
 144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keywordtype">void</span>·setGyroscopeCovariance(<span·class="keyword">const</span>·Matrix3&amp;·cov)···{·gyroscopeCovariance·=·cov;··}</div>
 146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keywordtype">void</span>·setOmegaCoriolis(<span·class="keyword">const</span>·Vector3&amp;·omega)·······{·omegaCoriolis.reset(omega);·}</div>
 147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">void</span>·setBodyPSensor(<span·class="keyword">const</span>·Pose3&amp;·pose)············{·body_P_sensor.reset(pose);··}</div>
142 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 149 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">const</span>·Matrix3&amp;·getGyroscopeCovariance()<span·class="keyword">·····const·</span>{·<span·class="keywordflow">return</span>·gyroscopeCovariance;·}</div>
 150 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··boost::optional&lt;Vector3&gt;·getOmegaCoriolis()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·omegaCoriolis;·}</div>
 151 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··boost::optional&lt;Pose3&gt;···getBodyPSensor()<span·class="keyword">···const·</span>{·<span·class="keywordflow">return</span>·body_P_sensor;·}</div>
143 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}"> 
144 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a04244.html#a87e4e0455266ed19974f576d141648ef">···57</a></span>··<a·class="code·hl_function"·href="a04244.html#a87e4e0455266ed19974f576d141648ef">~TangentPreintegration</a>()<span·class="keyword">·override·</span>{</div> 
145 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··}</div> 
146 </div> 
147 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>152 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
148 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>153 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·<span·class="keyword">private</span>:</div>
 154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a04204.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">···62</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span>boost::serialization::access;</div>
149 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keywordtype">void</span>·resetIntegration()·<span·class="keyword">override</span>;</div>155 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
 156 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 157 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keyword">namespace·</span>bs·=·::boost::serialization;</div>
150 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>158 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(gyroscopeCovariance);</div>
 159 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(body_P_sensor);</div>
151 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
152 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··Vector3··deltaPij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·preintegrated_.segment&lt;3&gt;(3);·}</div> 
153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··Vector3··deltaVij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·preintegrated_.tail&lt;3&gt;();·}</div> 
154 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··Rot3·····deltaRij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·Rot3::Expmap(theta());·}</div> 
155 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··NavState·deltaXij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·NavState().retract(preintegrated_);·}</div>161 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="comment">//·Provide·support·for·Eigen::Matrix·in·boost::optional</span></div>
 162 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordtype">bool</span>·omegaCoriolisFlag·=·omegaCoriolis.is_initialized();</div>
 163 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····ar·&amp;·boost::serialization::make_nvp(<span·class="stringliteral">&quot;omegaCoriolisFlag&quot;</span>,·omegaCoriolisFlag);</div>
 164 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="keywordflow">if</span>·(omegaCoriolisFlag)·{</div>
 165 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······ar·&amp;·BOOST_SERIALIZATION_NVP(*omegaCoriolis);</div>
 166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····}</div>
156 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>167 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··}</div>
157 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="keyword">const</span>·Vector9&amp;·preintegrated()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·preintegrated_;·}</div> 
158 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··Vector3·theta()<span·class="keyword">·const·····</span>{·<span·class="keywordflow">return</span>·preintegrated_.head&lt;3&gt;();·}</div> 
159 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">const</span>·Matrix93&amp;·preintegrated_H_biasAcc()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·preintegrated_H_biasAcc_;·}</div> 
160 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keyword">const</span>·Matrix93&amp;·preintegrated_H_biasOmega()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·preintegrated_H_biasOmega_;·}</div> 
161 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div> 
162 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·TangentPreintegration&amp;·other,·<span·class="keywordtype">double</span>·tol)·<span·class="keyword">const</span>;</div> 
163 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div> 
164 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div> 
165 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="comment">//·Update·integrated·vector·on·tangent·manifold·preintegrated·with·acceleration</span></div> 
166 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··<span·class="comment">//·Static,·functional·version.</span></div> 
167 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··<span·class="keyword">static</span>·Vector9·UpdatePreintegrated(<span·class="keyword">const</span>·Vector3&amp;·a_body,</div> 
168 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·····································<span·class="keyword">const</span>·Vector3&amp;·w_body,·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·dt,</div> 
169 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·····································<span·class="keyword">const</span>·Vector9&amp;·preintegrated,</div> 
170 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·····································OptionalJacobian&lt;9,·9&gt;·A·=·boost::none,</div> 
171 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·····································OptionalJacobian&lt;9,·3&gt;·B·=·boost::none,</div> 
172 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·····································OptionalJacobian&lt;9,·3&gt;·C·=·boost::none);</div> 
173 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>·</div>168 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 169 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span><span·class="preprocessor">#ifdef·GTSAM_USE_QUATERNIONS</span></div>
 170 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="comment">//·Align·if·we·are·using·Quaternions</span></div>
174 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>··<span·class="keywordtype">void</span>·update(<span·class="keyword">const</span>·Vector3&amp;·measuredAcc,·<span·class="keyword">const</span>·Vector3&amp;·measuredOmega,</div> 
175 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>······<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·dt,·Matrix9*·A,·Matrix93*·B,·Matrix93*·C)·<span·class="keyword">override</span>;</div> 
176 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>·</div> 
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">ScenarioRunner.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">BarometricFactor.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Simple·class·to·test·navigation·scenarios.··105 <p>Header·file·for·Barometric·factor.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00935_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00935_source.html">Go·to·the·source·code·of·this·file.</a></p>
108 <table·class="memberdecls">108 <table·class="memberdecls">
109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
110 Classes</h2></td></tr>110 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04236.html">gtsam::ScenarioRunner</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04100.html">gtsam::BarometricFactor</a></td></tr>
 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Prior·on·height·in·a·cartesian·frame.··<a·href="a04100.html#details">More...</a><br·/></td></tr>
112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
113 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04240.html">gtsam::CombinedScenarioRunner</a></td></tr> 
114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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117 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
119 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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121 </table>120 </table>
122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
123 <div·class="textblock"><p>Simple·class·to·test·navigation·scenarios.·</p>122 <div·class="textblock"><p>Header·file·for·Barometric·factor.·</p>
124 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>123 <dl·class="section·author"><dt>Author</dt><dd>Peter·Milani·</dd></dl>
 124 <dl·class="section·date"><dt>Date</dt><dd>December·16,·2021·</dd></dl>
125 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
126 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
127 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
129 ··<ul>129 ··<ul>
130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00935.html">ScenarioRunner.h</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00935.html">BarometricFactor.h</a></li>
131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
132 ··</ul>132 ··</ul>
133 </div>133 </div>
134 </body>134 </body>
135 </html>135 </html>
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/ScenarioRunner.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/BarometricFactor.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
14 <script·type="text/javascript"·src="navtreedata.js"></script>14 <script·type="text/javascript"·src="navtreedata.js"></script>
15 <script·type="text/javascript"·src="navtree.js"></script>15 <script·type="text/javascript"·src="navtree.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ScenarioRunner.h</div></div>104 ··<div·class="headertitle"><div·class="title">BarometricFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00935.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00935.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00764.html">gtsam/linear/Sampler.h</a>&gt;</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00980.html">gtsam/navigation/CombinedImuFactor.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00437.html">gtsam/geometry/Pose3.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00938.html">gtsam/navigation/ImuFactor.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00980.html">gtsam/navigation/NavState.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00947.html">gtsam/navigation/Scenario.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="comment">//·Convert·covariance·to·diagonal·noise·model,·if·possible,·otherwise·throw</span></div> 
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">static</span>·noiseModel::Diagonal::shared_ptr·Diagonal(<span·class="keyword">const</span>·Matrix&amp;·covariance)·{</div> 
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="keywordtype">bool</span>·smart·=·<span·class="keyword">true</span>;</div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">auto</span>·model·=·<a·class="code·hl_function"·href="a03924.html#a3ed257b6e9a8016cc3c76a8962a64ba0">noiseModel::Gaussian::Covariance</a>(covariance,·smart);</div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">auto</span>·diagonal·=·boost::dynamic_pointer_cast&lt;noiseModel::Diagonal&gt;(model);</div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keywordflow">if</span>·(!diagonal)</div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<span·class="keywordflow">throw</span>·std::invalid_argument(<span·class="stringliteral">&quot;ScenarioRunner::Diagonal:·not·a·diagonal&quot;</span>);</div> 
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keywordflow">return</span>·diagonal;</div> 
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>}</div> 
135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="comment">/*</span></div> 
137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">·*··Simple·class·to·test·navigation·scenarios.</span></div> 
138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="comment">·*··Takes·a·trajectory·scenario·as·input,·and·can·generate·IMU·measurements</span></div> 
139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="comment">·*/</span></div> 
140 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">
 127 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04100.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04100.html">BarometricFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;Pose3,·double&gt;·{</div>
141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04236.html">···40</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04236.html">ScenarioRunner</a>·{</div> 
142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·<span·class="keyword">public</span>:</div> 
143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>·<a·class="code·hl_class"·href="a04140.html">Bias</a>;</div> 
144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;PreintegrationParams&gt;·SharedParams;</div> 
145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div> 
146 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·<span·class="keyword">private</span>:</div>128 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>···<span·class="keyword">private</span>:</div>
 129 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;Pose3,·double&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div>
147 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04224.html">Scenario</a>&amp;·scenario_;</div> 
148 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">const</span>·SharedParams·p_;</div> 
149 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·imuSampleTime_,·sqrt_dt_;</div> 
150 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">Bias</a>·estimatedBias_;</div> 
151 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
152 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·Create·two·samplers·for·acceleration·and·omega·noise</span></div> 
153 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<a·class="code·hl_class"·href="a04020.html">Sampler</a>·gyroSampler_,·accSampler_;</div> 
154 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>130 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
 131 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="keywordtype">double</span>·nT_;··</div>
 132 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
155 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·<span·class="keyword">public</span>:</div>133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>···<span·class="keyword">public</span>:</div>
 134 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04100.html#a692169a1939f428218a42ef6aafa014b">···42</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;BarometricFactor&gt;·<a·class="code·hl_typedef"·href="a04100.html#a692169a1939f428218a42ef6aafa014b">shared_ptr</a>;</div>
156 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<a·class="code·hl_class"·href="a04236.html">ScenarioRunner</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04224.html">Scenario</a>&amp;·scenario,·<span·class="keyword">const</span>·SharedParams&amp;·p,</div> 
157 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·················<span·class="keywordtype">double</span>·imuSampleTime·=·1.0·/·100.0,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">Bias</a>&amp;·bias·=·<a·class="code·hl_class"·href="a04140.html">Bias</a>())</div> 
158 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······:·scenario_(scenario),</div> 
159 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>········p_(p),</div> 
160 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>········imuSampleTime_(imuSampleTime),</div> 
161 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>········sqrt_dt_(std::sqrt(imuSampleTime)),</div> 
162 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>········estimatedBias_(bias),</div> 
163 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>········<span·class="comment">//·NOTE(duy):·random·seeds·that·work·well:</span></div> 
164 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>········gyroSampler_(Diagonal(p-&gt;gyroscopeCovariance),·10),</div> 
165 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>········accSampler_(Diagonal(p-&gt;accelerometerCovariance),·29284)·{}</div> 
166 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div> 
167 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="comment">//·NOTE(frank):·hardcoded·for·now·with·Z·up·(gravity·points·in·negative·Z)</span></div> 
168 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="comment">//·also,·uses·g=10·for·easy·debugging</span></div> 
169 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="keyword">const</span>·Vector3&amp;·gravity_n()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·p_-&gt;n_gravity;·}</div> 
170 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div> 
171 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04224.html">Scenario</a>&amp;·scenario()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·scenario_;·}</div> 
172 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div> 
173 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="comment">//·A·gyro·simply·measures·angular·velocity·in·body·frame</span></div> 
174 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··Vector3·actualAngularVelocity(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·scenario_.<a·class="code·hl_function"·href="a04224.html#af820f44e5f5d6916856e21eee855d3ff">omega_b</a>(t);·}</div> 
175 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>135 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
176 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<span·class="comment">//·An·accelerometer·measures·acceleration·in·body,·but·not·gravity</span></div> 
177 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··Vector3·actualSpecificForce(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·</span>{</div> 
178 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····<a·class="code·hl_class"·href="a03228.html">Rot3</a>·bRn(scenario_.rotation(t).<a·class="code·hl_function"·href="a03228.html#a34b31466e7f777ca2ff550ec2cf804c7">transpose</a>());</div> 
179 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keywordflow">return</span>·scenario_.acceleration_b(t)·-·bRn·*·gravity_n();</div>136 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04100.html#a11690ce4f03de94b2c7a1d3a5a46f383">···45</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04100.html">BarometricFactor</a>·<a·class="code·hl_type[·...·truncated·by·diffoscope;·len:·66,·SHA:·91486714056482d0218ac21f164ddaa68716b64d72ca6981fa18ba72fbc79353·...·];</div>
 137 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 138 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a04100.html#ae0565011b7aefe5503382d68dad48b0a">···48</a></span>····<a·class="code·hl_function"·href="a04100.html#ae0565011b7aefe5503382d68dad48b0a">BarometricFactor</a>()·:·nT_(0)·{}</div>
 139 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 140 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····<a·class="code·hl_class"·href="a04100.html">~BarometricFactor</a>()<span·class="keyword">·override·</span>{}</div>
 141 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 142 <div·class="foldopen"·id="foldopen00059"·data-start="{"·data-end="}">
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 144 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·····················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model)</div>
 145 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>········:·<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·key,·baroKey),·nT_(heightOut(baroIn))·{}</div>
 146 </div>
 147 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 148 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">
 149 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a04100.html#aa1c053d72e44bed479319b6cdbe37ada">···64</a></span>····gtsam::NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04100.html#aa1c053d72e44bed479319b6cdbe37ada">clone</a>()<span·class="keyword">·const·override·</span>{</div>
 150 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>········<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;gtsam::NonlinearFactor&gt;(</div>
 151 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>············gtsam::NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·<a·class="code·hl_class"·href="a04100.html">This</a>(*<span·class="keyword">this</span>)));</div>
180 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··}</div>152 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····}</div>
 153 </div>
181 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>154 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
182 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="comment">//·versions·corrupted·by·bias·and·noise</span></div> 
183 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··Vector3·measuredAngularVelocity(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·</span>{</div> 
184 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····<span·class="keywordflow">return</span>·actualAngularVelocity(t)·+·estimatedBias_.<a·class="code·hl_function"·href="a04140.html#a176a703de66ddf0cf87abbcca1566478">gyroscope</a>()·+</div> 
185 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>···········gyroSampler_.<a·class="code·hl_function"·href="a04020.html#a4d30e0a9bec4bdd7e8a882bbb8fab9be">sample</a>()·/·sqrt_dt_;</div>155 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(</div>
 156 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>········<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,</div>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/ImuFactor.h·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/AHRSFactor.cpp·File·Reference</title>
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94 </div>94 </div>
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96 </div>96 </div>
97 </div>97 </div>
  
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99 ··<div·class="summary">99 ··<div·class="summary">
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101 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">ImuFactor.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">AHRSFactor.cpp·File·Reference</div></div>
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110 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a04148.html"·title="PreintegratedImuMeasurements·accumulates·(integrates)·the·IMU·measurements·(rotation·rates·and·accele...">PreintegratedImuMeasurements</a>·accumulates·(integrates)·the·IMU·measurements·(rotation·rates·and·accelerations)·and·the·corresponding·covariance·matrix.··<a·href="a04148.html#details">More...</a><br·/></td></tr> 
111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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116 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a04156.html"·title="ImuFactor2·is·a·ternary·factor·that·uses·NavStates·rather·than·Pose/Velocity.">ImuFactor2</a>·is·a·ternary·factor·that·uses·NavStates·rather·than·Pose/Velocity.··<a·href="a04156.html#details">More...</a><br·/></td></tr> 
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119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
120 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04164.html">gtsam::traits&lt;·ImuFactor·&gt;</a></td></tr> 
121 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
122 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04168.html">gtsam::traits&lt;·ImuFactor2·&gt;</a></td></tr> 
123 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
124 </table><table·class="memberdecls"> 
125 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>105 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
126 Namespaces</h2></td></tr>106 Namespaces</h2></td></tr>
127 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>107 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
128 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>108 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
129 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>109 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>110 </table>
131 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
132 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Krunal·Chande·</dd>
133 <dd> 
134 Stephen·Williams·</dd> 
135 <dd> 
136 Richard·Roberts·</dd> 
137 <dd> 
138 Vadim·Indelman·</dd> 
139 <dd>113 <dd>
140 David·Jensen·</dd>114 Luca·Carlone·</dd>
141 <dd>115 <dd>
142 Frank·Dellaert·</dd></dl>116 Frank·Dellaert·</dd></dl>
 117 <dl·class="section·date"><dt>Date</dt><dd>July·2014·</dd></dl>
143 </div></div><!--·contents·-->118 </div></div><!--·contents·-->
144 </div><!--·doc-content·-->119 </div><!--·doc-content·-->
145 <!--·start·footer·part·-->120 <!--·start·footer·part·-->
146 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->121 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
147 ··<ul>122 ··<ul>
148 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00938.html">ImuFactor.h</a></li>123 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00938.html">AHRSFactor.cpp</a></li>
149 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>124 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
150 ··</ul>125 ··</ul>
151 </div>126 </div>
152 </body>127 </body>
153 </html>128 </html>
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100 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
101 ··<div·class="headertitle"><div·class="title">PreintegratedRotation.cpp·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">PreintegrationBase.h·File·Reference</div></div>
102 </div><!--header-->103 </div><!--header-->
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 135 <dd>
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 139 <dd>
 140 David·Jensen·</dd>
 141 <dd>
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 105 <p><a·href="a00962_source.html">Go·to·the·source·code·of·this·file.</a></p>
105 <table·class="memberdecls">106 <table·class="memberdecls">
 107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
 108 Classes</h2></td></tr>
 109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04140.html">gtsam::imuBias::ConstantBias</a></td></tr>
 110 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04144.html">gtsam::traits&lt;·imuBias::ConstantBias·&gt;</a></td></tr>
 112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 113 </table><table·class="memberdecls">
106 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>114 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
107 Namespaces</h2></td></tr>115 Namespaces</h2></td></tr>
108 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>116 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
109 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>117 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
110 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>118 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 119 <tr·class="memitem:a01452"·id="r_a01452"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01452.html">gtsam::imuBias</a></td></tr>
 120 <tr·class="memdesc:a01452"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">All·bias·models·live·in·the·<a·class="el"·href="a01452.html"·title="All·bias·models·live·in·the·imuBias·namespace.">imuBias</a>·namespace.·<br·/></td></tr>
111 </table><table·class="memberdecls"> 
112 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="define-members"·name="define-members"></a> 
113 Macros</h2></td></tr> 
114 <tr·class="memitem:a47c72c8c8033ac067a70a39882232620"·id="r_a47c72c8c8033ac067a70a39882232620"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a47c72c8c8033ac067a70a39882232620"·name="a47c72c8c8033ac067a70a39882232620"></a> 
115 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>D_R_R</b>(H)&#160;&#160;&#160;(H)-&gt;block&lt;3,3&gt;(0,0)</td></tr> 
116 <tr·class="separator:a47c72c8c8033ac067a70a39882232620"><td·class="memSeparator"·colspan="2">&#160;</td></tr>121 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
117 <tr·class="memitem:a8b86d97c87c595548655639e38f05d6c"·id="r_a8b86d97c87c595548655639e38f05d6c"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a8b86d97c87c595548655639e38f05d6c"·name="a8b86d97c87c595548655639e38f05d6c"></a> 
118 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>D_R_t</b>(H)&#160;&#160;&#160;(H)-&gt;block&lt;3,3&gt;(0,3)</td></tr> 
119 <tr·class="separator:a8b86d97c87c595548655639e38f05d6c"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
120 <tr·class="memitem:af24d2a594d2a71cc868be63b097517a6"·id="r_af24d2a594d2a71cc868be63b097517a6"><td·class="memItemLeft"·align="right"·valign="top"><a·id="af24d2a594d2a71cc868be63b097517a6"·name="af24d2a594d2a71cc868be63b097517a6"></a> 
121 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>D_R_v</b>(H)&#160;&#160;&#160;(H)-&gt;block&lt;3,3&gt;(0,6)</td></tr> 
122 <tr·class="separator:af24d2a594d2a71cc868be63b097517a6"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
123 <tr·class="memitem:aba0e03b2dd44d4ffe264beac5f5b5369"·id="r_aba0e03b2dd44d4ffe264beac5f5b5369"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aba0e03b2dd44d4ffe264beac5f5b5369"·name="aba0e03b2dd44d4ffe264beac5f5b5369"></a> 
124 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>D_t_R</b>(H)&#160;&#160;&#160;(H)-&gt;block&lt;3,3&gt;(3,0)</td></tr> 
125 <tr·class="separator:aba0e03b2dd44d4ffe264beac5f5b5369"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
126 <tr·class="memitem:a3616767b248dc8bd965987eb4dcdb919"·id="r_a3616767b248dc8bd965987eb4dcdb919"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a3616767b248dc8bd965987eb4dcdb919"·name="a3616767b248dc8bd965987eb4dcdb919"></a> 
127 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>D_t_t</b>(H)&#160;&#160;&#160;(H)-&gt;block&lt;3,3&gt;(3,3)</td></tr> 
128 <tr·class="separator:a3616767b248dc8bd965987eb4dcdb919"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
129 <tr·class="memitem:a1eda4206a8d6b20278b0ed5952708bfd"·id="r_a1eda4206a8d6b20278b0ed5952708bfd"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a1eda4206a8d6b20278b0ed5952708bfd"·name="a1eda4206a8d6b20278b0ed5952708bfd"></a> 
130 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>D_t_v</b>(H)&#160;&#160;&#160;(H)-&gt;block&lt;3,3&gt;(3,6)</td></tr> 
131 <tr·class="separator:a1eda4206a8d6b20278b0ed5952708bfd"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
132 <tr·class="memitem:a5dbb22c4c75167f0a22dc7cbdd4d22cb"·id="r_a5dbb22c4c75167f0a22dc7cbdd4d22cb"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a5dbb22c4c75167f0a22dc7cbdd4d22cb"·name="a5dbb22c4c75167f0a22dc7cbdd4d22cb"></a> 
133 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>D_v_R</b>(H)&#160;&#160;&#160;(H)-&gt;block&lt;3,3&gt;(6,0)</td></tr> 
134 <tr·class="separator:a5dbb22c4c75167f0a22dc7cbdd4d22cb"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
135 <tr·class="memitem:ad54359136b9cf16db3ff60f732d425d1"·id="r_ad54359136b9cf16db3ff60f732d425d1"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ad54359136b9cf16db3ff60f732d425d1"·name="ad54359136b9cf16db3ff60f732d425d1"></a> 
136 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>D_v_t</b>(H)&#160;&#160;&#160;(H)-&gt;block&lt;3,3&gt;(6,3)</td></tr> 
137 <tr·class="separator:ad54359136b9cf16db3ff60f732d425d1"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
138 <tr·class="memitem:a3395229ce0059a08893ffbf8e3c08e65"·id="r_a3395229ce0059a08893ffbf8e3c08e65"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a3395229ce0059a08893ffbf8e3c08e65"·name="a3395229ce0059a08893ffbf8e3c08e65"></a> 
139 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>D_v_v</b>(H)&#160;&#160;&#160;(H)-&gt;block&lt;3,3&gt;(6,6)</td></tr> 
140 <tr·class="separator:a3395229ce0059a08893ffbf8e3c08e65"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
141 </table>122 </table>
142 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
143 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>124 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·2,·2012·</dd></dl>
 125 <dl·class="section·author"><dt>Author</dt><dd>Vadim·Indelman,·Stephen·Williams·</dd></dl>
144 <dd> 
145 Adam·Bry·</dd></dl> 
146 </div></div><!--·contents·-->126 </div></div><!--·contents·-->
147 </div><!--·doc-content·-->127 </div><!--·doc-content·-->
148 <!--·start·footer·part·-->128 <!--·start·footer·part·-->
149 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
150 ··<ul>130 ··<ul>
151 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00962.html">TangentPreintegration.cpp</a></li>131 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00962.html">ImuBias.h</a></li>
152 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>132 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
153 ··</ul>133 ··</ul>
154 </div>134 </div>
155 </body>135 </body>
156 </html>136 </html>
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115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00908.html">gtsam/navigation/NavState.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00980.html">gtsam/navigation/NavState.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
126 <div·class="foldopen"·id="foldopen00029"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00029"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno"><a·class="line"·href="a04128.html">···29</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04128.html">ConstantVelocityFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;NavState,·NavState&gt;·{</div>127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno"><a·class="line"·href="a04128.html">···29</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04128.html">ConstantVelocityFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;NavState,·NavState&gt;·{</div>
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>····<span·class="keywordtype">double</span>·dt_;</div>128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>····<span·class="keywordtype">double</span>·dt_;</div>
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
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155 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a04504.html#ad141af2ca30963a19b2c8b7bf09021d3">error</a>;</div>155 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a04504.html#ad141af2ca30963a19b2c8b7bf09021d3">error</a>;</div>
156 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····}</div>156 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····}</div>
157 </div>157 </div>
158 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>};</div>158 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>};</div>
159 </div>159 </div>
160 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>160 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
161 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>}··<span·class="comment">//·namespace·gtsam</span></div>161 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>}··<span·class="comment">//·namespace·gtsam</span></div>
162 <div·class="ttc"·id="aa00908_html"><div·class="ttname"><a·href="a00908.html">NavState.h</a></div><div·class="ttdoc">Navigation·state·composing·of·attitude,·position,·and·velocity.</div></div>162 <div·class="ttc"·id="aa00980_html"><div·class="ttname"><a·href="a00980.html">NavState.h</a></div><div·class="ttdoc">Navigation·state·composing·of·attitude,·position,·and·velocity.</div></div>
163 <div·class="ttc"·id="aa01133_html"><div·class="ttname"><a·href="a01133.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>163 <div·class="ttc"·id="aa01013_html"><div·class="ttname"><a·href="a01013.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>
164 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>164 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
165 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>165 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>
166 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>166 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
167 <div·class="ttc"·id="aa04128_html"><div·class="ttname"><a·href="a04128.html">gtsam::ConstantVelocityFactor</a></div><div·class="ttdoc">Binary·factor·for·applying·a·constant·velocity·model·to·a·moving·body·represented·as·a·NavState.</div><div·class="ttdef"><b>Definition</b>·ConstantVelocityFactor.h:29</div></div>167 <div·class="ttc"·id="aa04128_html"><div·class="ttname"><a·href="a04128.html">gtsam::ConstantVelocityFactor</a></div><div·class="ttdoc">Binary·factor·for·applying·a·constant·velocity·model·to·a·moving·body·represented·as·a·NavState.</div><div·class="ttdef"><b>Definition</b>·ConstantVelocityFactor.h:29</div></div>
168 <div·class="ttc"·id="aa04128_html_ac9114353e397d4299e80ee34216040a9"><div·class="ttname"><a·href="a04128.html#ac9114353e397d4299e80ee34216040a9">gtsam::ConstantVelocityFactor::evaluateError</a></div><div·class="ttdeci">gtsam::Vector·evaluateError(const·NavState·&amp;x1,·const·NavState·&amp;x2,·boost::optional&lt;·gtsam::Matrix·&amp;·&gt;·H1=boost::none,·boost::optional&lt;·gtsam::Matrix·&amp;·&gt;·H2=boost::none)·const·override</div><div·class="ttdoc">Caclulate·error:·(x2·-·x1.update(dt)))·where·X1·and·X1·are·NavStates·and·dt·is·the·time·difference·in...</div><div·class="ttdef"><b>Definition</b>·ConstantVelocityFactor.h:50</div></div>168 <div·class="ttc"·id="aa04128_html_ac9114353e397d4299e80ee34216040a9"><div·class="ttname"><a·href="a04128.html#ac9114353e397d4299e80ee34216040a9">gtsam::ConstantVelocityFactor::evaluateError</a></div><div·class="ttdeci">gtsam::Vector·evaluateError(const·NavState·&amp;x1,·const·NavState·&amp;x2,·boost::optional&lt;·gtsam::Matrix·&amp;·&gt;·H1=boost::none,·boost::optional&lt;·gtsam::Matrix·&amp;·&gt;·H2=boost::none)·const·override</div><div·class="ttdoc">Caclulate·error:·(x2·-·x1.update(dt)))·where·X1·and·X1·are·NavStates·and·dt·is·the·time·difference·in...</div><div·class="ttdef"><b>Definition</b>·ConstantVelocityFactor.h:50</div></div>
169 <div·class="ttc"·id="aa04196_html"><div·class="ttname"><a·href="a04196.html">gtsam::NavState</a></div><div·class="ttdoc">Navigation·state:·Pose·(rotation,·translation)·+·velocity·NOTE(frank):·it·does·not·make·sense·to·make...</div><div·class="ttdef"><b>Definition</b>·NavState.h:34</div></div>169 <div·class="ttc"·id="aa04196_html"><div·class="ttname"><a·href="a04196.html">gtsam::NavState</a></div><div·class="ttdoc">Navigation·state:·Pose·(rotation,·translation)·+·velocity·NOTE(frank):·it·does·not·make·sense·to·make...</div><div·class="ttdef"><b>Definition</b>·NavState.h:34</div></div>
170 <div·class="ttc"·id="aa04196_html_a171cf3f73c659cce019a08f0945d4c7a"><div·class="ttname"><a·href="a04196.html#a171cf3f73c659cce019a08f0945d4c7a">gtsam::NavState::localCoordinates</a></div><div·class="ttdeci">Vector9·localCoordinates(const·NavState·&amp;g,·OptionalJacobian&lt;·9,·9·&gt;·H1=boost::none,·OptionalJacobian&lt;·9,·9·&gt;·H2=boost::none)·const</div><div·class="ttdoc">localCoordinates·with·optional·derivatives</div><div·class="ttdef"><b>Definition</b>·NavState.cpp:135</div></div>170 <div·class="ttc"·id="aa04196_html_a171cf3f73c659cce019a08f0945d4c7a"><div·class="ttname"><a·href="a04196.html#a171cf3f73c659cce019a08f0945d4c7a">gtsam::NavState::localCoordinates</a></div><div·class="ttdeci">Vector9·localCoordinates(const·NavState·&amp;g,·OptionalJacobian&lt;·9,·9·&gt;·H1=boost::none,·OptionalJacobian&lt;·9,·9·&gt;·H2=boost::none)·const</div><div·class="ttdoc">localCoordinates·with·optional·derivatives</div><div·class="ttdef"><b>Definition</b>·NavState.cpp:135</div></div>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/MagPoseFactor.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/TangentPreintegration.h·Source·File</title>
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13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
14 <script·type="text/javascript"·src="navtreedata.js"></script>14 <script·type="text/javascript"·src="navtreedata.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">MagPoseFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">TangentPreintegration.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00977.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00944.html">gtsam/navigation/PreintegrationBase.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08128.html">gtsam/geometry/concepts.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·POSE&gt;</div> 
126 <div·class="foldopen"·id="foldopen00028"·data-start="{"·data-end="};">124 <div·class="foldopen"·id="foldopen00028"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno"><a·class="line"·href="a04188.html">···28</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04188.html">MagPoseFactor</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;POSE&gt;·{</div>125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno"><a·class="line"·href="a04244.html">···28</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04244.html">TangentPreintegration</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04216.html">PreintegrationBase</a>·{</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·<span·class="keyword">private</span>:</div>126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·<span·class="keyword">protected</span>:</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">using·</span>This·=·<a·class="code·hl_class"·href="a04188.html">MagPoseFactor&lt;POSE&gt;</a>;</div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04536.html">Base</a>·=·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;POSE&gt;</a>;</div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">using·</span>Point·=·<span·class="keyword">typename</span>·POSE::Translation;·</div> 
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">using·</span>Rot·=·<span·class="keyword">typename</span>·POSE::Rotation;</div> 
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 128 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04244.html#aa35dd8359cdcc5adf12b79602f6f1f11">···35</a></span>··Vector9·<a·class="code·hl_variable"·href="a04244.html#aa35dd8359cdcc5adf12b79602f6f1f11">preintegrated_</a>;</div>
 129 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04244.html#ace8fc0be6d82355b59de1376708185af">···36</a></span>··Matrix93·<a·class="code·hl_variable"·href="a04244.html#ace8fc0be6d82355b59de1376708185af">preintegrated_H_biasAcc_</a>;····</div>
 130 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04244.html#a610e8d7b5615146efd0ae18fe984f1a0">···37</a></span>··Matrix93·<a·class="code·hl_variable"·href="a04244.html#a610e8d7b5615146efd0ae18fe984f1a0">preintegrated_H_biasOmega_</a>;··</div>
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">const</span>·Point·measured_;·</div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">const</span>·Point·nM_;·</div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">const</span>·Point·bias_;·</div> 
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··boost::optional&lt;POSE&gt;·body_P_sensor_;·</div> 
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>131 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·MeasDim·=·Point::RowsAtCompileTime;</div> 
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·PoseDim·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;POSE&gt;::dimension</a>;</div> 
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·RotDim·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Rot&gt;::dimension</a>;</div> 
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div> 
143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;MagPoseFactor&lt;POSE&gt;&gt;;</div> 
144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··GTSAM_CONCEPT_TESTABLE_TYPE(POSE)</div> 
146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··GTSAM_CONCEPT_POSE_TYPE(POSE)</div> 
147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·<span·class="keyword">public</span>:</div> 
149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a04188.html#a656d17c286ec113767ef884aee0f8824">···52</a></span>··<a·class="code·hl_function"·href="a04188.html#a656d17c286ec113767ef884aee0f8824">~MagPoseFactor</a>()<span·class="keyword">·override·</span>{}</div> 
150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div> 
151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04188.html#af2dcbb081485187cf5c939fb6d11971c">···55</a></span>··<a·class="code·hl_function"·href="a04188.html#af2dcbb081485187cf5c939fb6d11971c">MagPoseFactor</a>()·{}</div> 
152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div> 
153 <div·class="foldopen"·id="foldopen00067"·data-start="{"·data-end="}">132 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="}">
 133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04244.html#ab0683675722a4b8774b08f4f23538a33">···40</a></span>··<a·class="code·hl_function"·href="a04244.html#ab0683675722a4b8774b08f4f23538a33">TangentPreintegration</a>()·{</div>
154 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a04188.html#ae8ceef5add571dd7693f07c94a53bf15">···67</a></span>··<a·class="code·hl_function"·href="a04188.html#ae8ceef5add571dd7693f07c94a53bf15">MagPoseFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·pose_key,</div> 
155 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>················<span·class="keyword">const</span>·Point&amp;·measured,</div> 
156 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>················<span·class="keywordtype">double</span>·scale,</div> 
157 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>················<span·class="keyword">const</span>·Point&amp;·direction,</div> 
158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>················<span·class="keyword">const</span>·Point&amp;·bias,</div> 
159 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model,</div> 
160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>················<span·class="keyword">const</span>·boost::optional&lt;POSE&gt;&amp;·body_P_sensor)</div> 
161 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······:·<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·pose_key),</div> 
162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>········measured_(body_P_sensor·?·body_P_sensor-&gt;rotation()·*·measured·:·measured),</div> 
163 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>········nM_(scale·*·direction.normalized()),</div> 
164 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>········bias_(body_P_sensor·?·body_P_sensor-&gt;rotation()·*·bias·:·bias),</div> 
165 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>········body_P_sensor_(body_P_sensor)·{}</div> 
166 </div> 
167 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····resetIntegration();</div>
168 <div·class="foldopen"·id="foldopen00081"·data-start="{"·data-end="}"> 
169 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno"><a·class="line"·href="a04188.html#a92332428d020dd43443bef64b5d7d60b">···81</a></span>··NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04188.html#a92332428d020dd43443bef64b5d7d60b">clone</a>()<span·class="keyword">·const·override·</span>{</div> 
170 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;NonlinearFactor&gt;(</div> 
171 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>········NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·This(*<span·class="keyword">this</span>)));</div> 
172 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··}</div>135 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··}</div>
173 </div>136 </div>
 137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
 138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">public</span>:</div>
 139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<a·class="code·hl_class"·href="a04244.html">TangentPreintegration</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;Params&gt;&amp;·p,</div>
 141 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>&amp;·biasHat·=·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>());</div>
 142 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 143 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}">
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 145 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··}</div>
 146 </div>
 147 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 148 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 149 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keywordtype">void</span>·resetIntegration()·<span·class="keyword">override</span>;</div>
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 151 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 152 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··Vector3··deltaPij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·preintegrated_.segment&lt;3&gt;(3);·}</div>
 153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··Vector3··deltaVij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·preintegrated_.tail&lt;3&gt;();·}</div>
 154 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··Rot3·····deltaRij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·Rot3::Expmap(theta());·}</div>
 155 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··NavState·deltaXij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·NavState().retract(preintegrated_);·}</div>
 156 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
 157 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="keyword">const</span>·Vector9&amp;·preintegrated()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·preintegrated_;·}</div>
 158 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··Vector3·theta()<span·class="keyword">·const·····</span>{·<span·class="keywordflow">return</span>·preintegrated_.head&lt;3&gt;();·}</div>
 159 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">const</span>·Matrix93&amp;·preintegrated_H_biasAcc()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·preintegrated_H_biasAcc_;·}</div>
 160 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keyword">const</span>·Matrix93&amp;·preintegrated_H_biasOmega()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·preintegrated_H_biasOmega_;·}</div>
 161 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
 162 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·TangentPreintegration&amp;·other,·<span·class="keywordtype">double</span>·tol)·<span·class="keyword">const</span>;</div>
174 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>163 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
175 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>164 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
 165 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="comment">//·Update·integrated·vector·on·tangent·manifold·preintegrated·with·acceleration</span></div>
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99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>·&#124;101 <a·href="#namespaces">Namespaces</a>·&#124;
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103 ··<div·class="headertitle"><div·class="title">CombinedImuFactor.h·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">NavState.h·File·Reference</div></div>
104 </div><!--header-->104 </div><!--header-->
105 <div·class="contents">105 <div·class="contents">
  
 106 <p>Navigation·state·composing·of·attitude,·position,·and·velocity.··
 107 <a·href="#details">More...</a></p>
  
106 <p><a·href="a00980_source.html">Go·to·the·source·code·of·this·file.</a></p>108 <p><a·href="a00980_source.html">Go·to·the·source·code·of·this·file.</a></p>
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109 Classes</h2></td></tr>111 Classes</h2></td></tr>
110 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04104.html">gtsam::PreintegrationCombinedParams</a></td></tr> 
111 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Parameters·for·pre-integration·using·<a·class="el"·href="a04108.html"·title="PreintegratedCombinedMeasurements·integrates·the·IMU·measurements·(rotation·rates·and·accelerations)·...">PreintegratedCombinedMeasurements</a>:·Usage:·Create·just·a·single·Params·and·pass·a·shared·pointer·to·the·constructor.··<a·href="a04104.html#details">More...</a><br·/></td></tr> 
112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
113 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04108.html">gtsam::PreintegratedCombinedMeasurements</a></td></tr> 
114 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a04108.html"·title="PreintegratedCombinedMeasurements·integrates·the·IMU·measurements·(rotation·rates·and·accelerations)·...">PreintegratedCombinedMeasurements</a>·integrates·the·IMU·measurements·(rotation·rates·and·accelerations)·and·the·corresponding·covariance·matrix.··<a·href="a04108.html#details">More...</a><br·/></td></tr> 
115 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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117 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a04112.html"·title="CombinedImuFactor·is·a·6-ways·factor·involving·previous·state·(pose·and·velocity·of·the·vehicle,...">CombinedImuFactor</a>·is·a·6-ways·factor·involving·previous·state·(pose·and·velocity·of·the·vehicle,·as·well·as·bias·at·previous·time·step),·and·current·state·(pose,·velocity,·bias·at·current·time·step).··<a·href="a04112.html#details">More...</a><br·/></td></tr> 
118 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
119 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04116.html">gtsam::traits&lt;·PreintegrationCombinedParams·&gt;</a></td></tr> 
120 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
121 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04120.html">gtsam::traits&lt;·PreintegratedCombinedMeasurements·&gt;</a></td></tr> 
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127 Namespaces</h2></td></tr>119 Namespaces</h2></td></tr>
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129 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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133 Typedefs</h2></td></tr>125 Typedefs</h2></td></tr>
134 <tr·class="memitem:a64e2f1f46479338e7b2ff5380472527f"·id="r_a64e2f1f46479338e7b2ff5380472527f"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a64e2f1f46479338e7b2ff5380472527f"·name="a64e2f1f46479338e7b2ff5380472527f"></a> 
135 typedef·<a·class="el"·href="a04192.html">ManifoldPreintegration</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::PreintegrationType</b></td></tr>126 <tr·class="memitem:ad6ba0a40d5dd8936f4ca53f7bb3ef53b"·id="r_ad6ba0a40d5dd8936f4ca53f7bb3ef53b"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ad6ba0a40d5dd8936f4ca53f7bb3ef53b"·name="ad6ba0a40d5dd8936f4ca53f7bb3ef53b"></a>
 127 typedef·Vector3&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::Velocity3</b></td></tr>
 128 <tr·class="memdesc:ad6ba0a40d5dd8936f4ca53f7bb3ef53b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Velocity·is·currently·typedef'd·to·Vector3.·<br·/></td></tr>
136 <tr·class="separator:a64e2f1f46479338e7b2ff5380472527f"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:ad6ba0a40d5dd8936f4ca53f7bb3ef53b"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
137 </table>130 </table>
138 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>131 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 132 <div·class="textblock"><p>Navigation·state·composing·of·attitude,·position,·and·velocity.·</p>
 133 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
 134 <dl·class="section·date"><dt>Date</dt><dd>July·2015·</dd></dl>
139 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd> 
140 <dd> 
141 Stephen·Williams·</dd> 
142 <dd> 
143 Richard·Roberts·</dd> 
144 <dd> 
145 Vadim·Indelman·</dd> 
146 <dd> 
147 David·Jensen·</dd> 
148 <dd> 
149 Frank·Dellaert·</dd> 
150 <dd> 
151 Varun·Agrawal·</dd></dl> 
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 128 <div·class="textblock"><p>Simple·class·to·test·navigation·scenarios.·</p>
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112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd> 
113 <dd> 
114 Stephen·Williams·</dd> 
115 <dd> 
116 Richard·Roberts·</dd> 
117 <dd> 
118 Vadim·Indelman·</dd> 
119 <dd> 
120 David·Jensen·</dd> 
121 <dd> 
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127 <dd>127 <dd>
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129 <dd>129 <dd>
130 David·Jensen·</dd>130 David·Jensen·</dd>
131 <dd>131 <dd>
132 Frank·Dellaert·</dd> 
133 <dd> 
134 Varun·Agrawal</dd> 
135 <dd> 
136 Luca·Carlone·</dd> 
137 <dd> 
138 Stephen·Williams·</dd> 
139 <dd> 
140 Richard·Roberts·</dd> 
141 <dd> 
142 Vadim·Indelman·</dd> 
143 <dd> 
144 David·Jensen·</dd> 
145 <dd> 
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106 <div·class="contents">106 <div·class="contents">
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125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div>126 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">
 127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a04192.html">···33</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04192.html">ManifoldPreintegration</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04216.html">PreintegrationBase</a>·{</div>
127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·<span·class="keyword">protected</span>:</div>
128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div> 
129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>130 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04192.html#ad07a36d86d1aa1dd13df4eb7ae83670f">···41</a></span>··<a·class="code·hl_class"·href="a04196.html">NavState</a>·<a·class="code·hl_variable"·href="a04192.html#ad07a36d86d1aa1dd13df4e[·...·truncated·by·diffoscope;·len:·26,·SHA:·e1ce3128f74554ea146d37504c53d3e3996453b2463e7f0c6a759f92200215d9·...·]</div>
 131 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04192.html#a6e4e68542018e0a7e4637cdd276cb1f7">···42</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04192.html#a6e4e68542018e0a7e4637cdd276cb1f7">delRdelBiasOmega_</a>;·</div>
 132 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04192.html#a966a8f392b260b54a17e7e86b14debab">···43</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04192.html#a966a8f392b260b54a17e7e86b14debab">delPdelBiasAcc_</a>;···</div>
 133 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04192.html#af95bfbf520cf98b71cb9773d0446915a">···44</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04192.html#af95bfbf520cf98b71cb9773d0446915a">delPdelBiasOmega_</a>;·</div>
 134 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04192.html#a569f26b6e3f98cf370d4143d8cecb4a5">···45</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04192.html#a569f26b6e3f98cf370d4143d8cecb4a5">delVdelBiasAcc_</a>;···</div>
 135 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a04192.html#afd1ae2fb12470f49f8c8454f17f3a453">···46</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04192.html#afd1ae2fb12470f49f8c8454f17f3a453">delVdelBiasOmega_</a>;·</div>
131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>136 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
132 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="};">137 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="}">
 138 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a04192.html#a4ece2b4ce023308fa06561e94309ea50">···49</a></span>··<a·class="code·hl_function"·href="a04192.html#a4ece2b4ce023308fa06561e94309ea50">ManifoldPreintegration</a>()·{</div>
133 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04216.html">···41</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04216.html">PreintegrationBase</a>·{</div> 
134 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·<span·class="keyword">public</span>:</div> 
135 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>·<a·class="code·hl_class"·href="a04140.html">Bias</a>;</div> 
136 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_struct"·href="a04220.html">PreintegrationParams</a>·<a·class="code·hl_struct"·href="a04220.html">Params</a>;</div> 
137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>139 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····resetIntegration();</div>
138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·<span·class="keyword">protected</span>:</div> 
139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··boost::shared_ptr&lt;Params&gt;·p_;</div> 
140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a04216.html#a774c243fcec68bbfcfc2c62db3ca2d2a">···50</a></span>··<a·class="code·hl_class"·href="a04140.html">Bias</a>·<a·class="code·hl_variable"·href="a04216.html#a774c243fcec68bbfcfc2c62db3ca2d2a">biasHat_</a>;</div> 
142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>140 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··}</div>
143 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a04216.html#a05698caf670ddcd7a108505898a71134">···53</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04216.html#a05698caf670[·...·truncated·by·diffoscope;·len:·38,·SHA:·208412c0991fc26c78f16d26b3bd31198e74fb448c7fbba373e1f3a53b06859a·...·]/div>141 </div>
144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>142 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a04216.html#a85da47fc93662940e6bd38d02a3b3118">···56</a></span>··<a·class="code·hl_function"·href="a04216.html#a85da47fc93662940e6bd38d02a3b3118">PreintegrationBase</a>()·{}</div>143 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">public</span>:</div>
146 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>144 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
 145 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<a·class="code·hl_class"·href="a04192.html">ManifoldPreintegration</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;Params&gt;&amp;·p,</div>
 146 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>&amp;·biasHat·=·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>());</div>
147 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a04216.html#a4d5ead934c4582183ddc8a7b415decef">···59</a></span>··<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a04216.html#a4d5ead934c4582183ddc8a7b415decef">~PreintegrationBase</a>()·{}</div> 
148 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
149 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·<span·class="keyword">public</span>:</div> 
150 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>147 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
151 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<a·class="code·hl_class"·href="a04216.html">PreintegrationBase</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;Params&gt;&amp;·p,</div> 
152 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>&amp;·biasHat·=·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>());</div>148 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
 149 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keywordtype">void</span>·resetIntegration()·<span·class="keyword">override</span>;</div>
153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>150 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
154 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>151 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
155 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">virtual</span>·<span·class="keywordtype">void</span>·resetIntegration()·=·0;</div> 
156 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div> 
157 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<span·class="keywordtype">void</span>·resetIntegrationAndSetBias(<span·class="keyword">const</span>·Bias&amp;·biasHat);</div>152 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<a·class="code·hl_class"·href="a04196.html">NavState</a>·deltaXij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·deltaXij_;·}</div>
 153 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··Rot3·····deltaRij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·deltaXij_.attitude();·}</div>
 154 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··Vector3··deltaPij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·deltaXij_.position();·}</div>
 155 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··Vector3··deltaVij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·deltaXij_.velocity();·}</div>
158 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>156 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
159 <div·class="foldopen"·id="foldopen00086"·data-start="{"·data-end="}"> 
160 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno"><a·class="line"·href="a04216.html#a4d978fd06c9d44dfdcf2eee1e4b33e79">···86</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a04216.html#a4d978fd06c9d44dfdcf2eee1e4b33e79">matchesParamsWith</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04216.html">PreintegrationBase</a>&amp;·other)<span·class="keyword">·const·</span>{</div> 
161 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>····<span·class="keywordflow">return</span>·p_.get()·==·other.p_.get();</div> 
162 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··}</div> 
163 </div>157 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··Matrix3··delRdelBiasOmega()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·delRdelBiasOmega_;·}</div>
 158 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··Matrix3··delPdelBiasAcc()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·delPdelBiasAcc_;·}</div>
 159 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··Matrix3··delPdelBiasOmega()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·delPdelBiasOmega_;·}</div>
 160 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··Matrix3··delVdelBiasAcc()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·delVdelBiasAcc_;·}</div>
 161 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··Matrix3··delVdelBiasOmega()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·delVdelBiasOmega_;·}</div>
164 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>162 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
 163 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·ManifoldPreintegration&amp;·other,·<span·class="keywordtype">double</span>·tol)·<span·class="keyword">const</span>;</div>
165 <div·class="foldopen"·id="foldopen00091"·data-start="{"·data-end="}"> 
166 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno"><a·class="line"·href="a04216.html#abf8bcbed6faa28b929feb17ebc945cbc">···91</a></span>··<span·class="keyword">const</span>·boost::shared_ptr&lt;Params&gt;&amp;·<a·class="code·hl_function"·href="a04216.html#abf8bcbed6faa28b929feb17ebc945cbc">params</a>()<span·class="keyword">·const·</span>{</div> 
167 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····<span·class="keywordflow">return</span>·p_;</div> 
168 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>··}</div>164 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>
169 </div> 
170 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>165 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>
 166 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>··<span·class="keywordtype">void</span>·update(<span·class="keyword">const</span>·Vector3&amp;·measuredAcc,·<span·class="keyword">const</span>·Vector3&amp;·measuredOmega,·<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·dt,</div>
 167 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>··············Matrix9*·A,·Matrix93*·B,·Matrix93*·C)·<span·class="keyword">override</span>;</div>
171 <div·class="foldopen"·id="foldopen00096"·data-start="{"·data-end="}"> 
172 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno"><a·class="line"·href="a04216.html#a62835e11ff9409ffd26a59c6ec8d7cfd">···96</a></span>··<a·class="code·hl_struct"·href="a04220.html">Params</a>&amp;·<a·class="code·hl_function"·href="a04216.html#a62835e11ff9409ffd26a59c6ec8d7cfd">p</a>()<span·class="keyword">·const·</span>{</div> 
173 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>····<span·class="keywordflow">return</span>·*p_;</div> 
174 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··}</div> 
175 </div> 
176 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>·</div> 
177 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>·</div>168 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>·</div>
178 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>&amp;·biasHat()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·biasHat_;·}</div> 
179 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>··<span·class="keywordtype">double</span>·deltaTij()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·deltaTij_;·}</div>169 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>··Vector9·biasCorrectedDelta(<span·class="keyword">const</span>·imuBias::ConstantBias&amp;·bias_i,</div>
 170 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>······OptionalJacobian&lt;9,·6&gt;·H·=·boost::none)·<span·class="keyword">const·override</span>;</div>
180 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>·</div>171 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>·</div>
 172 <div·class="foldopen"·id="foldopen00109"·data-start="{"·data-end="}">
 173 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno"><a·class="line"·href="a04192.html#afabc3a0026ff2610680675d39048a55c">··109</a></span>··<span·class="keyword">virtual</span>·boost::shared_ptr&lt;ManifoldPreintegration&gt;·<a·class="code·hl_function"·href="a04192.html#afabc3a0026ff2610680675d39048a55c">clone</a>()<span·class="keyword">·const·</span>{</div>
 174 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>····<span·class="keywordflow">return</span>·boost::shared_ptr&lt;ManifoldPreintegration&gt;();</div>
181 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>··<span·class="keyword">virtual</span>·Vector3··deltaPij()·<span·class="keyword">const</span>·=·0;</div> 
182 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>··<span·class="keyword">virtual</span>·Vector3··deltaVij()·<span·class="keyword">const</span>·=·0;</div> 
183 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>··<span·class="keyword">virtual</span>·Rot3·····deltaRij()·<span·class="keyword">const</span>·=·0;</div> 
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131 <div·class="textblock"><p>Class·to·enable·arbitrary·factors·with·runtime·swappable·error·function.·</p>114 <div·class="textblock"><p>Class·to·enable·arbitrary·factors·with·runtime·swappable·error·function.·</p>
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112 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Jan·19,·2010·</dd></dl>153 <div·class="textblock"><p>Non-linear·factor·base·classes.·</p>
113 <dl·class="section·author"><dt>Author</dt><dd>Viorela·Ila·and·Richard·Roberts·</dd></dl>154 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 155 <dd>
 156 Richard·Roberts·</dd>
 157 <dd>
 158 Gerry·Chen·</dd></dl>
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117 Macros</h2></td></tr> 
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119 <tr·class="memdesc:a8ec37fe83eda47404b8588e1f012df21"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Check·the·Jacobians·produced·by·a·factor·against·finite·differences.··<br·/></td></tr> 
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123 Functions</h2></td></tr> 
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129 <tr·class="separator:a4db90c7749698c9fa7acbc41edf1d393"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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131 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>136 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 137 <div·class="textblock"><p>Parameters·for·iSAM·2.·</p>
132 <div·class="textblock"><p>Evaluate·derivatives·of·a·nonlinear·factor·numerically.·</p> 
133 <dl·class="section·date"><dt>Date</dt><dd>September·18,·2014·</dd></dl> 
134 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>138 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert·</dd></dl>
135 <dd> 
136 Paul·Furgale·</dd></dl> 
137 </div><h2·class="groupheader">Macro·Definition·Documentation</h2> 
138 <a·id="a8ec37fe83eda47404b8588e1f012df21"·name="a8ec37fe83eda47404b8588e1f012df21"></a> 
139 <h2·class="memtitle"><span·class="permalink"><a·href="#a8ec37fe83eda47404b8588e1f012df21">&#9670;&#160;</a></span>EXPECT_CORRECT_FACTOR_JACOBIANS</h2> 
  
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172 ······</table> 
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174 <p>Check·the·Jacobians·produced·by·a·factor·against·finite·differences.·</p> 
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112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
113 <dl·class="section·date"><dt>Date</dt><dd>May·14,·2012·</dd></dl>124 <div·class="textblock"><p>Specialized·iSAM2·Clique.·</p>
 125 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert·</dd></dl>
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102 ··<div·class="headertitle"><div·class="title">LinearContainerFactor.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">nonlinearExceptions.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Wrap·Jacobian·and·Hessian·linear·factors·to·allow·simple·injection·into·a·nonlinear·graph.··105 <p>Exceptions·that·may·be·thrown·by·nonlinear·optimization·components.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a01022_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a01022_source.html">Go·to·the·source·code·of·this·file.</a></p>
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110 Classes</h2></td></tr>110 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04444.html">gtsam::LinearContainerFactor</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04492.html">gtsam::MarginalizeNonleafException</a></td></tr>
 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Thrown·when·requesting·to·marginalize·out·variables·from·<a·class="el"·href="a04396.html"·title="Implementation·of·the·full·ISAM2·algorithm·for·incremental·nonlinear·optimization.">ISAM2</a>·that·are·not·leaves.··<a·href="a04492.html#details">More...</a><br·/></td></tr>
112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Dummy·version·of·a·generic·linear·factor·to·be·injected·into·a·nonlinear·factor·graph.··<a·href="a04444.html#details">More...</a><br·/></td></tr> 
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04448.html">gtsam::traits&lt;·LinearContainerFactor·&gt;</a></td></tr> 
115 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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118 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
119 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
120 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
121 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
122 </table>120 </table>
123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
124 <div·class="textblock"><p>Wrap·Jacobian·and·Hessian·linear·factors·to·allow·simple·injection·into·a·nonlinear·graph.·</p>122 <div·class="textblock"><p>Exceptions·that·may·be·thrown·by·nonlinear·optimization·components.·</p>
 123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
125 <dl·class="section·date"><dt>Date</dt><dd>Jul·6,·2012·</dd></dl>124 <dl·class="section·date"><dt>Date</dt><dd>Aug·17,·2012·</dd></dl>
126 <dl·class="section·author"><dt>Author</dt><dd>Alex·Cunningham·</dd></dl> 
127 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
128 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
129 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
130 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
131 ··<ul>129 ··<ul>
132 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01022.html">LinearContainerFactor.h</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01022.html">nonlinearExceptions.h</a></li>
133 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/LinearContainerFactor.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/nonlinearExceptions.h·Source·File</title>
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10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
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100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">LinearContainerFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">nonlinearExceptions.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01022.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span>·</div>107 <a·href="a01022.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#pragma·once</span></div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
 109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
 110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
 111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
 112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
 113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
 114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
 115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
 116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
109 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
110 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div> 
111 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span>·</div> 
112 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
113 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span>·</div> 
114 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>··<span·class="comment">//·Forward·declarations</span></div> 
115 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a05064.html">JacobianFactor</a>;</div> 
116 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>··<span·class="keyword">class·</span>HessianFactor;</div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
117 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
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 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
118 <div·class="foldopen"·id="foldopen00026"·data-start="{"·data-end="};">127 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">
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121 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
122 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<a·class="code·hl_typedef"·href="a03780.html#a0eeee0de6e144fedc937d7272be80a36">GaussianFactor::shared_ptr</a>·factor_;</div> 
123 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··boost::optional&lt;Values&gt;·linearizationPoint_;</div> 
124 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
125 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<a·class="code·hl_class"·href="a04444.html">LinearContainerFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03780.html#a0eeee0de6e144fedc937d7272be80a36">GaussianFactor::shared_ptr</a>&amp;·factor,·<span·class="keyword">const</span>·boost::optional&lt;Values&gt;&amp;·linearizationPoint);</div> 
126 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div> 
127 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="comment">//·Some·handy·typedefs</span></div> 
128 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>·<a·class="code·hl_class"·href="a04496.html">Base</a>;</div> 
129 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04444.html">LinearContainerFactor</a>·<a·class="code·hl_class"·href="a04444.html">This</a>;</div> 
130 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div> 
131 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">public</span>:</div>132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">public</span>:</div>
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 137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">const</span>·<span·class="keywordtype">char</span>*·what()·<span·class="keyword">const</span>·<span·class="keyword">noexcept</span>·<span·class="keyword">override</span>·{</div>
 138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>······<span·class="keywordflow">if</span>(what_.empty())</div>
 139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>········what_·=</div>
 140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="stringliteral">&quot;\nRequested·to·marginalize·out·variable·&quot;</span>·+·formatter_(key_)·+·<span·class="stringliteral">&quot;,·but·this·variable\n\</span></div>
 141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="stringliteral">is·not·a·leaf.··To·make·the·variables·you·would·like·to·marginalize·be·leaves,\n\</span></div>
 142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="stringliteral">their·ordering·should·be·constrained·using·the·constrainedKeys·argument·to\n\</span></div>
 143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="stringliteral">ISAM2::update().\n&quot;</span>;</div>
 144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······<span·class="keywordflow">return</span>·what_.c_str();</div>
132 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····}</div>
133 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div> 
134 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
135 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04444.html#a0a29b56bbe991b4e0ee8b4205b5a1b42">···44</a></span>··<a·class="code·hl_function"·href="a04444.html#a0a29b56bbe991b4e0ee8b4205b5a1b42">LinearContainerFactor</a>()·{}</div> 
136 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div> 
137 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<a·class="code·hl_class"·href="a04444.html">LinearContainerFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03844.html">JacobianFactor</a>&amp;·factor,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·linearizationPoint·=·<a·class="code·hl_class"·href="a04612.html">Values</a>());</div> 
138 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
139 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<a·class="code·hl_class"·href="a04444.html">LinearContainerFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03812.html">HessianFactor</a>&amp;·factor,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·linearizationPoint·=·<a·class="code·hl_class"·href="a04612.html">Values</a>());</div> 
140 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··};</div>
141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<a·class="code·hl_class"·href="a04444.html">LinearContainerFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03780.html#a0eeee0de6e144fedc937d7272be80a36">GaussianFactor::shared_ptr</a>&amp;·factor,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·linearizationPoint·=·<a·class="code·hl_class"·href="a04612.html">Values</a>());</div> 
142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div> 
143 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="comment">//·Access</span></div> 
144 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div> 
145 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03780.html#a0eeee0de6e144fedc937d7272be80a36">GaussianFactor::shared_ptr</a>&amp;·factor()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·factor_;·}</div> 
146 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div> 
147 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="comment">//·Testable</span></div> 
148 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
149 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keywordtype">void</span>·print(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,·<span·class="keyword">const</span>·KeyFormatter&amp;·keyFormatter·=·gtsam::DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div> 
150 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div> 
151 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·NonlinearFactor&amp;·f,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const·override</span>;</div> 
152 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div> 
153 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="comment">//·NonlinearFactor</span></div> 
154 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div> 
155 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="keywordtype">double</span>·error(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05076.html">Values</a>&amp;·c)·<span·class="keyword">const·override</span>;</div> 
156 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div> 
157 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keywordtype">size_t</span>·dim()·<span·class="keyword">const·override</span>;</div> 
158 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div> 
159 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno"><a·class="line"·href="a04444.html#a31c9a4fc8894239e25799f094d3aaf42">···83</a></span>··<span·class="keyword">const</span>·boost::optional&lt;Values&gt;&amp;·<a·class="code·hl_function"·href="a04444.html#a31c9a4fc8894239e25799f094d3aaf42">linearizationPoint</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·linearizationPoint_;·}</div> 
160 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div> 
161 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>··<a·class="code·hl_typedef"·href="a03780.html#a0eeee0de6e144fedc937d7272be80a36">GaussianFactor::shared_ptr</a>·linearize(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·c)·<span·class="keyword">const·override</span>;</div> 
162 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>·</div> 
163 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>··<a·class="code·hl_typedef"·href="a03780.html#a0eeee0de6e144fedc937d7272be80a36">GaussianFactor::shared_ptr</a>·negateToGaussian()·<span·class="keyword">const</span>;</div> 
164 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>·</div> 
165 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>··NonlinearFactor::shared_ptr·negateToNonlinear()·<span·class="keyword">const</span>;</div> 
166 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>·</div> 
167 <div·class="foldopen"·id="foldopen00119"·data-start="{"·data-end="}"> 
168 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno"><a·class="line"·href="a04444.html#a07a1309a4300a8eec95febd6724abc1e">··119</a></span>··NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04444.html#a07a1309a4300a8eec95febd6724abc1e">clone</a>()<span·class="keyword">·const·override·</span>{</div> 
169 <div·class="line"><a·id="l00120"·name="l00120"></a><span·class="lineno">··120</span>····<span·class="keywordflow">return</span>·NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·<a·class="code·hl_class"·href="a04444.html">LinearContainerFactor</a>(factor_,linearizationPoint_));</div> 
170 <div·class="line"><a·id="l00121"·name="l00121"></a><span·class="lineno">··121</span>··}</div> 
171 </div>147 </div>
172 <div·class="line"><a·id="l00122"·name="l00122"></a><span·class="lineno">··122</span>·</div>148 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
173 <div·class="line"><a·id="l00128"·name="l00128"></a><span·class="lineno">··128</span>··NonlinearFactor::shared_ptr·rekey(</div> 
174 <div·class="line"><a·id="l00129"·name="l00129"></a><span·class="lineno">··129</span>······<span·class="keyword">const</span>·std::map&lt;Key,·Key&gt;&amp;·rekey_mapping)·<span·class="keyword">const·override</span>;</div> 
175 <div·class="line"><a·id="l00130"·name="l00130"></a><span·class="lineno">··130</span>·</div>149 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>}</div>
 150 <div·class="ttc"·id="aa00590_html"><div·class="ttname"><a·href="a00590.html">Key.h</a></div></div>
176 <div·class="line"><a·id="l00135"·name="l00135"></a><span·class="lineno">··135</span>··NonlinearFactor::shared_ptr·rekey(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·new_keys)·<span·class="keyword">const·override</span>;</div> 
177 <div·class="line"><a·id="l00136"·name="l00136"></a><span·class="lineno">··136</span>·</div> 
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/DoglegOptimizer.h·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/expressionTesting.h·File·Reference</title>
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94 </div>94 </div>
95 </div>95 </div>
96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124; 
101 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>·&#124;
 101 <a·href="#define-members">Macros</a>·&#124;
 102 <a·href="#func-members">Functions</a>··</div>
102 ··<div·class="headertitle"><div·class="title">DoglegOptimizer.h·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">expressionTesting.h·File·Reference</div></div>
103 </div><!--header-->104 </div><!--header-->
104 <div·class="contents">105 <div·class="contents">
  
 106 <p>Test·harness·methods·for·expressions.··
 107 <a·href="#details">More...</a></p>
  
105 <p><a·href="a01025_source.html">Go·to·the·source·code·of·this·file.</a></p>108 <p><a·href="a01025_source.html">Go·to·the·source·code·of·this·file.</a></p>
106 <table·class="memberdecls">109 <table·class="memberdecls">
107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a> 
108 Classes</h2></td></tr> 
109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04256.html">gtsam::DoglegParams</a></td></tr> 
110 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Parameters·for·Levenberg-Marquardt·optimization.··<a·href="a04256.html#details">More...</a><br·/></td></tr> 
111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
112 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04260.html">gtsam::DoglegOptimizer</a></td></tr> 
113 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·class·performs·Dogleg·nonlinear·optimization.··<a·href="a04260.html#details">More...</a><br·/></td></tr> 
114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
115 </table><table·class="memberdecls"> 
116 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>110 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
117 Namespaces</h2></td></tr>111 Namespaces</h2></td></tr>
118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>112 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
119 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>113 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
120 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 115 </table><table·class="memberdecls">
 116 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="define-members"·name="define-members"></a>
 117 Macros</h2></td></tr>
 118 <tr·class="memitem:a701d0cd12b81a725f7f9cd2432fe9e2a"·id="r_a701d0cd12b81a725f7f9cd2432fe9e2a"><td·class="memItemLeft"·align="right"·valign="top">#define&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01025.html#a701d0cd12b81a725f7f9cd2432fe9e2a">EXPECT_CORRECT_EXPRESSION_JACOBIANS</a>(expression,··values,··numerical_derivative_step,··tolerance)&#160;&#160;&#160;····{·EXPECT(gtsam::internal::testExpressionJacobians(name_,·expression,·values,·numerical_derivative_step,·tolerance));·}</td></tr>
 119 <tr·class="memdesc:a701d0cd12b81a725f7f9cd2432fe9e2a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Check·the·Jacobians·produced·by·an·expression·against·finite·differences.··<br·/></td></tr>
 120 <tr·class="separator:a701d0cd12b81a725f7f9cd2432fe9e2a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 121 </table><table·class="memberdecls">
 122 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
 123 Functions</h2></td></tr>
 124 <tr·class="memitem:ab43ff0661c50fd1f6eeb0c7311d52057"·id="r_ab43ff0661c50fd1f6eeb0c7311d52057"><td·class="memTemplParams"·colspan="2"><a·id="ab43ff0661c50fd1f6eeb0c7311d52057"·name="ab43ff0661c50fd1f6eeb0c7311d52057"></a>
 125 template&lt;typename·T·&gt;·</td></tr>
 126 <tr·class="memitem:ab43ff0661c50fd1f6eeb0c7311d52057"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::internal::testExpressionJacobians</b>·(const·std::string·&amp;name_,·const·<a·class="el"·href="a04292.html">gtsam::Expression</a>&lt;·T·&gt;·&amp;expression,·const·<a·class="el"·href="a04612.html">gtsam::Values</a>·&amp;values,·double·nd_step,·double·tolerance)</td></tr>
 127 <tr·class="separator:ab43ff0661c50fd1f6eeb0c7311d52057"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
121 </table>128 </table>
122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>129 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
123 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>130 <div·class="textblock"><p>Test·harness·methods·for·expressions.·</p>
124 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>131 <dl·class="section·date"><dt>Date</dt><dd>September·18,·2014·</dd></dl>
 132 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 133 <dd>
 134 Paul·Furgale·</dd></dl>
 135 </div><h2·class="groupheader">Macro·Definition·Documentation</h2>
 136 <a·id="a701d0cd12b81a725f7f9cd2432fe9e2a"·name="a701d0cd12b81a725f7f9cd2432fe9e2a"></a>
 137 <h2·class="memtitle"><span·class="permalink"><a·href="#a701d0cd12b81a725f7f9cd2432fe9e2a">&#9670;&#160;</a></span>EXPECT_CORRECT_EXPRESSION_JACOBIANS</h2>
  
 138 <div·class="memitem">
 139 <div·class="memproto">
 140 ······<table·class="memname">
 141 ········<tr>
 142 ··········<td·class="memname">#define·EXPECT_CORRECT_EXPRESSION_JACOBIANS</td>
 143 ··········<td>(</td>
 144 ··········<td·class="paramtype">&#160;</td>
 145 ··········<td·class="paramname">expression,·</td>
 146 ········</tr>
 147 ········<tr>
 148 ··········<td·class="paramkey"></td>
 149 ··········<td></td>
 150 ··········<td·class="paramtype">&#160;</td>
 151 ··········<td·class="paramname">values,·</td>
 152 ········</tr>
 153 ········<tr>
 154 ··········<td·class="paramkey"></td>
 155 ··········<td></td>
 156 ··········<td·class="paramtype">&#160;</td>
 157 ··········<td·class="paramname">numerical_derivative_step,·</td>
 158 ········</tr>
 159 ········<tr>
 160 ··········<td·class="paramkey"></td>
 161 ··········<td></td>
 162 ··········<td·class="paramtype">&#160;</td>
 163 ··········<td·class="paramname">tolerance&#160;</td>
 164 ········</tr>
 165 ········<tr>
 166 ··········<td></td>
 167 ··········<td>)</td>
 168 ··········<td></td><td>&#160;&#160;&#160;····{·EXPECT(gtsam::internal::testExpressionJacobians(name_,·expression,·values,·numerical_derivative_step,·tolerance));·}</td>
 169 ········</tr>
 170 ······</table>
 171 </div><div·class="memdoc">
  
 172 <p>Check·the·Jacobians·produced·by·an·expression·against·finite·differences.·</p>
 173 <dl·class="params"><dt>Parameters</dt><dd>
 174 ··<table·class="params">
 175 ····<tr><td·class="paramname">expression</td><td>The·expression·to·test.·</td></tr>
 176 ····<tr><td·class="paramname">values</td><td><a·class="el"·href="a05076.html"·title="In·nonlinear·factors,·the·error·function·returns·the·negative·log-likelihood·as·a·non-linear·function...">Values</a>·filled·in·for·testing·the·Jacobians.·</td></tr>
 177 ····<tr><td·class="paramname">numerical_derivative_step</td><td>The·step·to·use·when·computing·the·finite·difference·Jacobians·</td></tr>
 178 ····<tr><td·class="paramname">tolerance</td><td>The·numerical·tolerance·to·use·when·comparing·Jacobians.·</td></tr>
 179 ··</table>
 180 ··</dd>
 181 </dl>
  
 182 </div>
 183 </div>
125 </div></div><!--·contents·-->184 </div><!--·contents·-->
126 </div><!--·doc-content·-->185 </div><!--·doc-content·-->
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/DoglegOptimizer.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/expressionTesting.h·Source·File</title>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DoglegOptimizer.h</div></div>104 ··<div·class="headertitle"><div·class="title">expressionTesting.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01025.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01025.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01043.html">gtsam/nonlinear/NonlinearOptimizer.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/nonlinear/ExpressionFactor.h&gt;</span></div>
 121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01142.html">gtsam/nonlinear/factorTesting.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">class·</span>DoglegOptimizer;</div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div> 
126 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};"> 
127 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04256.html">···32</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04256.html">DoglegParams</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04556.html">NonlinearOptimizerParams</a>·{</div> 
128 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">public</span>:</div>126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span>internal·{</div>
129 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};"> 
130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04256.html#a857a8ae8ed6eea7960231b3359dfa349">···35</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a04256.html#a857a8ae8ed6eea7960231b3359dfa349">VerbosityDL</a>·{</div> 
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····SILENT,</div> 
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····VERBOSE</div>127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="comment">//·CPPUnitLite-style·test·for·linearization·of·an·ExpressionFactor</span></div>
 128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T&gt;</div>
 129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keywordtype">bool</span>·testExpressionJacobians(<span·class="keyword">const</span>·std::string&amp;·name_,</div>
 130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04292.html">gtsam::Expression&lt;T&gt;</a>&amp;·expression,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">gtsam::Values</a>&amp;·values,</div>
 131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keywordtype">double</span>·nd_step,·<span·class="keywordtype">double</span>·tolerance)·{</div>
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··};</div>132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="comment">//·Create·factor</span></div>
134 </div>133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keywordtype">size_t</span>·size·=·traits&lt;T&gt;::dimension;</div>
 134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··ExpressionFactor&lt;T&gt;·f(<a·class="code·hl_function"·href="a03940.html#a61fda7a7390d3fc40f5618185e801bfe">noiseModel::Unit::Create</a>(size),</div>
 135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>······expression.<a·class="code·hl_function"·href="a04292.html#acb8e427a376afb1eec8bcda057128c11">value</a>(values),·expression);</div>
 136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keywordflow">return</span>·testFactorJacobians(name_,·f,·values,·nd_step,·tolerance);</div>
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>}</div>
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04256.html#afc7c92d489fcbea53a1b645185e43e53">···40</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04256.html#afc7c92d489fcbea53a1b645185e43e53">deltaInitial</a>;·</div> 
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04256.html#ae6a2936aed619333036329c343281356">···41</a></span>··<a·class="code·hl_enumeration"·href="a04256.html#a857a8ae8ed6eea7960231b3359dfa349">VerbosityDL</a>·<a·class="code·hl_variable"[·...·truncated·by·diffoscope;·len:·71,·SHA:·bd0b3433d2ed64f1c15212e0707d2aea7927acedfa133c695aba78c0c27d8355·...·]</div>138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>}·<span·class="comment">//·namespace·internal</span></div>
 139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>}·<span·class="comment">//·namespace·gtsam</span></div>
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>140 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 141 <div·class="foldopen"·id="foldopen00048"·data-start=""·data-end="">
 142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a01025.html#a701d0cd12b81a725f7f9cd2432fe9e2a">···48</a></span><span·class="preprocessor">#define·EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression,·values,·numerical_derivative_step,·tolerance)·\</span></div>
 143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="preprocessor">····{·EXPECT(gtsam::internal::testExpressionJacobians(name_,·expression,·values,·numerical_derivative_step,·tolerance));·}</span></div>
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<a·class="code·hl_class"·href="a04256.html">DoglegParams</a>()·:</div> 
140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····deltaInitial(1.0),·verbosityDL(SILENT)·{}</div> 
141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div> 
142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_class"·href="a04256.html">~DoglegParams</a>()<span·class="keyword">·override·</span>{}</div> 
143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keywordtype">void</span>·print(<span·class="keyword">const</span>·std::string&amp;·str·=·<span·class="stringliteral">&quot;&quot;</span>)<span·class="keyword">·const·override·</span>{</div> 
145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····NonlinearOptimizerParams::print(str);</div> 
146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····std::cout·&lt;&lt;·<span·class="stringliteral">&quot;···············deltaInitial:·&quot;</span>·&lt;&lt;·deltaInitial·&lt;&lt;·<span·class="stringliteral">&quot;\n&quot;</span>;</div> 
147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····std::cout.flush();</div> 
148 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div> 
149 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div> 
150 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">double</span>·getDeltaInitial()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·deltaInitial;·}</div> 
151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··std::string·getVerbosityDL()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·verbosityDLTranslator(verbosityDL);·}</div> 
152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div> 
153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keywordtype">void</span>·setDeltaInitial(<span·class="keywordtype">double</span>·deltaInitial)·{·this-&gt;deltaInitial·=·deltaInitial;·}</div> 
154 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keywordtype">void</span>·setVerbosityDL(<span·class="keyword">const</span>·std::string&amp;·verbosityDL)·{·this-&gt;verbosityDL·=·verbosityDLTranslator(verbosityDL);·}</div> 
155 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
156 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="keyword">private</span>:</div> 
157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··VerbosityDL·verbosityDLTranslator(<span·class="keyword">const</span>·std::string&amp;·verbosityDL)·<span·class="keyword">const</span>;</div> 
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94 </div>94 </div>
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96 </div>96 </div>
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#namespaces">Namespaces</a>·&#124;100 <a·href="#namespaces">Namespaces</a>··</div>
101 <a·href="#define-members">Macros</a>·&#124; 
102 <a·href="#func-members">Functions</a>··</div> 
103 ··<div·class="headertitle"><div·class="title">expressionTesting.h·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">NonlinearFactorGraph.cpp·File·Reference</div></div>
104 </div><!--header-->102 </div><!--header-->
105 <div·class="contents">103 <div·class="contents">
  
106 <p>Test·harness·methods·for·expressions.··104 <p>Factor·Graph·Consisting·of·non-linear·factors.··
107 <a·href="#details">More...</a></p>105 <a·href="#details">More...</a></p>
  
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113 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>110 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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115 </table><table·class="memberdecls"> 
116 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="define-members"·name="define-members"></a> 
117 Macros</h2></td></tr> 
118 <tr·class="memitem:a701d0cd12b81a725f7f9cd2432fe9e2a"·id="r_a701d0cd12b81a725f7f9cd2432fe9e2a"><td·class="memItemLeft"·align="right"·valign="top">#define&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01028.html#a701d0cd12b81a725f7f9cd2432fe9e2a">EXPECT_CORRECT_EXPRESSION_JACOBIANS</a>(expression,··values,··numerical_derivative_step,··tolerance)&#160;&#160;&#160;····{·EXPECT(gtsam::internal::testExpressionJacobians(name_,·expression,·values,·numerical_derivative_step,·tolerance));·}</td></tr> 
119 <tr·class="memdesc:a701d0cd12b81a725f7f9cd2432fe9e2a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Check·the·Jacobians·produced·by·an·expression·against·finite·differences.··<br·/></td></tr> 
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123 Functions</h2></td></tr> 
124 <tr·class="memitem:ab43ff0661c50fd1f6eeb0c7311d52057"·id="r_ab43ff0661c50fd1f6eeb0c7311d52057"><td·class="memTemplParams"·colspan="2"><a·id="ab43ff0661c50fd1f6eeb0c7311d52057"·name="ab43ff0661c50fd1f6eeb0c7311d52057"></a> 
125 template&lt;typename·T·&gt;·</td></tr> 
126 <tr·class="memitem:ab43ff0661c50fd1f6eeb0c7311d52057"><td·class="memTemplItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::internal::testExpressionJacobians</b>·(const·std::string·&amp;name_,·const·<a·class="el"·href="a04292.html">gtsam::Expression</a>&lt;·T·&gt;·&amp;expression,·const·<a·class="el"·href="a04612.html">gtsam::Values</a>·&amp;values,·double·nd_step,·double·tolerance)</td></tr> 
127 <tr·class="separator:ab43ff0661c50fd1f6eeb0c7311d52057"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
128 </table>112 </table>
129 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 114 <div·class="textblock"><p>Factor·Graph·Consisting·of·non-linear·factors.·</p>
130 <div·class="textblock"><p>Test·harness·methods·for·expressions.·</p> 
131 <dl·class="section·date"><dt>Date</dt><dd>September·18,·2014·</dd></dl> 
132 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>115 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
133 <dd>116 <dd>
 117 Carlos·Nieto·</dd>
 118 <dd>
 119 Christian·Potthast·</dd></dl>
134 Paul·Furgale·</dd></dl> 
135 </div><h2·class="groupheader">Macro·Definition·Documentation</h2> 
136 <a·id="a701d0cd12b81a725f7f9cd2432fe9e2a"·name="a701d0cd12b81a725f7f9cd2432fe9e2a"></a> 
137 <h2·class="memtitle"><span·class="permalink"><a·href="#a701d0cd12b81a725f7f9cd2432fe9e2a">&#9670;&#160;</a></span>EXPECT_CORRECT_EXPRESSION_JACOBIANS</h2> 
  
138 <div·class="memitem"> 
139 <div·class="memproto"> 
140 ······<table·class="memname"> 
141 ········<tr> 
142 ··········<td·class="memname">#define·EXPECT_CORRECT_EXPRESSION_JACOBIANS</td> 
143 ··········<td>(</td> 
144 ··········<td·class="paramtype">&#160;</td> 
145 ··········<td·class="paramname">expression,·</td> 
146 ········</tr> 
147 ········<tr> 
148 ··········<td·class="paramkey"></td> 
149 ··········<td></td> 
150 ··········<td·class="paramtype">&#160;</td> 
151 ··········<td·class="paramname">values,·</td> 
152 ········</tr> 
153 ········<tr> 
154 ··········<td·class="paramkey"></td> 
155 ··········<td></td> 
156 ··········<td·class="paramtype">&#160;</td> 
157 ··········<td·class="paramname">numerical_derivative_step,·</td> 
158 ········</tr> 
159 ········<tr> 
160 ··········<td·class="paramkey"></td> 
161 ··········<td></td> 
162 ··········<td·class="paramtype">&#160;</td> 
163 ··········<td·class="paramname">tolerance&#160;</td> 
164 ········</tr> 
165 ········<tr> 
166 ··········<td></td> 
167 ··········<td>)</td> 
168 ··········<td></td><td>&#160;&#160;&#160;····{·EXPECT(gtsam::internal::testExpressionJacobians(name_,·expression,·values,·numerical_derivative_step,·tolerance));·}</td> 
169 ········</tr> 
170 ······</table> 
171 </div><div·class="memdoc"> 
  
172 <p>Check·the·Jacobians·produced·by·an·expression·against·finite·differences.·</p> 
173 <dl·class="params"><dt>Parameters</dt><dd> 
174 ··<table·class="params"> 
175 ····<tr><td·class="paramname">expression</td><td>The·expression·to·test.·</td></tr> 
176 ····<tr><td·class="paramname">values</td><td><a·class="el"·href="a05076.html"·title="In·nonlinear·factors,·the·error·function·returns·the·negative·log-likelihood·as·a·non-linear·function...">Values</a>·filled·in·for·testing·the·Jacobians.·</td></tr> 
177 ····<tr><td·class="paramname">numerical_derivative_step</td><td>The·step·to·use·when·computing·the·finite·difference·Jacobians·</td></tr> 
178 ····<tr><td·class="paramname">tolerance</td><td>The·numerical·tolerance·to·use·when·comparing·Jacobians.·</td></tr> 
179 ··</table> 
180 ··</dd> 
181 </dl> 
  
182 </div> 
183 </div> 
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165 <div·class="textblock"><p>Expressions·for·Block·Automatic·Differentiation.·</p> 
166 <dl·class="section·date"><dt>Date</dt><dd>September·18,·2014·</dd></dl>120 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Jan·19,·2010·</dd></dl>
167 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>121 <dl·class="section·author"><dt>Author</dt><dd>Viorela·Ila·and·Richard·Roberts·</dd></dl>
168 <dd> 
169 Paul·Furgale·</dd></dl> 
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124 <dd> 
125 Frank·Dellaert·</dd> 
126 <dd> 
127 Luca·Carlone·</dd></dl> 
128 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl> 
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
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115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>
 120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;iomanip&gt;</span></div>
119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01055.html">gtsam/nonlinear/NonlinearOptimizerParams.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00890.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00614.html">gtsam/inference/Ordering.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div> 
125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">class·</span>LevenbergMarquardtOptimizer;</div> 
126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div> 
127 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">127 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">
128 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04440.html">···35</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>:·<span·class="keyword">public</span>·<a·cl[·...·truncated·by·diffoscope;·len:·63,·SHA:·592e323f6ab3bb216d8378d3cbb6005e06c274bedb432a2f5d85ab6fd328df18·...·]</a>·{</div>128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04264.html">···32</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04264.html">DoglegOptimizerImpl</a>·{</div>
129 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
130 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">public</span>:</div> 
131 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};">130 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">
132 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a04440.html#af2f0633976570cd713705bdb91598bfd">···39</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a04440.html#af2f0633976570cd713705bdb91598bfd">VerbosityLM</a>·{</div> 
133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····SILENT·=·0,·SUMMARY,·TERMINATION,·LAMBDA,·TRYLAMBDA,·TRYCONFIG,·DAMPED,·TRYDELTA</div>131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04268.html">···34</a></span>··<span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04268.html">IterationResult</a>·{</div>
 132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>····<span·class="keywordtype">double</span>·delta;</div>
 133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·dx_d;</div>
 134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="keywordtype">double</span>·f_error;</div>
134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··};</div>135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··};</div>
135 </div>136 </div>
136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">static</span>·VerbosityLM·verbosityLMTranslator(<span·class="keyword">const</span>·std::string·&amp;s);</div> 
138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">static</span>·std::string·verbosityLMTranslator(VerbosityLM·value);</div> 
139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">using·</span>OptimizerType·=·<a·class="code·hl_class"·href="a04436.html">LevenbergMarquardtOptimizer</a>;</div> 
140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="keyword">public</span>:</div> 
142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a04440.html#a49aef82106661bcbd87299fa60209912">···49</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#a49aef82106661bcbd87299fa60209912">lambdaInitial</a>;·</div> 
144 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a04440.html#a0ff6f8698a3993eb6a2fe5720b5c45d6">···50</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#a0ff6f8698a3993eb6a2fe5720b5c45d6">lambdaFactor</a>;·</div> 
145 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a04440.html#a465daecb791ab692aa14fe0405b64e36">···51</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#a465daecb791ab692aa14fe0405b64e36">lambdaUpperBound</a>;·</div> 
146 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a04440.html#aad53fd303fc59476683c27e942f63ae2">···52</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#aad53fd303fc59476683c27e942f63ae2">lambdaLowerBound</a>;·</div> 
147 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a04440.html#afbde4b9a9a164eb9e3af824e0651686e">···53</a></span>··<a·class="code·hl_enumeration"·href="a04440.html#af2f0633976570cd713705bdb91598bfd">VerbosityLM</a>·<a·class="code·hl_variable"·href="a04440.html#afbde4b9a9a164eb9e3af824e0651686e">verbosityLM</a>;·</div> 
148 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a04440.html#aa6ab26143bf0ebbada2c325a88ca3348">···54</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#aa6ab26143bf0ebbada2c325a88ca3348">minModelFidelity</a>;·</div> 
149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04440.html#ae713aec0fbc945c84d7d18c966115674">···55</a></span>··std::string·<a·class="code·hl_variable"·href="a04440.html#ae713aec0fbc945c84d7d18c966115674">logFile</a>;·</div> 
150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a04440.html#ac5d85270de6828947a2d6e980a5c22a4">···56</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04440.html#ac5d85270de6828947a2d6e980a5c22a4">diagonalDamping</a>;·</div> 
151 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a04440.html#ad003372fa93954c8f2c86fd3e413f3ae">···57</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04440.html#ad003372fa93954c8f2c86fd3e413f3ae">useFixedLambdaFactor</a>;·</div> 
152 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a04440.html#a23c5fa1bbf749c1997a7e685f0cc4d49">···58</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#a23c5fa1bbf749c1997a7e685f0cc4d49">minDiagonal</a>;·</div> 
153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a04440.html#a4e94ad90d500f35181d23aa2461bf84d">···59</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#a4e94ad90d500f35181d23aa2461bf84d">maxDiagonal</a>;·</div> 
154 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
155 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>()</div> 
156 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······:·verbosityLM(SILENT),</div> 
157 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>········diagonalDamping(false),</div> 
158 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>········minDiagonal(1e-6),</div> 
159 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>········maxDiagonal(1e32)·{</div> 
160 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····SetLegacyDefaults(<span·class="keyword">this</span>);</div> 
161 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div> 
162 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div> 
163 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·SetLegacyDefaults(<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>*·p)·{</div> 
164 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="comment">//·Relevant·NonlinearOptimizerParams:</span></div> 
165 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····p-&gt;<a·class="code·hl_variable"·href="a04556.html#a19a9e8d9b25df5abe12c41fc7e8b1075">maxIterations</a>·=·100;</div> 
166 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····p-&gt;<a·class="code·hl_variable"·href="a04556.html#a9525e668e93fbb60ea4bffeab963629e">relativeErrorTol</a>·=·1e-5;</div> 
167 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····p-&gt;<a·class="code·hl_variable"·href="a04556.html#a01f8529b9f7efdd818e0d75134f1ae8b">absoluteErrorTol</a>·=·1e-5;</div> 
168 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="comment">//·LM-specific:</span></div> 
169 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····p-&gt;<a·class="code·hl_variable"·href="a04440.html#a49aef82106661bcbd87299fa60209912">lambdaInitial</a>·=·1e-5;</div> 
170 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····p-&gt;<a·class="code·hl_variable"·href="a04440.html#a0ff6f8698a3993eb6a2fe5720b5c45d6">lambdaFactor</a>·=·10.0;</div> 
171 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····p-&gt;<a·class="code·hl_variable"·href="a04440.html#a465daecb791ab692aa14fe0405b64e36">lambdaUpperBound</a>·=·1e5;</div> 
172 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····p-&gt;<a·class="code·hl_variable"·href="a04440.html#aad53fd303fc59476683c27e942f63ae2">lambdaLowerBound</a>·=·0.0;</div> 
173 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····p-&gt;<a·class="code·hl_variable"·href="a04440.html#aa6ab26143bf0ebbada2c325a88ca3348">minModelFidelity</a>·=·1e-3;</div> 
174 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····p-&gt;<a·class="code·hl_variable"·href="a04440.html#ac5d85270de6828947a2d6e980a5c22a4">diagonalDamping</a>·=·<span·class="keyword">false</span>;</div> 
175 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>····p-&gt;<a·class="code·hl_variable"·href="a04440.html#ad003372fa93954c8f2c86fd3e413f3ae">useFixedLambdaFactor</a>·=·<span·class="keyword">true</span>;</div> 
176 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··}</div> 
177 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
178 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<span·class="comment">//·these·do·seem·to·work·better·for·SFM</span></div> 
179 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·SetCeresDefaults(LevenbergMarquardtParams*·p)·{</div> 
180 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····<span·class="comment">//·Relevant·NonlinearOptimizerParams:</span></div> 
181 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>····p-&gt;maxIterations·=·50;</div> 
182 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····p-&gt;absoluteErrorTol·=·0;·····<span·class="comment">//·No·corresponding·option·in·CERES</span></div> 
183 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>····p-&gt;relativeErrorTol·=·1e-6;··<span·class="comment">//·This·is·function_tolerance</span></div> 
184 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>····<span·class="comment">//·LM-specific:</span></div> 
185 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····p-&gt;lambdaUpperBound·=·1e32;</div> 
186 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····p-&gt;lambdaLowerBound·=·1e-16;</div> 
187 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>····p-&gt;lambdaInitial·=·1e-04;</div> 
188 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>····p-&gt;lambdaFactor·=·2.0;</div> 
189 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>····p-&gt;minModelFidelity·=·1e-3;··<span·class="comment">//·options.min_relative_decrease·in·CERES</span></div> 
190 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>····p-&gt;diagonalDamping·=·<span·class="keyword">true</span>;</div> 
191 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>····p-&gt;useFixedLambdaFactor·=·<span·class="keyword">false</span>;··<span·class="comment">//·This·is·important</span></div> 
192 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··}</div> 
193 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>·</div> 
194 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>··<span·class="keyword">static</span>·LevenbergMarquardtParams·LegacyDefaults()·{</div> 
195 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>····LevenbergMarquardtParams·p;</div> 
196 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>····SetLegacyDefaults(&amp;p);</div> 
197 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>····<span·class="keywordflow">return</span>·p;</div> 
198 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>··}</div> 
199 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>·</div> 
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114 <div·class="textblock"><p>Nonlinear·Factor·base·classes.·</p>141 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>May·31,·2020·</dd></dl>
115 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>142 <dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal·</dd></dl>
116 <dd> 
117 Richard·Roberts·</dd></dl> 
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135 <dl·class="section·date"><dt>Date</dt><dd>Sep·7,·2009·</dd></dl>116 <dd>
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 117 Frank·Dellaert·</dd>
 118 <dd>
 119 Luca·Carlone·</dd></dl>
 120 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>
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117 Namespaces</h2></td></tr>109 Namespaces</h2></td></tr>
118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>110 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
119 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>111 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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121 </table><table·class="memberdecls"> 
122 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="typedef-members"·name="typedef-members"></a> 
123 Typedefs</h2></td></tr> 
124 <tr·class="memitem:a4579016a744c3d7adf227ea58623df7f"·id="r_a4579016a744c3d7adf227ea58623df7f"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a4579016a744c3d7adf227ea58623df7f"·name="a4579016a744c3d7adf227ea58623df7f"></a> 
125 typedef·<a·class="el"·href="a04556.html">NonlinearOptimizerParams</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::SuccessiveLinearizationParams</b></td></tr> 
126 <tr·class="separator:a4579016a744c3d7adf227ea58623df7f"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
127 </table>113 </table>
128 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>114 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
129 <div·class="textblock"><p>Parameters·for·nonlinear·optimization.·</p>115 <div·class="textblock"><p>Class·to·perform·generic·Kalman·Filtering·using·nonlinear·factor·graphs.·</p>
130 <dl·class="section·author"><dt>Author</dt><dd>Yong-Dian·Jian·</dd>116 <dl·class="section·author"><dt>Author</dt><dd>Stephen·Williams·</dd>
131 <dd> 
132 Richard·Roberts·</dd> 
133 <dd> 
134 Frank·Dellaert·</dd> 
135 <dd>117 <dd>
 118 Chris·Beall·</dd></dl>
136 Andrew·Melim·</dd></dl> 
137 <dl·class="section·date"><dt>Date</dt><dd>Apr·1,·2012·</dd></dl> 
138 </div></div><!--·contents·-->119 </div></div><!--·contents·-->
139 </div><!--·doc-content·-->120 </div><!--·doc-content·-->
140 <!--·start·footer·part·-->121 <!--·start·footer·part·-->
141 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->122 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
142 ··<ul>123 ··<ul>
143 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01055.html">NonlinearOptimizerParams.h</a></li>124 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01055.html">ExtendedKalmanFilter-inl.h</a></li>
144 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>125 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
145 ··</ul>126 ··</ul>
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148 </html>129 </html>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">NonlinearOptimizerParams.h</div></div>104 ··<div·class="headertitle"><div·class="title">ExtendedKalmanFilter-inl.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01055.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01055.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01100.html">gtsam/nonlinear/ExtendedKalmanFilter.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00734.html">gtsam/linear/GaussianBayesNet.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00770.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00722.html">gtsam/linear/SubgraphSolver.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div> 
123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
125 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·VALUE&gt;</div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">typename</span>·ExtendedKalmanFilter&lt;VALUE&gt;::T·ExtendedKalmanFilter&lt;VALUE&gt;::solve_(</div>
 130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>······<span·class="keyword">const</span>·GaussianFactorGraph&amp;·linearFactorGraph,</div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05076.html">Values</a>&amp;·linearizationPoint,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·lastKey,</div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>······<a·class="code·hl_typedef"·href="a03844.html#adaf03a52ed83559d6a03cbab95092698">JacobianFactor::shared_ptr</a>*·newPrior)</div>
126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··{</div>
127 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};"> 
128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04556.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04556.html">NonlinearOptimizerParams</a>·{</div>134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>····<span·class="comment">//·Compute·the·marginal·on·the·last·key</span></div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="comment">//·Solve·the·linear·factor·graph,·converting·it·into·a·linear·Bayes·Network</span></div>
129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">public</span>:</div>136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="comment">//·P(x0,x1)·=·P(x0|x1)*P(x1)</span></div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····Ordering·lastKeyAsOrdering;</div>
130 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};"> 
131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04556.html#a2b085d375ec6effa42e3deaaeab98694">···37</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a04556.html#a2b085d375ec6effa42e3deaaeab98694">Verbosity</a>·{</div> 
132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····SILENT,·TERMINATION,·ERROR,·VALUES,·DELTA,·LINEAR</div> 
133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··};</div>138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····lastKeyAsOrdering·+=·lastKey;</div>
134 </div>139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03764.html#aca05dc6ca9aea64f4621a8c8d2bf3d01">GaussianConditional::shared_ptr</a>·marginal·=</div>
 140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······linearFactorGraph.marginalMultifrontalBayesNet(lastKeyAsOrdering)-&gt;front();</div>
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="comment">//·Extract·the·current·estimate·of·x1,P1</span></div>
 143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<a·class="code·hl_class"·href="a05072.html">VectorValues</a>·result·=·marginal-&gt;solve(<a·class="code·hl_class"·href="a05072.html">VectorValues</a>());</div>
 144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····<span·class="keyword">const</span>·T&amp;·current·=·linearizationPoint.at&lt;T&gt;(lastKey);</div>
 145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····T·x·=·traits&lt;T&gt;::Retract(current,·result[lastKey]);</div>
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04556.html#a19a9e8d9b25df5abe12c41fc7e8b1075">···41</a></span>··<span·class="keywordtype">size_t</span>·maxIterations·=·100;·</div> 
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04556.html#a9525e668e93fbb60ea4bffeab963629e">···42</a></span>··<span·class="keywordtype">double</span>·relativeErrorTol·=·1e-5;·</div> 
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04556.html#a01f8529b9f7efdd818e0d75134f1ae8b">···43</a></span>··<span·class="keywordtype">double</span>·absoluteErrorTol·=·1e-5;·</div> 
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04556.html#aaf5a44f1a3dfd67a8027a797641cc31c">···44</a></span>··<span·class="keywordtype">double</span>·errorTol·=·0.0;·</div> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04556.html#a21971e7b985115acab326deeedcfe220">···45</a></span>··<a·class="code·hl_enumeration"·href="a04556.html#a2b085d375ec6effa42e3deaaeab98694">Verbosity</a>·verbosity·=·SILENT;·</div> 
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a04556.html#a9d851ffe0289f4dcd861b18bc6a05960">···46</a></span>··<a·class="code·hl_enumeration"·href="a03680.html#a41194f31ec42052094cf91d81dcd796d">Ordering::OrderingType</a>·orderingType·=·Ordering::COLAMD;·</div> 
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keywordtype">size_t</span>·getMaxIterations()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·maxIterations;·}</div> 
144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keywordtype">double</span>·getRelativeErrorTol()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·relativeErrorTol;·}</div> 
145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keywordtype">double</span>·getAbsoluteErrorTol()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·absoluteErrorTol;·}</div> 
146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keywordtype">double</span>·getErrorTol()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·errorTol;·}</div> 
147 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··std::string·getVerbosity()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·verbosityTranslator(verbosity);·}</div>147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="comment">//·Create·a·Jacobian·Factor·from·the·root·node·of·the·produced·Bayes·Net.</span></div>
 148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="comment">//·This·will·act·as·a·prior·for·the·next·iteration.</span></div>
 149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····<span·class="comment">//·The·linearization·point·of·this·prior·must·be·moved·to·the·new·estimate·of·x,</span></div>
 150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="comment">//·and·the·key/index·needs·to·be·reset·to·0,·the·first·key·in·the·next·iteration.</span></div>
 151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····assert(marginal-&gt;nrFrontals()·==·1);</div>
 152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····assert(marginal-&gt;nrParents()·==·0);</div>
 153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····*newPrior·=·boost::make_shared&lt;JacobianFactor&gt;(</div>
 154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······marginal-&gt;keys().front(),</div>
 155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······marginal-&gt;getA(marginal-&gt;begin()),</div>
 156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······marginal-&gt;getb()·-·marginal-&gt;getA(marginal-&gt;begin())·*·result[lastKey],</div>
 157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······marginal-&gt;get_model());</div>
148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>158 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
149 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">void</span>·setMaxIterations(<span·class="keywordtype">int</span>·value)·{·maxIterations·=·value;·}</div> 
150 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordtype">void</span>·setRelativeErrorTol(<span·class="keywordtype">double</span>·value)·{·relativeErrorTol·=·value;·}</div> 
151 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keywordtype">void</span>·setAbsoluteErrorTol(<span·class="keywordtype">double</span>·value)·{·absoluteErrorTol·=·value;·}</div> 
152 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keywordtype">void</span>·setErrorTol(<span·class="keywordtype">double</span>·value)·{·errorTol·=·value;·}</div> 
153 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keywordtype">void</span>·setVerbosity(<span·class="keyword">const</span>·std::string&amp;·src)·{</div> 
154 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····verbosity·=·verbosityTranslator(src);</div> 
155 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··}</div>159 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">return</span>·x;</div>
156 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div>
157 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keyword">static</span>·Verbosity·verbosityTranslator(<span·class="keyword">const</span>·std::string·&amp;s)·;</div> 
158 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keyword">static</span>·std::string·verbosityTranslator(Verbosity·value)·;</div> 
159 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>161 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
160 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a04556.html#aa62b693f8dae9f82e5ed0b3dab19f1c3">···67</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a04556.html#aa62b693f8dae9f82e5ed0b3dab19f1c3">IterationHook</a>·=·std::function&lt;</div> 
161 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····void(<span·class="keywordtype">size_t</span>·<span·class="comment">/*iteration*/</span>,·<span·class="keywordtype">double</span><span·class="comment">/*errorBefore*/</span>,·<span·class="keywordtype[·...·truncated·by·diffoscope;·len:·64,·SHA:·222f7a3bdc2a710c6a24606ee76ac8e9da67e0b4ecdf1379957ea0aefaa1aca1·...·]</div>162 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 163 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·VALUE&gt;</div>
 164 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··ExtendedKalmanFilter&lt;VALUE&gt;::ExtendedKalmanFilter(</div>
 165 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key_initial,·T·x_initial,·noiseModel::Gaussian::shared_ptr·P_initial)</div>
 166 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······:·x_(x_initial)··<span·class="comment">//·Set·the·initial·linearization·point</span></div>
 167 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··{</div>
 168 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="comment">//·Create·a·Jacobian·Prior·Factor·directly·P_initial.</span></div>
 169 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="comment">//·Since·x0·is·set·to·the·provided·mean,·the·b·vector·in·the·prior·will·be·zero</span></div>
 170 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="comment">//·TODO(Frank):·is·there·a·reason·why·noiseModel·is·not·simply·P_initial?</span></div>
 171 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="keywordtype">int</span>·n·=·traits&lt;T&gt;::GetDimension(x_initial);</div>
 172 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····priorFactor_·=·JacobianFactor::shared_ptr(</div>
 173 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>········<span·class="keyword">new</span>·<a·class="code·hl_class"·href="a05064.html">JacobianFactor</a>(key_initial,·P_initial-&gt;R(),·Vector::Zero(n),</div>
 174 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>············noiseModel::Unit::Create(n)));</div>
 175 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··}</div>
 176 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
 177 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 178 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·VALUE&gt;</div>
 179 <div·class="foldopen"·id="foldopen00080"·data-start="{"·data-end="}">
 180 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a04332.html#aa5abc72bbcb716e6bf7746cb18fc3f82">···80</a></span>··<span·class="keyword">typename</span>·ExtendedKalmanFilter&lt;VALUE&gt;::T·<a·class="code·hl_class"·href="a04332.html">ExtendedKalmanFilter&lt;VALUE&gt;::predict</a>(</div>
 181 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04504.html">NoiseModelFactor</a>&amp;·motionFactor)·{</div>
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100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">GaussNewtonOptimizer.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">ISAM2Result.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
 105 <p>Class·that·stores·detailed·iSAM2·result.··
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105 <p><a·href="a01064_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a01064_source.html">Go·to·the·source·code·of·this·file.</a></p>
106 <table·class="memberdecls">108 <table·class="memberdecls">
107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
108 Classes</h2></td></tr>110 Classes</h2></td></tr>
109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04352.html">gtsam::GaussNewtonParams</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04420.html">gtsam::ISAM2Result</a></td></tr>
110 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Parameters·for·Gauss-Newton·optimization,·inherits·from·NonlinearOptimizationParams.··<a·href="a04352.html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·struct·is·returned·from·<a·class="el"·href="a04396.html#abd282f9b00477204ab09590993a974e6"·title="Add·new·factors,·updating·the·solution·and·relinearizing·as·needed.">ISAM2::update()</a>·and·contains·information·about·the·update·that·is·useful·for·det[·...·truncated·by·diffoscope;·len:·114,·SHA:·0e46587e09c13e3fbe2adaf0ed561b0a65d38f35c7f8ec8cd26dcddd39ffa4c4·...·].html#details">More...</a><br·/></td></tr>
 113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·struct·holding·detailed·results,·which·must·be·enabled·with·<a·class="el"·href="a04416.html#a705057d0849755bb974848f57ca1482f"·title="Whether·to·compute·and·return·ISAM2Result::detailedResults,·this·can·increase·running·time·(default:·...">ISAM2Params::enableDetailedResults</a>.··<a·href="a04424.html#details">More...</a><br·/></td></tr>
111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>116 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
112 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04356.html">gtsam::GaussNewtonOptimizer</a></td></tr> 
113 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·class·performs·Gauss-Newton·nonlinear·optimization.··<a·href="a04356.html#details">More...</a><br·/></td></tr>117 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04428.html">gtsam::ISAM2Result::DetailedResults::VariableStatus</a></td></tr>
 118 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·status·of·a·single·variable,·this·struct·is·stored·in·<a·class="el"·href="a04424.html#aa95ea9ffc9e1c58ae54bccea5e5e1c5a"·title="The·status·of·each·variable·during·this·update,·see·VariableStatus.">DetailedResults::variableStatus</a>.··<a·href="a04428.html#details">More...</a><br·/></td></tr>
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117 Namespaces</h2></td></tr>122 Namespaces</h2></td></tr>
118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>123 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
119 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>124 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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121 </table>126 </table>
122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>127 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
123 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
124 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>128 <div·class="textblock"><p>Class·that·stores·detailed·iSAM2·result.·</p>
 129 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert·</dd></dl>
125 </div></div><!--·contents·-->130 </div></div><!--·contents·-->
126 </div><!--·doc-content·-->131 </div><!--·doc-content·-->
127 <!--·start·footer·part·-->132 <!--·start·footer·part·-->
128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->133 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
129 ··<ul>134 ··<ul>
130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01064.html">GaussNewtonOptimizer.h</a></li>135 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01064.html">ISAM2Result.h</a></li>
131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>136 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
132 ··</ul>137 ··</ul>
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134 </body>139 </body>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/GaussNewtonOptimizer.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/ISAM2Result.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
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99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">GaussNewtonOptimizer.h</div></div>104 ··<div·class="headertitle"><div·class="title">ISAM2Result.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01064.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01064.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">//·\callgraph</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01043.html">gtsam/nonlinear/NonlinearOptimizer.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">class·</span>GaussNewtonOptimizer;</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00752.html">gtsam/linear/GaussianBayesTree.h</a>&gt;</span></div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01037.html">gtsam/nonlinear/DoglegOptimizerImpl.h</a>&gt;</span></div>
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01016.html">gtsam/nonlinear/ISAM2Params.h</a>&gt;</span></div>
 128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01157.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;boost/variant.hpp&gt;</span></div>
126 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};"> 
127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a04352.html">···30</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04556.html">NonlinearOptimizerParams</a>·{</div> 
128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">public</span>:</div>131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04356.html">OptimizerType</a>·=·<a·class="code·hl_class"·href="a04356.html">GaussNewtonOptimizer</a>;</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>};</div>133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
131 </div> 
132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div> 
133 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">134 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="};">
 135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04420.html">···41</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a04420.html">ISAM2Result</a>·{</div>
 136 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a04420.html#a5ddf96680d6cac030d8862da98bcaba5">···54</a></span>··boost::optional&lt;double&gt;·<a·class="code·hl_variable"·href="a04420.html#a5ddf96680d6cac030d8862da98bcaba5">errorBefore</a>;</div>
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a04356.html">···38</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04356.html">GaussNewtonOptimizer</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04552.html">NonlinearOptimizer</a>·{</div> 
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div> 
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">protected</span>:</div> 
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>·params_;</div> 
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">public</span>:</div> 
140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
141 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·<a·class="code·hl_class"·href="a04356.html">GaussNewtonOptimizer</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialValues,</div> 
142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······················<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>&amp;·params·=·<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>());</div> 
143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>137 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 138 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno"><a·class="line"·href="a04420.html#ae57486e5d3d6592d0c08b4783baf2f27">···66</a></span>··boost::optional&lt;double&gt;·<a·class="code·hl_variable"·href="a04420.html#ae57486e5d3d6592d0c08b4783baf2f27">errorAfter</a>;</div>
144 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<a·class="code·hl_class"·href="a04356.html">GaussNewtonOptimizer</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialValues,</div> 
145 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·······················<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·ordering);</div> 
146 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>139 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
 140 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno"><a·class="line"·href="a04420.html#a0ef240bad454346811a3db6a28e2516a">···76</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_variable"·href="a04420.html#a0ef240bad454346811a3db6a28e2516a">variablesRelinearized</a>;</div>
147 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>141 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
 142 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a04420.html#aa591562d9627adfff6641e1b7f217c06">···84</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_variable"·href="a04420.html#aa591562d9627adfff6641e1b7f217c06">variablesReeliminated</a>;</div>
148 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a04356.html#a1a192f29b50d7fc49c4b085cd260266e">···73</a></span>··<a·class="code·hl_function"·href="a04356.html#a1a192f29b50d7fc49c4b085cd260266e">~GaussNewtonOptimizer</a>()<span·class="keyword">·override·</span>{}</div> 
149 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div> 
150 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<a·class="code·hl_typedef"·href="a03792.html#a1f73f4987b9bdaac5c1414a401c0364c">GaussianFactorGraph::shared_ptr</a>·iterate()·<span·class="keyword">override</span>;</div> 
151 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div> 
152 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno"><a·class="line"·href="a04356.html#a1084408cbbd06b40403a494ee99badbe">···82</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>&amp;·<a·class="code·hl_function"·href="a04356.html#a1084408cbbd06b40403a494ee99badbe">params</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·params_;·}</div> 
153 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div> 
154 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>143 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
 144 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno"><a·class="line"·href="a04420.html#a3d4494a9ce533ee7fac5acf6819f2484">···88</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_variable"·href="a04420.html#a3d4494a9ce533ee7fac5acf6819f2484">factorsRecalculated</a>;</div>
155 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span><span·class="keyword">protected</span>:</div> 
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121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>Class·that·stores·extra·params·for·ISAM2::update()·</p> 
123 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert,·Jose·Luis·Blanco·</dd></dl>123 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
 124 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/ISAM2UpdateParams.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/GaussNewtonOptimizer.h·Source·File</title>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ISAM2UpdateParams.h</div></div>104 ··<div·class="headertitle"><div·class="title">GaussNewtonOptimizer.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01067.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01067.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
 108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
 113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
 115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span>·</div> 
115 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">//·\callgraph</span></div> 
116 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
117 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00047.html">gtsam/base/FastList.h</a>&gt;</span></div> 
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span>··············<span·class="comment">//·GTSAM_EXPORT</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span>··········<span·class="comment">//·Key,·KeySet</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01052.html">gtsam/nonlinear/NonlinearOptimizer.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01049.html">gtsam/nonlinear/ISAM2Result.h</a>&gt;</span>··<span·class="comment">//FactorIndices</span></div> 
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">class·</span>GaussNewtonOptimizer;</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
127 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04432.html">···32</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a04432.html">ISAM2UpdateParams</a>·{</div> 
129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<a·class="code·hl_struct"·href="a04432.html">ISAM2UpdateParams</a>()·=·<span·class="keywordflow">default</span>;</div>127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a04352.html">···30</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>·:·<span·class="keyword">public</span>·<a·class="c[·...·truncated·by·diffoscope;·len:·63,·SHA:·ac23d8ac7671d012fcd6f1e882e42178d5904fe504669161ae4edf8cf4535015·...·]</div>
 128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">public</span>:</div>
 129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04356.html">OptimizerType</a>·=·<a·class="code·hl_class"·href="a04356.html">GaussNewtonOptimizer</a>;</div>
 130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>};</div>
 131 </div>
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04432.html#a722ee268dfe1cf90d65433b01bc02a9e">···36</a></span>··<a·class="code·hl_typedef"·href="a01428.html#a99e63c90a8ac740d99716e73fe97e054">FactorIndices</a>·<a·class="c[·...·truncated·by·diffoscope;·len:·99,·SHA:·bb6f3de4b022e1592629ad5b97bf0a82dec7aa00bee1bcff881b61e9a7c6b56d·...·]>133 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">
 134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a04356.html">···38</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04356.html">GaussNewtonOptimizer</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04552.html">NonlinearOptimizer</a>·{</div>
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04432.html#a1171e13a3213ea4ebbde502583e51e9b">···40</a></span>··boost::optional&lt;FastMap&lt;Key,·int&gt;&gt;·<a·class="code·hl_variable"·href="a04432.html#a1171e13a3213ea4ebbde502583e51e9b">constrainedKeys</a>{boost::none};</div>136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">protected</span>:</div>
 137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>·params_;</div>
134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
135 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04432.html#adee5e549912cce0c412f2476bb12c389">···44</a></span>··boost::optional&lt;FastList&lt;Key&gt;&gt;·<a·class="code·hl_variable"·href="a04432.html#adee5e549912cce0c412f2476bb12c389">noR[·...·truncated·by·diffoscope;·len:·26,·SHA:·da2d89171c9cdfc522d5050f22443f2e75376bb1cd387bece3f04c22459f5468·...·]</div>139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">public</span>:</div>
136 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a04432.html#add8ddce81b7606cdfe2690239a863ef8">···49</a></span>··boost::optional&lt;FastList&lt;Key&gt;&gt;·<a·class="code·hl_variable"·href="a04432.html#add8ddce81b7606cdfe2690239a863ef8">ex[·...·truncated·by·diffoscope;·len:·31,·SHA:·13173956f478bda18c12db048153e6ff095f24ed671c20e3afd413e048893dac·...·]</div>141 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·<a·class="code·hl_class"·href="a04356.html">GaussNewtonOptimizer</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,·<span·class="ke[·...·truncated·by·diffoscope;·len:·94,·SHA:·04cfde86cca03e9784ae54ef4fdb5afde331488d52019e29a8cbfa7b2acdc4e3·...·]</div>
 142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······················<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>&amp;·params·=·<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>());</div>
138 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 144 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<a·class="code·hl_class"·href="a04356.html">GaussNewtonOptimizer</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialValues,</div>
 145 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·······················<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·ordering);</div>
139 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a04432.html#a3faf0991b952cebcd6da9d13d09dbbf3">···54</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04432.html#a3faf0991b952cebcd6da9d13d09dbbf3">force_relinearize</a>{<span·class="keyword">false</span>};</div> 
140 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
141 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno"><a·class="line"·href="a04432.html#ae8d90d9110de52141a784e2c7b41ec69">···66</a></span>··boost::optional&lt;FastMap&lt;FactorIndex,·KeySet&gt;&gt;·<a·class="code·hl_variable"·href="a04432.html#ae8d90d9110de52141a784e2c7b41ec69">newAffectedKeys</a>{boost::none};</div> 
142 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>146 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
143 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno"><a·class="line"·href="a04432.html#a8d9c49f7f7070d873c58913714c11a11">···71</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04432.html#a8d9c49f7f7070d873c58913714c11a11">forceFullSolve</a>{<span·class="keyword">false</span>};</div> 
144 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>};</div>147 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 148 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a04356.html#a1a192f29b50d7fc49c4b085cd260266e">···73</a></span>··<a·class="code·hl_function"·href="a04356.html#a1a192f29b50d7fc49c4b085cd260266e">~GaussNewtonOptimizer</a>()<span·class="keyword">·override·</span>{}</div>
 149 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 150 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<a·class="code·hl_typedef"·href="a03792.html#a1f73f4987b9bdaac5c1414a401c0364c">GaussianFactorGraph::shared_ptr</a>·iterate()·<span·class="keyword">override</span>;</div>
 151 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
 152 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno"><a·class="line"·href="a04356.html#a1084408cbbd06b40403a494ee99badbe">···82</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>&amp;·<a·class="code·hl_function"·href="a04356.html#a1084408cbbd06b40403a494ee99badbe">params</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·params_;·}</div>
 153 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
 154 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
 155 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span><span·class="keyword">protected</span>:</div>
 156 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno"><a·class="line"·href="a04356.html#a6fc51df3b0bf89e7449a5b4c5c82485d">···88</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04556.html">NonlinearOptimizerParams</a>&amp;·<a·class="code·hl_function"·href="a04356.html#a6fc51df3b0bf89e7449a5b4c5c82485d">_params</a>()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·params_;·}</div>
 157 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>
 158 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>·ensureHasOrdering(<a·class="code·hl_class"·href="a04352.html">GaussNewtonParams</a>·params,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph)·<span·class="keyword">const</span>;</div>
 159 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div>
 160 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>};</div>
145 </div>161 </div>
146 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>162 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>
 163 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>}</div>
 164 <div·class="ttc"·id="aa01052_html"><div·class="ttname"><a·href="a01052.html">NonlinearOptimizer.h</a></div><div·class="ttdoc">Base·class·and·parameters·for·nonlinear·optimization·algorithms.</div></div>
147 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>}··<span·class="comment">//·namespace·gtsam</span></div> 
148 <div·class="ttc"·id="aa00047_html"><div·class="ttname"><a·href="a00047.html">FastList.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::list·that·uses·boost's·fast_pool_allocator.</div></div> 
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116 <dd>133 <dd>
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118 <dd>135 <dd>
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120 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>137 <dl·class="section·date"><dt>Date</dt><dd>Apr·1,·2012·</dd></dl>
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132 <tr·class="memitem:a9d2a0b16c9f78f20fc78fa39c7426242"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a04336.html">FunctorizedFactor</a>&lt;·R,·T·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a9d2a0b16c9f78f20fc78fa39c7426242">gtsam::MakeFunctorizedFactor</a>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·const·R·&amp;z,·const·<a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model,·const·FUNC·func)</td></tr> 
133 <tr·class="memdesc:a9d2a0b16c9f78f20fc78fa39c7426242"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Helper·function·to·create·a·functorized·factor.··<br·/></td></tr> 
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136 <tr·class="memitem:a313f0e290f370cff0b7e25024d1b8c6d"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a04344.html">FunctorizedFactor2</a>&lt;·R,·T1,·T2·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a313f0e290f370cff0b7e25024d1b8c6d">gtsam::MakeFunctorizedFactor2</a>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1,·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2,·const·R·&amp;z,·const·<a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model,·const·FUNC·func)</td></tr> 
137 <tr·class="memdesc:a313f0e290f370cff0b7e25024d1b8c6d"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Helper·function·to·create·a·functorized·factor.··<br·/></td></tr> 
138 <tr·class="separator:a313f0e290f370cff0b7e25024d1b8c6d"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
139 </table>119 </table>
140 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>120 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
141 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>May·31,·2020·</dd></dl>121 <div·class="textblock"><p>The·GncOptimizer·class.·</p>
142 <dl·class="section·author"><dt>Author</dt><dd>Varun·Agrawal·</dd></dl>122 <dl·class="section·author"><dt>Author</dt><dd>Jingnan·Shi·</dd>
 123 <dd>
 124 Luca·Carlone·</dd>
 125 <dd>
 126 Frank·Dellaert</dd></dl>
 127 <p>Implementation·of·the·paper:·Yang,·Antonante,·Tzoumas,·Carlone,·"Graduated·Non-Convexity·for·Robust·Spatial·Perception:
 128 From·Non-Minimal·Solvers·to·Global·Outlier·Rejection",·ICRA/RAL,·2020.·(arxiv·version:·<a·href="https://arxiv.org/pdf/1909.08605.pdf">https://arxiv.org/pdf/1909.08605.pdf</a>)</p>
 129 <p>See·also:·Antonante,·Tzoumas,·Yang,·Carlone,·"Outlier-Robust·Estimation:·Hardness,·Minimally-Tuned·Algorithms,·and·Applications",·arxiv:·<a·href="https://arxiv.org/pdf/2007.15109.pdf">https://arxiv.org/pdf/2007.15109.pdf</a>,·2020.·</p>
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117 <dd> 
118 Richard·Roberts·</dd> 
119 <dd> 
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121 <dd> 
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124 Richard·Roberts·</dd></dl>117 Frank·Dellaert·</dd>
 118 <dd>
 119 Luca·Carlone·</dd></dl>
 120 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>
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120 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Jan·19,·2010·</dd></dl> 
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 123 <dl·class="section·author"><dt>Author</dt><dd>Stephen·Williams·</dd>
 124 <dd>
 125 Chris·Beall·</dd></dl>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/NonlinearISAM.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/ExtendedKalmanFilter.h·Source·File</title>
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Offset 98, 118 lines modifiedOffset 98, 110 lines modified
98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">NonlinearISAM.h</div></div>104 ··<div·class="headertitle"><div·class="title">ExtendedKalmanFilter.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01100.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01100.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">//·\callgraph</span></div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01157.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00746.html">gtsam/linear/GaussianISAM.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="};"> 
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a04548.html">···27</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04548.html">NonlinearISAM</a>·{</div> 
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">protected</span>:</div> 
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a04548.html#afd3d7d897197b0a60a8e25dc68c588fd">···31</a></span>··<a·class="code·hl_class"·href="a03800.html">gtsam::GaussianISAM</a>·<a·class="code·hl_variable"·href="a04548.html#afd3d7d897197b0a60a8e25dc68c588fd">isam_</a>;</div> 
129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div> 
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04548.html#aed05de793f4fde627a4c234bbc38a8f2">···34</a></span>··<a·class="code·hl_class"·href="a04612.html">Values</a>·<a·class="code·hl_variable"·href="a04548.html#aed05de793f4fde627a4c234bbc38a8f2">linPoint_</a>;</div> 
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04548.html#a3abd8344c16dc519209aec578a9f56df">···37</a></span>··<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>·<a·class="code·hl_variable"·href="a04548.html#a3abd8344c16dc519209aec578a9f56df">factors_</a>;</div> 
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div> 
134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04548.html#ae53203f6b84dc0f29f9fb52afdc49fd9">···40</a></span>··<span·class="keywordtype">int</span>·<a·class="code·hl_variable"·href="a04548.html#ae53203f6b84dc0f29f9fb52afdc49fd9">reorderInterval_</a>;</div> 
135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordtype">int</span>·reorderCounter_;</div> 
136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04548.html#a177189467b87cc41c92f03e3d73b283e">···44</a></span>··<a·class="code·hl_typedef"·href="a03580.html#a4053522180fd649baf38a49c515e7b53">GaussianFactorGraph::Eliminate</a>·<a·class="code·hl_variable"·href="a04548.html#a177189467b87cc41c92f03e3d73b283e">eliminationFunction_</a>;</div> 
138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div> 
139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">public</span>:</div>126 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·VALUE&gt;</div>
140 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
142 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="}">127 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">
143 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a04548.html#acce79d0a1cb22a2874f3b15c3a2bf0bc">···58</a></span>··<a·class="code·hl_function"·href="a04548.html#acce79d0a1cb22a2874f3b15c3a2bf0bc">NonlinearISAM</a>(<span·class="keywordtype">int</span>·reorderInterval·=·1,</div> 
144 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03580.html#a4053522180fd649baf38a49c515e7b53">GaussianFactorGraph::Eliminate</a>&amp;·eliminationFunction·=·GaussianFactorGraph::EliminationTraitsType::DefaultEliminate)·:</div> 
145 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··reorderInterval_(reorderInterval),·reorderCounter_(0),·eliminationFunction_(eliminationFunction)·{}</div> 
146 </div>128 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04332.html">···45</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04332.html">ExtendedKalmanFilter</a>·{</div>
 129 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Check·that·VALUE·type·is·a·testable·Manifold</span></div>
 130 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··BOOST_CONCEPT_ASSERT((<a·class="code·hl_class"·href="a02476.html">IsTestable&lt;VALUE&gt;</a>));</div>
 131 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··BOOST_CONCEPT_ASSERT((IsManifold&lt;VALUE&gt;));</div>
147 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>132 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 133 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·<span·class="keyword">public</span>:</div>
 134 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;ExtendedKalmanFilter&lt;VALUE&gt;·&gt;·shared_ptr;</div>
 135 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">typedef</span>·VALUE·T;</div>
148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>136 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
149 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<a·class="code·hl_class"·href="a04612.html">Values</a>·estimate()·<span·class="keyword">const</span>;</div>137 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="preprocessor">#ifdef·GTSAM_ALLOW_DEPRECATED_SINCE_V42</span></div>
 138 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="comment">//@deprecated:·any·NoiseModelFactor·will·do,·as·long·as·they·have·the·right·keys</span></div>
 139 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;VALUE,·VALUE&gt;</a>·MotionFactor;</div>
 140 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;VALUE&gt;</a>·MeasurementFactor;</div>
 141 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><span·class="preprocessor">#endif</span></div>
 142 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 143 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·<span·class="keyword">protected</span>:</div>
 144 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··T·x_;·····································<span·class="comment">//·linearization·point</span></div>
 145 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<a·class="code·hl_typedef"·href="a03844.html#adaf03a52ed83559d6a03cbab95092698">JacobianFactor::shared_ptr</a>·priorFactor_;··<span·class="comment">//·Gaussian·density·on·x_</span></div>
150 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>146 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
151 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··Matrix·marginalCovariance(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key)·<span·class="keyword">const</span>;</div>147 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">static</span>·T·solve_(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>&amp;·linearFactorGraph,·<span·class="keyword">const[·...·truncated·by·diffoscope;·len:·88,·SHA:·45d2a9f1bf84900a281db7c593c9d9cbb157c5d978895c827dbb16e2a121b75c·...·]</div>
 148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··················<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·x,·<a·class="code·hl_typedef"·href="a03844.html#adaf03a52ed83559d6a03cbab95092698">JacobianFactor::shared_ptr</a>*·newPrior);</div>
 149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
 150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·<span·class="keyword">public</span>:</div>
152 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>151 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="comment">//·access</span></div>152 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<a·class="code·hl_class"·href="a04332.html">ExtendedKalmanFilter</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key_initial,·T·x_initial,·noiseModel::Gauss[·...·truncated·by·diffoscope;·len:·27,·SHA:·7fc05de58b4e4603592b4a515d31cba06fb48a426b6bbbea55a94dae4879c788·...·]</div>
154 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
155 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a04548.html#a76efdc9eccb062477ffd6cb29544d94c">···75</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03800.html">GaussianISAM</a>&amp;·<a·class="code·hl_function"·href="a04548.html#a76efdc9eccb062477ffd6cb29544d94c">bayesTree</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·isam_;·}</div> 
156 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>154 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
157 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a04548.html#aff98e8571b6ed8f1ac9002834b36c470">···78</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·<a·class="code·hl_function"·href="a04548.html#aff98e8571b6ed8f1ac9002834b36c470">getLinearizationPoint</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·linPoint_;·}</div> 
158 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div> 
159 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno"><a·class="line"·href="a04548.html#adaf180df5658f7977a3418f896af5e28">···81</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·[·...·truncated·by·diffoscope;·len:·197,·SHA:·6280fc5549fac56bcd77e35ce23165268173def4e87b037b3de90a463cd32dd6·...·]>155 <div·class="foldopen"·id="foldopen00078"·data-start="{"·data-end="}">
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 157 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;\n&quot;</span>;</div>
 158 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····x_.print(s·+·<span·class="stringliteral">&quot;x&quot;</span>);</div>
 159 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>····priorFactor_-&gt;print(s·+·<span·class="stringliteral">&quot;density&quot;</span>);</div>
160 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>160 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··}</div>
161 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a04548.html#a97c87450a87bff7fe29484ae254b938a">···84</a></span>··<span·class="keywordtype">int</span>·<a·class="code·hl_function"·href="a04548.html#a97c87450a87bff[·...·truncated·by·diffoscope;·len:·141,·SHA:·82dc6ada5a78fc5b0e675ff3b82a9fff71d83352d9b1b83850a54016755c0281·...·]/div>161 </div>
 162 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
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 164 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>··T·<a·class="code·hl_function"·href="a04332.html#aa5abc72bbcb716e6bf7746cb18fc3f82">predict</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04504.html">NoiseModelFactor</a>&amp;·motionFactor);</div>
 165 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>
 166 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>··T·<a·class="code·hl_function"·href="a04332.html#a2af26c404282581900319486f1669e84">update</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04504.html">NoiseModelFactor</a>&amp;·measurementFactor);</div>
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162 <div·class="foldopen"·id="foldopen00085"·data-start="{"·data-end="}">168 <div·class="foldopen"·id="foldopen00102"·data-start="{"·data-end="}">
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163 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno"><a·class="line"·href="a04548.html#ad091cf1a8c2890cd041fb7f525ba8b7e">···85</a></span>··<span·class="keywordtype">int</span>·<a·class="code·hl_function"·href="a04548.html#ad091cf1a8c2890cd041fb7f525ba8b7e">reorderCounter</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·reorderCounter_;·}····</div> 
164 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div> 
165 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s=<span·class="stringliteral">&quot;&quot;</span>,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const</span>;</div> 
166 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div> 
167 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··<span·class="keywordtype">void</span>·printStats()·<span·class="keyword">const</span>;</div>170 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>····<span·class="keywordflow">return</span>·priorFactor_;</div>
168 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div> 
169 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··<span·class="keywordtype">void</span>·saveGraph(<span·class="keyword">const</span>·std::string&amp;·s,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const</span>;</div> 
170 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div> 
171 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>·</div> 
172 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>··<span·class="keywordtype">void</span>·update(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·newFactors,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialValues);</div> 
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174 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>··<span·class="keywordtype">void</span>·reorder_relinearize();</div> 
175 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>·</div> 
176 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>·</div> 
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102 ··<div·class="headertitle"><div·class="title">ISAM2-impl.h·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">NonlinearConjugateGradientOptimizer.h·File·Reference</div></div>
103 </div><!--header-->104 </div><!--header-->
104 <div·class="contents">105 <div·class="contents">
  
105 <p>Incremental·update·functionality·(ISAM2)·for·BayesTree,·with·fluid·relinearization.··106 <p>Simple·non-linear·optimizer·that·solves·using·<em>non-preconditioned</em>·CG.··
106 <a·href="#details">More...</a></p>107 <a·href="#details">More...</a></p>
  
107 <p><a·href="a01103_source.html">Go·to·the·source·code·of·this·file.</a></p>108 <p><a·href="a01103_source.html">Go·to·the·source·code·of·this·file.</a></p>
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112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
113 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04376.html">gtsam::ISAM2JunctionTree</a></td></tr>112 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04460.html">gtsam::NonlinearConjugateGradientOptimizer</a></td></tr>
 113 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">An·implementation·of·the·nonlinear·CG·method·using·the·template·below.··<a·href="a04460.html#details">More...</a><br·/></td></tr>
114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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117 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04384.html">gtsam::DeltaImpl::PartialSolveResult</a></td></tr> 
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119 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04388.html">gtsam::DeltaImpl::ReorderingMode</a></td></tr> 
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122 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Implementation·functions·for·update·method·All·of·the·methods·below·have·clear·inputs·and·outputs,·even·if·not·functional:·iSAM2·is·inherintly·imperative.··<a·href="a04392.html#details">More...</a><br·/></td></tr> 
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 126 <tr·class="memitem:a0ceb9e5a5e864b96c529db67f55a873b"><td·class="memTemplItemLeft"·align="right"·valign="top">double&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::lineSearch</b>·(const·S·&amp;system,·const·V·currentValues,·const·W·&amp;gradient)</td></tr>
 127 <tr·class="memdesc:a0ceb9e5a5e864b96c529db67f55a873b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Implement·the·golden-section·line·search·algorithm.·<br·/></td></tr>
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 130 <tr·class="memitem:afc19854e0bfc1acadb00ff00a043cc17"><td·class="memTemplItemLeft"·align="right"·valign="top">boost::tuple&lt;·V,·int·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#afc19854e0bfc1acadb00ff00a043cc17">gtsam::nonlinearConjugateGradient</a>·(const·S·&amp;system,·const·V·&amp;initial,·const·<a·class="el"·href="a04556.html">NonlinearOptimizerParams</a>·&amp;params,·const·bool·singleIteration,·const·bool·gradientDescent=false)</td></tr>
 131 <tr·class="memdesc:afc19854e0bfc1acadb00ff00a043cc17"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Implement·the·nonlinear·conjugate·gradient·method·using·the·Polak-Ribiere·formula·suggested·in·<a·href="http://en.wikipedia.org/wiki/Nonlinear_conjugate_gradient_method">http://en.wikipedia.org/wiki/Nonlinear_conjugate_gradient_method</a>.··<br·/></td></tr>
 132 <tr·class="separator:afc19854e0bfc1acadb00ff00a043cc17"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>133 </table>
131 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>134 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
132 <div·class="textblock"><p>Incremental·update·functionality·(ISAM2)·for·BayesTree,·with·fluid·relinearization.·</p> 
133 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert·</dd></dl>135 <div·class="textblock"><p>Simple·non-linear·optimizer·that·solves·using·<em>non-preconditioned</em>·CG.·</p>
 136 <dl·class="section·author"><dt>Author</dt><dd>Yong-Dian·Jian·</dd></dl>
 137 <dl·class="section·date"><dt>Date</dt><dd>June·11,·2012·</dd></dl>
134 </div></div><!--·contents·-->138 </div></div><!--·contents·-->
135 </div><!--·doc-content·-->139 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->140 <!--·start·footer·part·-->
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138 ··<ul>142 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01103.html">ISAM2-impl.h</a></li>143 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01103.html">NonlinearConjugateGradientOptimizer.h</a></li>
140 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>144 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>·&#124;
 102 <a·href="#typedef-members">Typedefs</a>··</div>
102 ··<div·class="headertitle"><div·class="title">ExpressionFactorGraph.h·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">CustomFactor.h·File·Reference</div></div>
103 </div><!--header-->104 </div><!--header-->
104 <div·class="contents">105 <div·class="contents">
  
105 <p>Factor·graph·that·supports·adding·ExpressionFactors·directly.··106 <p>Class·to·enable·arbitrary·factors·with·runtime·swappable·error·function.··
106 <a·href="#details">More...</a></p>107 <a·href="#details">More...</a></p>
  
107 <p><a·href="a01106_source.html">Go·to·the·source·code·of·this·file.</a></p>108 <p><a·href="a01106_source.html">Go·to·the·source·code·of·this·file.</a></p>
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a03592.html">Factor</a>·graph·that·supports·adding·ExpressionFactors·directly.··<a·href="a04328.html#details">More...</a><br·/></td></tr> 
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117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 120 </table><table·class="memberdecls">
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 122 Typedefs</h2></td></tr>
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 124 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::JacobianVector</b>·=·std::vector&lt;·Matrix·&gt;</td></tr>
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 127 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::CustomErrorFunction</b>·=·std::function&lt;·Vector(const·<a·class="el"·href="a04248.html">CustomFactor</a>·&amp;,·const·<a·class="el"·href="a04612.html">Values</a>·&amp;,·const·JacobianVector·*)&gt;</td></tr>
 128 <tr·class="separator:a76cea906509aed5310fbcf0ddb55b22f"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 </table>129 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>130 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>Factor·graph·that·supports·adding·ExpressionFactors·directly.·</p>131 <div·class="textblock"><p>Class·to·enable·arbitrary·factors·with·runtime·swappable·error·function.·</p>
123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>132 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang·</dd></dl>
124 <dl·class="section·date"><dt>Date</dt><dd>December·2014·</dd></dl> 
125 </div></div><!--·contents·-->133 </div></div><!--·contents·-->
126 </div><!--·doc-content·-->134 </div><!--·doc-content·-->
127 <!--·start·footer·part·-->135 <!--·start·footer·part·-->
128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->136 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
129 ··<ul>137 ··<ul>
130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01106.html">ExpressionFactorGraph.h</a></li>138 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01106.html">CustomFactor.h</a></li>
131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>139 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
132 ··</ul>140 ··</ul>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ExpressionFactorGraph.h</div></div>104 ··<div·class="headertitle"><div·class="title">CustomFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01106.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01106.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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125 <div·class="foldopen"·id="foldopen00029"·data-start="{"·data-end="};"> 
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127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div> 
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 128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="comment">/*</span></div>
 129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="comment">·*·NOTE</span></div>
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 134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">·*·Thus·the·pointer·will·never·be·invalidated.</span></div>
 135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="comment">·*/</span></div>
 136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">using·</span>CustomErrorFunction·=·std::function&lt;Vector(<span·class="keyword">const</span>·CustomFactor·&amp;,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05076.html">Values</a>·&amp;,·<span·class="keyword">const</span>·JacobianVector·*)&gt;;</div>
130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
131 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T&gt;</div> 
132 <div·class="foldopen"·id="foldopen00043"·data-start="{"·data-end="}">138 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">
 139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04248.html">···45</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04248.html">CustomFactor</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04504.html">NoiseModelFactor</a>·{</div>
 140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">protected</span>:</div>
133 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04328.html#ac417241d59dbed10d320032a0c502929">···43</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04328.html#ac417241d59dbed10d320032a0c502929">addExpressionFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04292.html">Expression&lt;T&gt;</a>&amp;·h,·<span·class="keyword">const</span>·T&amp;·z,</div> 
134 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·R)·{</div> 
135 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····<span·class="keyword">using·</span>F·=·<a·class="code·hl_class"·href="a04280.html">ExpressionFactor&lt;T&gt;</a>;</div> 
136 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····<a·class="code·hl_function"·href="a03524.html#a1bd7154e74538b5934fc616bb5ef7281">push_back</a>(boost::allocate_shared&lt;F&gt;(Eigen::aligned_allocator&lt;F&gt;(),·R,·z,·h));</div> 
137 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··}</div>141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··CustomErrorFunction·error_function_;</div>
138 </div> 
139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="keyword">protected</span>:</div>
140 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>};</div>144 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 145 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04504.html">Base</a>·=·<a·class="code·hl_function"·href="a04504.html#ad6e8ef3348e042d598617d1d55f20300">NoiseModelFactor</a>;</div>
 146 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04248.html">This</a>·=·<a·class="code·hl_function"·href="a04248.html#ac93d675279e7e26e966775dd64f61331">CustomFactor</a>;</div>
 147 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 148 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keyword">public</span>:</div>
 149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a04248.html#ac93d675279e7e26e966775dd64f61331">···59</a></span>··<a·class="code·hl_function"·href="a04248.html#ac93d675279e7e26e966775dd64f61331">CustomFactor</a>()·=·<span·class="keywordflow">default</span>;</div>
 151 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 152 <div·class="foldopen"·id="foldopen00067"·data-start="{"·data-end="}">
 153 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a04248.html#a53488ff12f9b8a98c49c432dd4332176">···67</a></span>··<a·class="code·hl_function"·href="a04248.html#a53488ff12f9b8a98c49c432dd4332176">CustomFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;<a·class="code·hl_function"·href="a04504.html#ae995e64bbd0660091eb6b40cba60aef7">noiseModel</a>,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,·<span·class="keyword">const</span>·CustomErrorFunction·&amp;errorFunction)·:</div>
 154 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<a·class="code·hl_class"·href="a04504.html">Base</a>(<a·class="code·hl_function"·href="a04504.html#ae995e64bbd0660091eb6b40cba60aef7">noiseModel</a>,·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>)·{</div>
 155 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····this-&gt;error_function_·=·errorFunction;</div>
 156 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··}</div>
141 </div>157 </div>
142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 159 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<a·class="code·hl_class"·href="a04248.html">~CustomFactor</a>()·<span·class="keyword">override</span>·=·<span·class="keywordflow">default</span>;</div>
 160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
 161 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··Vector·<a·class="code·hl_function"·href="a04248.html#a019ffc0c38e4076e5acfa5eed2465921">unwhitenedError</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·&amp;x,·boost::optional&lt;std::vector&lt;Matrix&gt;·&amp;&gt;·H·=·boost::none)·<span·class="keyword">const·override</span>;</div>
 162 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
 163 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04248.html#afd46028ad57228fbcd7a93f861dd609c">print</a>(<span·class="keyword">const</span>·std::string·&amp;s,</div>
 164 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·············<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div>
 165 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
 166 <div·class="foldopen"·id="foldopen00087"·data-start="{"·data-end="}">
 167 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a04248.html#afd0394a184c062583c4cf0cb21c8e05b">···87</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a04248.html#afd0394a184c062583c4cf0cb21c8e05b">sendable</a>()<span·class="keyword">·const·override·</span>{</div>
 168 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····<span·class="keywordflow">return</span>·<span·class="keyword">false</span>;</div>
 169 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··}</div>
 170 </div>
 171 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>
 172 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span><span·class="keyword">private</span>:</div>
143 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>}</div>173 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div>
 174 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno"><a·class="line"·href="a04248.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">···94</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a04248.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>
 175 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
 176 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 177 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>····ar·&amp;·boost::serialization::make_nvp(<span·class="stringliteral">&quot;CustomFactor&quot;</span>,</div>
 178 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>········································boost::serialization::base_object&lt;Base&gt;(*<span·class="keyword">this</span>));</div>
 179 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>··}</div>
 180 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>};</div>
 181 </div>
 182 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>·</div>
 183 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>}</div>
144 <div·class="ttc"·id="aa01145_html"><div·class="ttname"><a·href="a01145.html">NonlinearFactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·consisting·of·non-linear·factors.</div></div>184 <div·class="ttc"·id="aa01013_html"><div·class="ttname"><a·href="a01013.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>
145 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>185 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
 186 <div·class="ttc"·id="aa01428_html_a1c320e42b033352fbbd8266e3bd5faad"><div·class="ttname"><a·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">gtsam::KeyVector</a></div><div·class="ttdeci">FastVector&lt;·Key·&gt;·KeyVector</div><div·class="ttdoc">Define·collection·type·once·and·for·all·-·also·used·in·wrappers.</div><div·class="ttdef"><b>Definition</b>·Key.h:86</div></div>
146 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>187 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>
 188 <div·class="ttc"·id="aa01428_html_ae4b4e8e7f0d745882c6a02b507d5bffe"><div·class="ttname"><a·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">gtsam::KeyFormatter</a></div><div·class="ttdeci">std::function&lt;·std::string(Key)&gt;·KeyFormatter</div><div·class="ttdoc">Typedef·for·a·function·to·format·a·key,·i.e.·to·convert·it·to·a·string.</div><div·class="ttdef"><b>Definition</b>·Key.h:35</div></div>
 189 <div·class="ttc"·id="aa03592_html_a03d71985cf81a0175a71d1ecf5279edb"><div·class="ttname"><a·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">gtsam::Factor::keys</a></div><div·class="ttdeci">const·KeyVector·&amp;·keys()·const</div><div·class="ttdoc">Access·the·factor's·involved·variable·keys.</div><div·class="ttdef"><b>Definition</b>·Factor.h:140</div></div>
147 <div·class="ttc"·id="aa03524_html_a1bd7154e74538b5934fc616bb5ef7281"><div·class="ttname"><a·href="a03524.html#a1bd7154e74538b5934fc616bb5ef7281">gtsam::FactorGraph&lt;·NonlinearFactor·&gt;::push_back</a></div><div·class="ttdeci">IsDerived&lt;·DERIVEDFACTOR·&gt;·push_back(boost::shared_ptr&lt;·DERIVEDFACTOR·&gt;·factor)</div><div·class="ttdoc">Add·a·factor·directly·using·a·shared_ptr.</div><div·class="ttdef"><b>Definition</b>·FactorGraph.h:186</div></div> 
148 <div·class="ttc"·id="aa04280_html"><div·class="ttname"><a·href="a04280.html">gtsam::ExpressionFactor</a></div><div·class="ttdoc">Factor·that·supports·arbitrary·expressions·via·AD.</div><div·class="ttdef"><b>Definition</b>·ExpressionFactor.h:44</div></div> 
149 <div·class="ttc"·id="aa04292_html"><div·class="ttname"><a·href="a04292.html">gtsam::Expression</a></div><div·class="ttdoc">Expression·class·that·supports·automatic·differentiation.</div><div·class="ttdef"><b>Definition</b>·Expression.h:48</div></div> 
150 <div·class="ttc"·id="aa04328_html"><div·class="ttname"><a·href="a04328.html">gtsam::ExpressionFactorGraph</a></div><div·class="ttdoc">Factor·graph·that·supports·adding·ExpressionFactors·directly.</div><div·class="ttdef"><b>Definition</b>·ExpressionFactorGraph.h:29</div></div> 
151 <div·class="ttc"·id="aa04328_html_ac417241d59dbed10d320032a0c502929"><div·class="ttname"><a·href="a04328.html#ac417241d59dbed10d320032a0c502929">gtsam::ExpressionFactorGraph::addExpressionFactor</a></div><div·class="ttdeci">void·addExpressionFactor(const·Expression&lt;·T·&gt;·&amp;h,·const·T·&amp;z,·const·SharedNoiseModel·&amp;R)</div><div·class="ttdoc">Directly·add·ExpressionFactor·that·implements·|h(x)-z|^2_R.</div><div·class="ttdef"><b>Definition</b>·ExpressionFactorGraph.h:43</div></div> 
152 <div·class="ttc"·id="aa04540_html"><div·class="ttname"><a·href="a04540.html">gtsam::NonlinearFactorGraph</a></div><div·class="ttdef"><b>Definition</b>·NonlinearFactorGraph.h:55</div></div>190 <div·class="ttc"·id="aa04248_html"><div·class="ttname"><a·href="a04248.html">gtsam::CustomFactor</a></div><div·class="ttdef"><b>Definition</b>·CustomFactor.h:45</div></div>
 191 <div·class="ttc"·id="aa04248_html_a019ffc0c38e4076e5acfa5eed2465921"><div·class="ttname"><a·href="a04248.html#a019ffc0c38e4076e5acfa5eed2465921">gtsam::CustomFactor::unwhitenedError</a></div><div·class="ttdeci">Vector·unwhitenedError(const·Values·&amp;x,·boost::optional&lt;·std::vector&lt;·Matrix·&gt;·&amp;·&gt;·H=boost::none)·const·override</div><div·class="ttdoc">Calls·the·errorFunction·closure,·which·is·a·std::function·object·One·can·check·if·a·derivative·is·nee...</div><div·class="ttdef"><b>Definition</b>·CustomFactor.cpp:25</div></div>
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101 ··<div·class="headertitle"><div·class="title">ISAM2Params.cpp·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">DoglegOptimizer.h·File·Reference</div></div>
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104 <p>Parameters·for·iSAM·2.·· 
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106 <table·class="memberdecls">106 <table·class="memberdecls">
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112 </table>121 </table>
113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
114 <div·class="textblock"><p>Parameters·for·iSAM·2.·</p> 
115 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert·</dd></dl>123 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
 124 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>
116 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
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120 ··<ul>129 ··<ul>
121 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01109.html">ISAM2Params.cpp</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01109.html">DoglegOptimizer.h</a></li>
122 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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101 ··<div·class="headertitle"><div·class="title">LevenbergMarquardtOptimizer.cpp·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">LevenbergMarquardtOptimizer.h·File·Reference</div></div>
102 </div><!--header-->103 </div><!--header-->
103 <div·class="contents">104 <div·class="contents">
  
104 <p>A·nonlinear·optimizer·that·uses·the·Levenberg-Marquardt·trust-region·scheme.··105 <p>A·nonlinear·optimizer·that·uses·the·Levenberg-Marquardt·trust-region·scheme.··
105 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
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 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·class·performs·Levenberg-Marquardt·nonlinear·optimization.··<a·href="a04436.html#details">More...</a><br·/></td></tr>
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112 </table>120 </table>
113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
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121 Luca·Carlone·</dd></dl>130 Luca·Carlone·</dd></dl>
122 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>131 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>
123 </div></div><!--·contents·-->132 </div></div><!--·contents·-->
124 </div><!--·doc-content·-->133 </div><!--·doc-content·-->
125 <!--·start·footer·part·-->134 <!--·start·footer·part·-->
126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->135 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
127 ··<ul>136 ··<ul>
128 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01112.html">LevenbergMarquardtOptimizer.cpp</a></li>137 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01112.html">LevenbergMarquardtOptimizer.h</a></li>
129 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>138 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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120 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·NonlinearEquality.h</span></div>120 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·NonlinearEquality.h</span></div>
121 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@brief·Factor·to·handle·enforced·equality·between·factors</span></div>121 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@brief·Factor·to·handle·enforced·equality·between·factors</span></div>
122 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@author·Alex·Cunningham</span></div>122 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@author·Alex·Cunningham</span></div>
123 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*/</span></div>123 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*/</span></div>
124 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>124 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>
125 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>125 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
126 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>126 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
127 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
128 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>128 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
129 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Manifold.h</a>&gt;</span></div>129 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/Manifold.h</a>&gt;</span></div>
130 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>130 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
131 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/bind/bind.hpp&gt;</span></div>131 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/bind/bind.hpp&gt;</span></div>
132 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>132 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
133 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;limits&gt;</span></div>133 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;limits&gt;</span></div>
134 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>134 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>
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272 <div·class="line"><a·id="l00180"·name="l00180"></a><span·class="lineno">··180</span>·</div>272 <div·class="line"><a·id="l00180"·name="l00180"></a><span·class="lineno">··180</span>·</div>
273 <div·class="line"><a·id="l00181"·name="l00181"></a><span·class="lineno">··181</span><span·class="keyword">private</span>:</div>273 <div·class="line"><a·id="l00181"·name="l00181"></a><span·class="lineno">··181</span><span·class="keyword">private</span>:</div>
274 <div·class="line"><a·id="l00182"·name="l00182"></a><span·class="lineno">··182</span>·</div>274 <div·class="line"><a·id="l00182"·name="l00182"></a><span·class="lineno">··182</span>·</div>
275 <div·class="line"><a·id="l00184"·name="l00184"></a><span·class="lineno"><a·class="line"·href="a04468.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">··184</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a04468.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>275 <div·class="line"><a·id="l00184"·name="l00184"></a><span·class="lineno"><a·class="line"·href="a04468.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">··184</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a04468.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>
276 <div·class="line"><a·id="l00185"·name="l00185"></a><span·class="lineno">··185</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>276 <div·class="line"><a·id="l00185"·name="l00185"></a><span·class="lineno">··185</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
277 <div·class="line"><a·id="l00186"·name="l00186"></a><span·class="lineno">··186</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>277 <div·class="line"><a·id="l00186"·name="l00186"></a><span·class="lineno">··186</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
278 <div·class="line"><a·id="l00187"·name="l00187"></a><span·class="lineno">··187</span>····<span·class="comment">//·NoiseModelFactor1·instead·of·NoiseModelFactorN·for·backward·compatibility</span></div>278 <div·class="line"><a·id="l00187"·name="l00187"></a><span·class="lineno">··187</span>····<span·class="comment">//·NoiseModelFactor1·instead·of·NoiseModelFactorN·for·backward·compatibility</span></div>
Offset 351, 15 lines modifiedOffset 351, 15 lines modified
351 <div·class="line"><a·id="l00262"·name="l00262"></a><span·class="lineno">··262</span>····std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;:·NonlinearEquality1(&quot;</span>·&lt;&lt;·keyFormatter(this-&gt;<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>())</div>351 <div·class="line"><a·id="l00262"·name="l00262"></a><span·class="lineno">··262</span>····std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;:·NonlinearEquality1(&quot;</span>·&lt;&lt;·keyFormatter(this-&gt;<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>())</div>
352 <div·class="line"><a·id="l00263"·name="l00263"></a><span·class="lineno">··263</span>········&lt;&lt;·<span·class="stringliteral">&quot;),&quot;</span>·&lt;&lt;·<span·class="stringliteral">&quot;\n&quot;</span>;</div>352 <div·class="line"><a·id="l00263"·name="l00263"></a><span·class="lineno">··263</span>········&lt;&lt;·<span·class="stringliteral">&quot;),&quot;</span>·&lt;&lt;·<span·class="stringliteral">&quot;\n&quot;</span>;</div>
353 <div·class="line"><a·id="l00264"·name="l00264"></a><span·class="lineno">··264</span>····this-&gt;noiseModel_-&gt;print();</div>353 <div·class="line"><a·id="l00264"·name="l00264"></a><span·class="lineno">··264</span>····this-&gt;noiseModel_-&gt;print();</div>
354 <div·class="line"><a·id="l00265"·name="l00265"></a><span·class="lineno">··265</span>····<a·class="code·hl_struct"·href="a02276.html">traits&lt;X&gt;::Print</a>(value_,·<span·class="stringliteral">&quot;Value&quot;</span>);</div>354 <div·class="line"><a·id="l00265"·name="l00265"></a><span·class="lineno">··265</span>····<a·class="code·hl_struct"·href="a02276.html">traits&lt;X&gt;::Print</a>(value_,·<span·class="stringliteral">&quot;Value&quot;</span>);</div>
355 <div·class="line"><a·id="l00266"·name="l00266"></a><span·class="lineno">··266</span>··}</div>355 <div·class="line"><a·id="l00266"·name="l00266"></a><span·class="lineno">··266</span>··}</div>
356 </div>356 </div>
357 <div·class="line"><a·id="l00267"·name="l00267"></a><span·class="lineno">··267</span>·</div>357 <div·class="line"><a·id="l00267"·name="l00267"></a><span·class="lineno">··267</span>·</div>
358 <div·class="line"><a·id="l00268"·name="l00268"></a><span·class="lineno">··268</span>··<a·class="code·hl_define"·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>358 <div·class="line"><a·id="l00268"·name="l00268"></a><span·class="lineno">··268</span>··<a·class="code·hl_define"·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>
359 <div·class="line"><a·id="l00269"·name="l00269"></a><span·class="lineno">··269</span>·</div>359 <div·class="line"><a·id="l00269"·name="l00269"></a><span·class="lineno">··269</span>·</div>
360 <div·class="line"><a·id="l00270"·name="l00270"></a><span·class="lineno">··270</span><span·class="keyword">private</span>:</div>360 <div·class="line"><a·id="l00270"·name="l00270"></a><span·class="lineno">··270</span><span·class="keyword">private</span>:</div>
361 <div·class="line"><a·id="l00271"·name="l00271"></a><span·class="lineno">··271</span>·</div>361 <div·class="line"><a·id="l00271"·name="l00271"></a><span·class="lineno">··271</span>·</div>
362 <div·class="line"><a·id="l00273"·name="l00273"></a><span·class="lineno"><a·class="line"·href="a04476.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">··273</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a04476.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>362 <div·class="line"><a·id="l00273"·name="l00273"></a><span·class="lineno"><a·class="line"·href="a04476.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">··273</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a04476.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>
363 <div·class="line"><a·id="l00274"·name="l00274"></a><span·class="lineno">··274</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>363 <div·class="line"><a·id="l00274"·name="l00274"></a><span·class="lineno">··274</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
364 <div·class="line"><a·id="l00275"·name="l00275"></a><span·class="lineno">··275</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>364 <div·class="line"><a·id="l00275"·name="l00275"></a><span·class="lineno">··275</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
365 <div·class="line"><a·id="l00276"·name="l00276"></a><span·class="lineno">··276</span>····<span·class="comment">//·NoiseModelFactor1·instead·of·NoiseModelFactorN·for·backward·compatibility</span></div>365 <div·class="line"><a·id="l00276"·name="l00276"></a><span·class="lineno">··276</span>····<span·class="comment">//·NoiseModelFactor1·instead·of·NoiseModelFactorN·for·backward·compatibility</span></div>
Offset 415, 15 lines modifiedOffset 415, 15 lines modified
415 <div·class="line"><a·id="l00329"·name="l00329"></a><span·class="lineno">··329</span>····<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·p·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::dimension</a>;</div>415 <div·class="line"><a·id="l00329"·name="l00329"></a><span·class="lineno">··329</span>····<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·p·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::dimension</a>;</div>
416 <div·class="line"><a·id="l00330"·name="l00330"></a><span·class="lineno">··330</span>····<span·class="keywordflow">if</span>·(H1)·*H1·=·-Matrix::Identity(p,·p);</div>416 <div·class="line"><a·id="l00330"·name="l00330"></a><span·class="lineno">··330</span>····<span·class="keywordflow">if</span>·(H1)·*H1·=·-Matrix::Identity(p,·p);</div>
417 <div·class="line"><a·id="l00331"·name="l00331"></a><span·class="lineno">··331</span>····<span·class="keywordflow">if</span>·(H2)·*H2·=·Matrix::Identity(p,·p);</div>417 <div·class="line"><a·id="l00331"·name="l00331"></a><span·class="lineno">··331</span>····<span·class="keywordflow">if</span>·(H2)·*H2·=·Matrix::Identity(p,·p);</div>
418 <div·class="line"><a·id="l00332"·name="l00332"></a><span·class="lineno">··332</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Local</a>(x1,·x2);</div>418 <div·class="line"><a·id="l00332"·name="l00332"></a><span·class="lineno">··332</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Local</a>(x1,·x2);</div>
419 <div·class="line"><a·id="l00333"·name="l00333"></a><span·class="lineno">··333</span>··}</div>419 <div·class="line"><a·id="l00333"·name="l00333"></a><span·class="lineno">··333</span>··}</div>
420 </div>420 </div>
421 <div·class="line"><a·id="l00334"·name="l00334"></a><span·class="lineno">··334</span>·</div>421 <div·class="line"><a·id="l00334"·name="l00334"></a><span·class="lineno">··334</span>·</div>
422 <div·class="line"><a·id="l00335"·name="l00335"></a><span·class="lineno">··335</span>··<a·class="code·hl_define"·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>422 <div·class="line"><a·id="l00335"·name="l00335"></a><span·class="lineno">··335</span>··<a·class="code·hl_define"·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>
423 <div·class="line"><a·id="l00336"·name="l00336"></a><span·class="lineno">··336</span>·</div>423 <div·class="line"><a·id="l00336"·name="l00336"></a><span·class="lineno">··336</span>·</div>
424 <div·class="line"><a·id="l00337"·name="l00337"></a><span·class="lineno">··337</span>·<span·class="keyword">private</span>:</div>424 <div·class="line"><a·id="l00337"·name="l00337"></a><span·class="lineno">··337</span>·<span·class="keyword">private</span>:</div>
425 <div·class="line"><a·id="l00339"·name="l00339"></a><span·class="lineno"><a·class="line"·href="a04484.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">··339</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a04484.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>425 <div·class="line"><a·id="l00339"·name="l00339"></a><span·class="lineno"><a·class="line"·href="a04484.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">··339</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a04484.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>
426 <div·class="line"><a·id="l00340"·name="l00340"></a><span·class="lineno">··340</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>426 <div·class="line"><a·id="l00340"·name="l00340"></a><span·class="lineno">··340</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
427 <div·class="line"><a·id="l00341"·name="l00341"></a><span·class="lineno">··341</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>427 <div·class="line"><a·id="l00341"·name="l00341"></a><span·class="lineno">··341</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
428 <div·class="line"><a·id="l00342"·name="l00342"></a><span·class="lineno">··342</span>····<span·class="comment">//·NoiseModelFactor2·instead·of·NoiseModelFactorN·for·backward·compatibility</span></div>428 <div·class="line"><a·id="l00342"·name="l00342"></a><span·class="lineno">··342</span>····<span·class="comment">//·NoiseModelFactor2·instead·of·NoiseModelFactorN·for·backward·compatibility</span></div>
429 <div·class="line"><a·id="l00343"·name="l00343"></a><span·class="lineno">··343</span>····ar&amp;·boost::serialization::make_nvp(</div>429 <div·class="line"><a·id="l00343"·name="l00343"></a><span·class="lineno">··343</span>····ar&amp;·boost::serialization::make_nvp(</div>
Offset 436, 18 lines modifiedOffset 436, 18 lines modified
436 <div·class="line"><a·id="l00349"·name="l00349"></a><span·class="lineno">··349</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·VALUE&gt;</div>436 <div·class="line"><a·id="l00349"·name="l00349"></a><span·class="lineno">··349</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·VALUE&gt;</div>
437 <div·class="foldopen"·id="foldopen00350"·data-start="{"·data-end="};">437 <div·class="foldopen"·id="foldopen00350"·data-start="{"·data-end="};">
438 <div·class="line"><a·id="l00350"·name="l00350"></a><span·class="lineno"><a·class="line"·href="a04488.html">··350</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a04484.html">NonlinearEquality2</a>&lt;VALUE&gt;&gt;·:·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;NonlinearEquality2&lt;VALUE&gt;&gt;·{</div>438 <div·class="line"><a·id="l00350"·name="l00350"></a><span·class="lineno"><a·class="line"·href="a04488.html">··350</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a04484.html">NonlinearEquality2</a>&lt;VALUE&gt;&gt;·:·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;NonlinearEquality2&lt;VALUE&gt;&gt;·{</div>
439 <div·class="line"><a·id="l00351"·name="l00351"></a><span·class="lineno">··351</span>};</div>439 <div·class="line"><a·id="l00351"·name="l00351"></a><span·class="lineno">··351</span>};</div>
440 </div>440 </div>
441 <div·class="line"><a·id="l00352"·name="l00352"></a><span·class="lineno">··352</span>·</div>441 <div·class="line"><a·id="l00352"·name="l00352"></a><span·class="lineno">··352</span>·</div>
442 <div·class="line"><a·id="l00353"·name="l00353"></a><span·class="lineno">··353</span>}<span·class="comment">//·namespace·gtsam</span></div>442 <div·class="line"><a·id="l00353"·name="l00353"></a><span·class="lineno">··353</span>}<span·class="comment">//·namespace·gtsam</span></div>
443 <div·class="ttc"·id="aa00071_html"><div·class="ttname"><a·href="a00071.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>443 <div·class="ttc"·id="aa00107_html"><div·class="ttname"><a·href="a00107.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>
444 <div·class="ttc"·id="aa00107_html"><div·class="ttname"><a·href="a00107.html">Manifold.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Manifold·types.</div></div>444 <div·class="ttc"·id="aa00119_html"><div·class="ttname"><a·href="a00119.html">Manifold.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Manifold·types.</div></div>
445 <div·class="ttc"·id="aa00125_html_aa123dd61687e08ae328154a1890b7b86"><div·class="ttname"><a·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:308</div></div>445 <div·class="ttc"·id="aa00146_html_aa123dd61687e08ae328154a1890b7b86"><div·class="ttname"><a·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:308</div></div>
446 <div·class="ttc"·id="aa01133_html"><div·class="ttname"><a·href="a01133.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>446 <div·class="ttc"·id="aa01013_html"><div·class="ttname"><a·href="a01013.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>
447 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>447 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
448 <div·class="ttc"·id="aa01428_html_ad80249acf12bbea741e755cd8fc73042"><div·class="ttname"><a·href="a01428.html#ad80249acf12bbea741e755cd8fc73042">gtsam::dot</a></div><div·class="ttdeci">double·dot(const·V1·&amp;a,·const·V2·&amp;b)</div><div·class="ttdoc">Dot·product.</div><div·class="ttdef"><b>Definition</b>·Vector.h:195</div></div>448 <div·class="ttc"·id="aa01428_html_ad80249acf12bbea741e755cd8fc73042"><div·class="ttname"><a·href="a01428.html#ad80249acf12bbea741e755cd8fc73042">gtsam::dot</a></div><div·class="ttdeci">double·dot(const·V1·&amp;a,·const·V2·&amp;b)</div><div·class="ttdoc">Dot·product.</div><div·class="ttdef"><b>Definition</b>·Vector.h:195</div></div>
449 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>449 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
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 132 <div·class="textblock"><p>Specialized·iSAM2·Clique.·</p>
119 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>133 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts·</dd></dl>
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105 <p>Convergence·functions·not·dependent·on·graph·types.··105 <p>Incremental·update·functionality·(ISAM2)·for·BayesTree,·with·fluid·relinearization.··
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125 <div·class="textblock"><p>Convergence·functions·not·dependent·on·graph·types.·</p>132 <div·class="textblock"><p>Incremental·update·functionality·(ISAM2)·for·BayesTree,·with·fluid·relinearization.·</p>
126 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>133 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert·</dd></dl>
127 <dl·class="section·date"><dt>Date</dt><dd>Jul·17,·2010·</dd></dl> 
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 122 <div·class="textblock"><p>Class·that·stores·extra·params·for·ISAM2::update()·</p>
 123 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert,·Jose·Luis·Blanco·</dd></dl>
121 <div·class="textblock"><p>The·GncOptimizer·class.·</p> 
122 <dl·class="section·author"><dt>Author</dt><dd>Jingnan·Shi·</dd> 
123 <dd> 
124 Luca·Carlone·</dd> 
125 <dd> 
126 Frank·Dellaert</dd></dl> 
127 <p>Implementation·of·the·paper:·Yang,·Antonante,·Tzoumas,·Carlone,·"Graduated·Non-Convexity·for·Robust·Spatial·Perception: 
128 From·Non-Minimal·Solvers·to·Global·Outlier·Rejection",·ICRA/RAL,·2020.·(arxiv·version:·<a·href="https://arxiv.org/pdf/1909.08605.pdf">https://arxiv.org/pdf/1909.08605.pdf</a>)</p> 
129 <p>See·also:·Antonante,·Tzoumas,·Yang,·Carlone,·"Outlier-Robust·Estimation:·Hardness,·Minimally-Tuned·Algorithms,·and·Applications",·arxiv:·<a·href="https://arxiv.org/pdf/2007.15109.pdf">https://arxiv.org/pdf/2007.15109.pdf</a>,·2020.·</p> 
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156 Richard·Roberts·</dd> 
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 106 <p>Evaluate·derivatives·of·a·nonlinear·factor·numerically.··
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112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>132 <div·class="textblock"><p>Evaluate·derivatives·of·a·nonlinear·factor·numerically.·</p>
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 134 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 135 <dd>
 136 Paul·Furgale·</dd></dl>
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 139 <h2·class="memtitle"><span·class="permalink"><a·href="#a8ec37fe83eda47404b8588e1f012df21">&#9670;&#160;</a></span>EXPECT_CORRECT_FACTOR_JACOBIANS</h2>
  
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 116 <dl·class="section·date"><dt>Date</dt><dd>Jun·11,·2012·</dd></dl>
126 <dd> 
127 Carlos·Nieto·</dd> 
128 <dd> 
129 Christian·Potthast·</dd></dl> 
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125 <div·class="textblock"><p>Incremental·update·functionality·(ISAM2)·for·BayesTree,·with·fluid·relinearization.·</p> 
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 120 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>
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124 <dd> 
125 Frank·Dellaert·</dd> 
126 <dd> 
127 Luca·Carlone·</dd></dl> 
128 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl> 
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124 <dl·class="section·date"><dt>Date</dt><dd>December,·2021·</dd></dl>127 <dl·class="section·date"><dt>Date</dt><dd>Jul·17,·2010·</dd></dl>
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117 <tr·class="memdesc:a2b0857edd76f8d63eeee0ce9944e28d4"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Optimize·the·<a·class="el"·href="a03540.html"·title="Bayes·tree.">BayesTree</a>,·starting·from·the·root.··<br·/></td></tr> 
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120 size_t&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::optimizeWildfireNonRecursive</b>·(const·ISAM2Clique::shared_ptr·&amp;root,·double·threshold,·const·<a·class="el"·href="a02320.html">KeySet</a>·&amp;keys,·<a·class="el"·href="a04064.html">VectorValues</a>·*delta)</td></tr> 
121 <tr·class="separator:a72c4ce71a3fc1bf5ec8b6d7ddbee206b"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
124 <div·class="textblock"><p>Specialized·iSAM2·Clique.·</p>124 <div·class="textblock"><p>Factor·Graph·consisting·of·non-linear·factors.·</p>
125 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert·</dd></dl>125 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 126 <dd>
 127 Carlos·Nieto·</dd>
 128 <dd>
 129 Christian·Potthast·</dd></dl>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/ExtendedKalmanFilter.h·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/ISAM2.h·File·Reference</title>
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101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
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104 <div·class="contents">104 <div·class="contents">
  
105 <p>Class·to·perform·generic·Kalman·Filtering·using·nonlinear·factor·graphs.··105 <p>Incremental·update·functionality·(ISAM2)·for·BayesTree,·with·fluid·relinearization.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a01163_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a01163_source.html">Go·to·the·source·code·of·this·file.</a></p>
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·is·a·generic·Extended·Kalman·Filter·class·implemented·using·nonlinear·factors.··<a·href="a04332.html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Implementation·of·the·full·<a·class="el"·href="a04396.html"·title="Implementation·of·the·full·ISAM2·algorithm·for·incremental·nonlinear·optimization.">ISAM2</a>·algorithm·for·incremental·nonlinear·optimization.··<a·href="a04396.html#details">More...</a><br·/></td></tr>
 113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a04400.html#details">More...</a><br·/></td></tr>
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>116 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 125 <div·class="textblock"><p>Incremental·update·functionality·(ISAM2)·for·BayesTree,·with·fluid·relinearization.·</p>
 126 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert·</dd></dl>
122 <div·class="textblock"><p>Class·to·perform·generic·Kalman·Filtering·using·nonlinear·factor·graphs.·</p> 
123 <dl·class="section·author"><dt>Author</dt><dd>Stephen·Williams·</dd> 
124 <dd> 
125 Chris·Beall·</dd></dl> 
126 </div></div><!--·contents·-->127 </div></div><!--·contents·-->
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128 <!--·start·footer·part·-->129 <!--·start·footer·part·-->
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103 <div·class="header">103 <div·class="header">
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105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01163.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01163.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">//·\callgraph</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">//·\callgraph</span></div>
 119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00752.html">gtsam/linear/GaussianBayesTree.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01118.html">gtsam/nonlinear/ISAM2Clique.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01016.html">gtsam/nonlinear/ISAM2Params.h</a>&gt;</span></div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01064.html">gtsam/nonlinear/ISAM2Result.h</a>&gt;</span></div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01130.html">gtsam/nonlinear/ISAM2UpdateParams.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01157.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
 130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
126 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·VALUE&gt;</div> 
127 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">133 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">
128 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04332.html">···45</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04332.html">ExtendedKalmanFilter</a>·{</div>134 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04396.html">···45</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04396.html">ISAM2</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree</a>&lt;ISAM2Clique&gt;·{</div>
129 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Check·that·VALUE·type·is·a·testable·Manifold</span></div>135 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·<span·class="keyword">protected</span>:</div>
 136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a04396.html#abe3ea23a8d9b61097f28bf2a5c23057e">···48</a></span>··<a·class="code·hl_class"·href="a04612.html">Values</a>·<a·class="code·hl_variable"·href="a04396.html#abe3ea23a8d9b61097f28bf2a5c23057e">theta_</a>;</div>
130 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··BOOST_CONCEPT_ASSERT((<a·class="code·hl_class"·href="a02476.html">IsTestable&lt;VALUE&gt;</a>));</div> 
131 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··BOOST_CONCEPT_ASSERT((IsManifold&lt;VALUE&gt;));</div> 
132 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 138 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a04396.html#ab9bd085bcf745368cb4801d04538ec18">···52</a></span>··<a·class="code·hl_class"·href="a03700.html">VariableIndex</a>·<a·class="code·hl_variable"·href="a04396.html#ab9bd085bcf745368cb4801d04538ec18">variableIndex_</a>;</div>
133 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·<span·class="keyword">public</span>:</div> 
134 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;ExtendedKalmanFilter&lt;VALUE&gt;·&gt;·shared_ptr;</div> 
135 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">typedef</span>·VALUE·T;</div> 
136 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>139 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 140 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a04396.html#aa1a5f004e312d381945569e74e801941">···61</a></span>··<span·class="keyword">mutable</span>·<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·<a·class="code·hl_variable"·href="a04396.html#aa1a5f004e312d381945569e74e801941">delta_</a>;</div>
137 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="preprocessor">#ifdef·GTSAM_ALLOW_DEPRECATED_SINCE_V42</span></div> 
138 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="comment">//@deprecated:·any·NoiseModelFactor·will·do,·as·long·as·they·have·the·right·keys</span></div> 
139 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;VALUE,·VALUE&gt;</a>·MotionFactor;</div> 
140 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;VALUE&gt;</a>·MeasurementFactor;</div> 
141 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><span·class="preprocessor">#endif</span></div> 
142 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
143 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·<span·class="keyword">protected</span>:</div> 
144 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··T·x_;·····································<span·class="comment">//·linearization·point</span></div> 
145 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<a·class="code·hl_typedef"·href="a03844.html#adaf03a52ed83559d6a03cbab95092698">JacobianFactor::shared_ptr</a>·priorFactor_;··<span·class="comment">//·Gaussian·density·on·x_</span></div> 
146 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>141 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
147 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">static</span>·T·solve_(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>&amp;·linearFactorGraph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·linearizationPoints,</div> 
148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··················<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·x,·<a·class="code·hl_typedef"·href="a03844.html#adaf03a52ed83559d6a03cbab95092698">JacobianFacto[·...·truncated·by·diffoscope;·len:·29,·SHA:·9854236ddaed5e7b5f010fe0a5dc2eeea734877bcfe3a7b4dbcdfd9b2b6e8556·...·]</div>142 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keyword">mutable</span>·<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·deltaNewton_;··<span·class="comment">//·Only·used·when·using·Dogleg·-·stores</span></div>
 143 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······································<span·class="comment">//·the·Gauss-Newton·update</span></div>
 144 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">mutable</span>·<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·RgProd_;··<span·class="comment">//·Only·used·when·using·Dogleg·-·stores·R*g·and</span></div>
 145 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·································<span·class="comment">//·is·updated·incrementally</span></div>
149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>146 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·<span·class="keyword">public</span>:</div>147 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno"><a·class="line"·href="a04396.html#a0f7ba75bbd10998951d79a62106e0623">···76</a></span>··<span·class="keyword">mutable</span>·<a·class="code·hl_class"·href="a02320.html">KeySet</a>·<a·class="code·hl_variable"·href="[·...·truncated·by·diffoscope;·len:·141,·SHA:·3d7988ebb91503c23913c0d2bd0caed7cebedd404eced263ddc556f99adcfc88·...·]</div>
 148 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>······································<span·class="comment">//·the·right·way</span></div>
151 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>149 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>
 150 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno"><a·class="line"·href="a04396.html#a9307a6fb614f33fb354e4e445467c258">···81</a></span>··<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>·<a·class="code·hl_variable"·href="a04396.html#a9307a6fb614f33fb354e4e445467c258">nonlinearFactors_</a>;</div>
152 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<a·class="code·hl_class"·href="a04332.html">ExtendedKalmanFilter</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key_initial,·T·x_initial,·noiseModel::Gaussian::shared_ptr·P_initial);</div> 
153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div> 
154 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div> 
155 <div·class="foldopen"·id="foldopen00078"·data-start="{"·data-end="}"> 
156 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a04332.html#add36115e54062f7fcbb9e5f9c5644616">···78</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04332.html#add36115e54062f7fcbb9e5f9c5644616">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)<span·class="keyword">·const·</span>{</div> 
157 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;\n&quot;</span>;</div> 
158 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····x_.print(s·+·<span·class="stringliteral">&quot;x&quot;</span>);</div> 
159 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>····priorFactor_-&gt;print(s·+·<span·class="stringliteral">&quot;density&quot;</span>);</div> 
160 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··}</div>151 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>
161 </div>152 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a04396.html#ada63722602d709e210d4e1ab45dcc6a8">···84</a></span>··<span·class="keyword">mutable</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGra[·...·truncated·by·diffoscope;·len:·108,·SHA:·5e636dd4d438dedeb560e95ced16cd2b863a83b5dd6aa9e088ffc25960fb590b·...·]/div>
162 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>153 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
 154 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a04396.html#abec56652222d97d144e75a175ba3e8d0">···87</a></span>··<a·class="code·hl_struct"·href="a04416.html">ISAM2Params</a>·<a·class="code·hl_variable"·href="a04396.html#abec56652222d97d144e75a175ba3e8d0">params_</a>;</div>
163 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>155 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
164 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>··T·<a·class="code·hl_function"·href="a04332.html#aa5abc72bbcb716e6bf7746cb18fc3f82">predict</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04504.html">NoiseModelFactor</a>&amp;·[·...·truncated·by·diffoscope;·len:·13,·SHA:·535e05985b39af4d8e01a385b9bc419fc40bb6bea67b9df82de99ede64c340aa·...·];</div>156 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno"><a·class="line"·href="a04396.html#ad460de94ada9813a2a9ca8ee8a953a19">···90</a></span>··<span·class="keyword">mutable</span>·boost::optional&lt;double&gt;·<a·class="code·hl_variable"·href="a04396.html#ad460de94ada98[·...·truncated·by·diffoscope;·len:·37,·SHA:·19d1e4f27efb9411cfa9628618dbf0f30b2e6956439f96000a4d0592b33f9b4b·...·];</div>
165 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>157 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>
166 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>··T·<a·class="code·hl_function"·href="a04332.html#a2af26c404282581900319486f1669e84">update</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04504.html">NoiseModelFactor</a>&amp;·m[·...·truncated·by·diffoscope;·len:·17,·SHA:·24deb6ac9838524aec0b8d103c14b8f1118ddbfcf4ce9f0b874bac34d5afd9bb·...·];</div>158 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno"><a·class="line"·href="a04396.html#a0d0807258336ff483ad89c80cdb88eea">···94</a></span>··<a·class="code·hl_class"·href="a02320.html">KeySet</a>·<a·class="code·hl_variable"·href="a04396.html#a0d0807258336ff483ad89c80c[·...·truncated·by·diffoscope;·len:·28,·SHA:·94d1519eeebeafd49554e392978b14a9b717522f35a1ca20b3e16d6f4638e133·...·];</div>
167 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>·</div>159 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>
 160 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno"><a·class="line"·href="a04396.html#a29b30773e68652011e31ee0a9a0cfa4d">···96</a></span>··<span·class="keywordtype">int</span>·<a·class="code·hl_variable"·href="a04396.html#a29b30773e68652011e31ee0a9a0cfa4d">update_count_</a>;··</div>
168 <div·class="foldopen"·id="foldopen00102"·data-start="{"·data-end="}"> 
169 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno"><a·class="line"·href="a04332.html#a54c50e01306dada7382926f62145526b">··102</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03844.html#adaf03a52ed83559d6a03cbab95092698">JacobianFactor::shared_ptr</a>·<a·class="code·hl_function"·href="a04332.html#a54c50e01306dada7382926f62145526b">Density</a>()<span·class="keyword">·const·</span>{</div> 
170 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>····<span·class="keywordflow">return</span>·priorFactor_;</div> 
171 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>··}</div>161 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>·</div>
172 </div>162 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>·<span·class="keyword">public</span>:</div>
 163 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno"><a·class="line"·href="a04396.html#af8b9f410dae63f79dfd229506370f31e">··100</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04396.html">This</a>·=·<a·class="code·hl_class"·href="a04396.html">ISAM2</a>;·······················</div>
 164 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno"><a·class="line"·href="a04396.html#a32db7eb856bee27d1274306284f15a88">··101</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03540.html">Base</a>·=·<a·class="code·hl_class"·href="a03540.html">BayesTree&lt;ISAM2Clique&gt;</a>;······</div>
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101 <a·href="#namespaces">Namespaces</a>·&#124;101 <a·href="#namespaces">Namespaces</a>··</div>
102 <a·href="#var-members">Variables</a>··</div> 
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104 </div><!--header-->103 </div><!--header-->
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106 <p>Binary·white·noise·factor.··105 <p>Parameters·for·Levenberg-Marquardt·trust-region·scheme.··
107 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
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123 Variables</h2></td></tr> 
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125 const·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::logSqrt2PI</b>·=·log(std::sqrt(2.0·*·M_PI))</td></tr> 
126 <tr·class="memdesc:ad5602eb85d05df6cba60e47eebbd3636"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">constant·needed·below·<br·/></td></tr> 
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128 </table>120 </table>
129 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
130 <div·class="textblock"><p>Binary·white·noise·factor.·</p>122 <div·class="textblock"><p>Parameters·for·Levenberg-Marquardt·trust-region·scheme.·</p>
131 <dl·class="section·author"><dt>Author</dt><dd>Chris·Beall·</dd>123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd>
 124 <dd>
 125 Frank·Dellaert·</dd>
132 <dd>126 <dd>
133 Frank·Dellaert·</dd></dl>127 Luca·Carlone·</dd></dl>
134 <dl·class="section·date"><dt>Date</dt><dd>September·2011·</dd></dl>128 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>
135 </div></div><!--·contents·-->129 </div></div><!--·contents·-->
136 </div><!--·doc-content·-->130 </div><!--·doc-content·-->
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139 ··<ul>133 ··<ul>
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141 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>135 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01166.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01166.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01070.html">gtsam/nonlinear/NonlinearOptimizerParams.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00752.html">gtsam/linear/HessianFactor.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01157.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;cmath&gt;</span></div> 
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno"><a·class="line"·href="a01428.html#ad5602eb85d05df6cba60e47eebbd3636">···28</a></span>··<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a01428.html#ad5602eb85d05df6cba60e47eebbd3636">logSqrt2PI</a[·...·truncated·by·diffoscope;·len:·32,·SHA:·18f9dc08c62a2ef3cf8c1c41544ccd6c6b298d160704e65591e18385f0b3019f·...·]</div>125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">class·</span>LevenbergMarquardtOptimizer;</div>
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
128 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="};">127 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
129 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04652.html">···41</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a04652.html">WhiteNoiseFactor</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class[·...·truncated·by·diffoscope;·len:·36,·SHA:·29f2c434d4d273a51de1426947503d50fffadaf0ebb60bee4955a53332f5b1a1·...·]</a>·{</div>128 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04440.html">···35</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>:·<span·class="keyword">public</span>·<a·c[·...·truncated·by·diffoscope;·len:·64,·SHA:·3476631bc10b515012d263d6f872bf1dcc62ff36cfb783f4fb2965b06115adfd·...·]</a>·{</div>
 129 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 130 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">public</span>:</div>
 131 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};">
 132 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a04440.html#af2f0633976570cd713705bdb91598bfd">···39</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a04440.html#af2f0633976570cd713705bdb91598bfd">VerbosityLM</a>·{</div>
 133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····SILENT·=·0,·SUMMARY,·TERMINATION,·LAMBDA,·TRYLAMBDA,·TRYCONFIG,·DAMPED,·TRYDELTA</div>
 134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··};</div>
 135 </div>
130 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">static</span>·VerbosityLM·verbosityLMTranslator(<span·class="keyword">const</span>·std::string·&amp;s);</div>
131 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">private</span>:</div>138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">static</span>·std::string·verbosityLMTranslator(VerbosityLM·value);</div>
 139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">using·</span>OptimizerType·=·<a·class="code·hl_class"·href="a04436.html">LevenbergMarquardtOptimizer</a>;</div>
132 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div> 
133 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····<span·class="keywordtype">double</span>·z_;·</div> 
134 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="keyword">public</span>:</div>
135 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·meanKey_;·</div> 
136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·precisionKey_;·</div> 
137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
138 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>·<a·class="code·hl_class"·href="a04496.html">Base</a>;</div> 
139 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div> 
140 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">public</span>:</div> 
141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div> 
142 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}"> 
143 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a04652.html#aaeee41e0aa000bcf053826fec43f2086">···61</a></span>····<span·class="keyword">static</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a04652.html#aaeee41e0aa000bcf053826fec43f2086">f</a>(<span·class="keywordtype">double</span>·z,·<span·class="keywordtype">double</span>·u,·<span·class="keywordtype">double</span>·p)·{</div> 
144 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a01428.html#ad5602eb85d05df6cba60e47eebbd3636">logSqrt2PI</a>·-·0.5·*·log(p)·+·0.5·*·(z·-·u)·*·(z·-·u)·*·p;</div> 
145 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····}</div> 
146 </div>143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a04440.html#a49aef82106661bcbd87299fa60209912">···49</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#a49aef821066[·...·truncated·by·diffoscope;·len:·43,·SHA:·0f09d07b21bd7bc37c84aced358453f7aec4bb848da2f53e10300b09f473dcae·...·]/div>
 144 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a04440.html#a0ff6f8698a3993eb6a2fe5720b5c45d6">···50</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#a0ff6f8698a3993eb6a2fe5720b5c45d6">lambdaFactor</a>;·</div>
 145 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a04440.html#a465daecb791ab692aa14fe0405b64e36">···51</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#a465daecb791ab692aa14fe0405b64e36">lambdaUpperBound</a>;·</div>
 146 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a04440.html#aad53fd303fc59476683c27e942f63ae2">···52</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#aad53fd303fc59476683c27e942f63ae2">lambdaLowerBound</a>;·</div>
 147 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a04440.html#afbde4b9a9a164eb9e3af824e0651686e">···53</a></span>··<a·class="code·hl_enumeration"·href="a04440.html#af2f0633976570cd713705bdb91598bfd">VerbosityLM</a>·<a·class="code·hl_variable"·href="a04440.html#afbde4b9a9a164eb9e3af824e0651686e">verbosityLM</a>;·</div>
 148 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a04440.html#aa6ab26143bf0ebbada2c325a88ca3348">···54</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#aa6ab26143bf0ebbada2c325a88ca3348">minModelFidelity</a>;·</div>
 149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04440.html#ae713aec0fbc945c84d7d18c966115674">···55</a></span>··std::string·<a·class="code·hl_variable"·href="a04440.html#ae713aec0fbc945c84d7d18c966115674">logFile</a>;·</div>
 150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a04440.html#ac5d85270de6828947a2d6e980a5c22a4">···56</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04440.html#ac5d85270de6828947a2d6e980a5c22a4">diagonalDamping</a>;·</div>
 151 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a04440.html#ad003372fa93954c8f2c86fd3e413f3ae">···57</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04440.html#ad003372fa93954c8f2c86fd3e413f3ae">useFixedLambdaFactor</a>;·</div>
 152 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a04440.html#a23c5fa1bbf749c1997a7e685f0cc4d49">···58</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#a23c5fa1bbf749c1997a7e685f0cc4d49">minDiagonal</a>;·</div>
 153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a04440.html#a4e94ad90d500f35181d23aa2461bf84d">···59</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04440.html#a4e94ad90d500f35181d23aa2461bf84d">maxDiagonal</a>;·</div>
147 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>154 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
148 <div·class="foldopen"·id="foldopen00075"·data-start="{"·data-end="}"> 
149 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a04652.html#a66ac8a770883fec0b220cdd4c2b1446b">···75</a></span>····<span·class="keyword">static</span>·<a·class="code·hl_typedef"·href="a03812.html#a10c151a4d4beb9d9af4249f4a02791ff">HessianFactor::shared_ptr</a>·<a·class="code·hl_function"·href="a04652.html#a66ac8a770883fec0b220cdd4c2b1446b">linearize</a>(<span·class="keywordtype">double</span>·z,·<span·class="keywordtype">double</span>·u,·<span·class="keywordtype">double</span>·p,</div> 
150 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>········<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j2)·{</div>155 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>()</div>
 156 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······:·verbosityLM(SILENT),</div>
 157 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>········diagonalDamping(false),</div>
 158 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>········minDiagonal(1e-6),</div>
 159 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>········maxDiagonal(1e32)·{</div>
151 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>······<span·class="keywordtype">double</span>·e·=·u·-·z,·e2·=·e·*·e;</div>160 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····SetLegacyDefaults(<span·class="keyword">this</span>);</div>
152 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>······<span·class="keywordtype">double</span>·c·=·2·*·<a·class="code·hl_variable"·href="a01428.html#ad5602eb85d05df6cba60e47eebbd3636">logSqrt2PI</a>·-·log(p)·+·e2·*·p;</div> 
153 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>······Vector·g1·=·(Vector(1)·&lt;&lt;·-e·*·p).finished();</div> 
154 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······Vector·g2·=·(Vector(1)·&lt;&lt;··0.5·/·p·-·0.5·*·e2).finished();</div> 
155 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>······Matrix·G11·=·(Matrix(1,·1)·&lt;&lt;·p).finished();</div> 
156 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>······Matrix·G12·=·(Matrix(1,·1)·&lt;&lt;·e).finished();</div> 
157 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>······Matrix·G22·=·(Matrix(1,·1)·&lt;&lt;·0.5·/·(p·*·p)).finished();</div> 
158 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>······<span·class="keywordflow">return</span>·<a·class="code·hl_typedef"·href="a03812.html#a10c151a4d4beb9d9af4249f4a02791ff">HessianFactor::shared_ptr</a>(</div> 
159 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··········<span·class="keyword">new</span>·<a·class="code·hl_class"·href="a03812.html">HessianFactor</a>(j1,·j2,·G11,·G12,·g1,·G22,·g2,·c));</div> 
160 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····}</div>161 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div>
161 </div> 
162 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>162 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 163 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·SetLegacyDefaults(<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>*·p)·{</div>
 164 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="comment">//·Relevant·NonlinearOptimizerParams:</span></div>
 165 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····p-&gt;<a·class="code·hl_variable"·href="a04556.html#a19a9e8d9b25df5abe12c41fc7e8b1075">maxIterations</a>·=·100;</div>
 166 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····p-&gt;<a·class="code·hl_variable"·href="a04556.html#a9525e668e93fbb60ea4bffeab963629e">relativeErrorTol</a>·=·1e-5;</div>
 167 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····p-&gt;<a·class="code·hl_variable"·href="a04556.html#a01f8529b9f7efdd818e0d75134f1ae8b">absoluteErrorTol</a>·=·1e-5;</div>
 168 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="comment">//·LM-specific:</span></div>
 169 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····p-&gt;<a·class="code·hl_variable"·href="a04440.html#a49aef82106661bcbd87299fa60209912">lambdaInitial</a>·=·1e-5;</div>
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 172 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····p-&gt;<a·class="code·hl_variable"·href="a04440.html#aad53fd303fc59476683c27e942f63ae2">lambdaLowerBound</a>·=·0.0;</div>
 173 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····p-&gt;<a·class="code·hl_variable"·href="a04440.html#aa6ab26143bf0ebbada2c325a88ca3348">minModelFidelity</a>·=·1e-3;</div>
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 176 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··}</div>
163 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>177 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
164 <div·class="foldopen"·id="foldopen00096"·data-start="{"·data-end="}"> 
165 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno"><a·class="line"·href="a04652.html#a92b88afb4ef2a76302f9ad7694636bce">···96</a></span>····<a·class="code·hl_function"·href="a04652.html#a92b88afb4ef2a76302f9ad7694636bce">WhiteNoiseFactor</a>(<span·class="keywordtype">double</span>·z,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·meanKey,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·precisionKey)·:</div> 
166 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>········<a·class="code·hl_class"·href="a04496.html">Base</a>(),·z_(z),·meanKey_(meanKey),·precisionKey_(precisionKey)·{</div>178 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<span·class="comment">//·these·do·seem·to·work·better·for·SFM</span></div>
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>·&#124;
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102 ··<div·class="headertitle"><div·class="title">ShonanGaugeFactor.h·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">ShonanFactor.h·File·Reference</div></div>
103 </div><!--header-->104 </div><!--header-->
104 <div·class="contents">105 <div·class="contents">
  
105 <p>Factor·used·in·Shonan·Averaging·to·clamp·down·gauge·freedom.··106 <p>Main·factor·type·in·Shonan·averaging,·on·SO(n)·pairs.··
106 <a·href="#details">More...</a></p>107 <a·href="#details">More...</a></p>
  
107 <p><a·href="a01184_source.html">Go·to·the·source·code·of·this·file.</a></p>108 <p><a·href="a01184_source.html">Go·to·the·source·code·of·this·file.</a></p>
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·<a·class="el"·href="a04748.html"·title="The·ShonanGaugeFactor·creates·a·constraint·on·a·single·SO(n)·to·avoid·moving·in·the·stabilizer.">ShonanGaugeFactor</a>·creates·a·constraint·on·a·single·SO(n)·to·avoid·moving·in·the·stabilizer.··<a·href="a04748.html#details">More...</a><br·/></td></tr>113 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a04744.html"·title="ShonanFactor·is·a·BetweenFactor·that·moves·in·SO(p),·but·will·land·on·the·SO(d)·sub-manifold·of·SO(p)...">ShonanFactor</a>·is·a·<a·class="el"·href="a04764.html"·title="A·class·for·a·measurement·predicted·by·&quot;bet[·...·truncated·by·diffoscope;·len:·167,·SHA:·3604db1378efff152f3bf8ed74b4eeb49a10383690c312890e326e5a5ff3b0e7·...·].html#details">More...</a><br·/></td></tr>
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117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>119 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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 121 </table><table·class="memberdecls">
 122 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="typedef-members"·name="typedef-members"></a>
 123 Typedefs</h2></td></tr>
 124 <tr·class="memitem:ab5b8c97a91dd0aeb2b8ee6e3a2291f1c"·id="r_ab5b8c97a91dd0aeb2b8ee6e3a2291f1c"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ab5b8c97a91dd0aeb2b8ee6e3a2291f1c"·name="ab5b8c97a91dd0aeb2b8ee6e3a2291f1c"></a>
 125 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::ShonanFactor2</b>·=·<a·class="el"·href="a04744.html">ShonanFactor</a>&lt;·2·&gt;</td></tr>
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 128 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::ShonanFactor3</b>·=·<a·class="el"·href="a04744.html">ShonanFactor</a>&lt;·3·&gt;</td></tr>
 129 <tr·class="separator:a13fc66ae4607e7fda82c1ac35ca123d0"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 </table>130 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>131 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>Factor·used·in·Shonan·Averaging·to·clamp·down·gauge·freedom.·</p>132 <div·class="textblock"><p>Main·factor·type·in·Shonan·averaging,·on·SO(n)·pairs.·</p>
123 <dl·class="section·date"><dt>Date</dt><dd>March·2019·</dd></dl>133 <dl·class="section·date"><dt>Date</dt><dd>March·2019·</dd></dl>
124 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>134 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
125 </div></div><!--·contents·-->135 </div></div><!--·contents·-->
126 </div><!--·doc-content·-->136 </div><!--·doc-content·-->
127 <!--·start·footer·part·-->137 <!--·start·footer·part·-->
128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->138 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
129 ··<ul>139 ··<ul>
130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_76df0d5ddca8353881dcb68d9cbdfd25.html">sfm</a></li><li·class="navelem"><a·class="el"·href="a01184.html">ShonanGaugeFactor.h</a></li>140 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_76df0d5ddca8353881dcb68d9cbdfd25.html">sfm</a></li><li·class="navelem"><a·class="el"·href="a01184.html">ShonanFactor.h</a></li>
131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>141 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
132 ··</ul>142 ··</ul>
133 </div>143 </div>
134 </body>144 </body>
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103 <div·class="header">103 <div·class="header">
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106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01184.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01184.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
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114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00338.html">gtsam/geometry/SOn.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00419.html">gtsam/geometry/Rot2.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00731.html">gtsam/linear/JacobianFactor.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00323.html">gtsam/geometry/SOn.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;type_traits&gt;</span></div>
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">template</span>·&lt;<span·class="keywordtype">size_t</span>·d&gt;</div>
126 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">131 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04748.html">···45</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04748.html">ShonanGaugeFactor</a>·:·<span·class="keyword">public</span>·<a·class="[·...·truncated·by·diffoscope;·len:·53,·SHA:·e54642be747ea1fd5e6286a2dfc5f2074dfb7e34a718dce332db32feea2dbf77·...·]·{</div>132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04744.html">···36</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04744.html">ShonanFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·[·...·truncated·by·diffoscope;·len:·66,·SHA:·d60c4710e16f3ac0d87f2f240694e8e304334018d5bdd92e76126ade64881d8e·...·]·{</div>
128 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Row·dimension,·equal·to·the·dimensionality·of·SO(p-d)</span></div>133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··Matrix·M_;····················</div>
129 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keywordtype">size_t</span>·rows_;</div>134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keywordtype">size_t</span>·p_,·pp_;···············</div>
 135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··boost::shared_ptr&lt;Matrix&gt;·G_;·</div>
130 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
131 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··boost::shared_ptr&lt;JacobianFactor&gt;·whitenedJacobian_;</div>137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·Select·Rot2·or·Rot3·interface·based·template·parameter·d</span></div>
 138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">using·</span>Rot·=·<span·class="keyword">typename</span>·std::conditional&lt;d·==·2,·Rot2,·Rot3&gt;::type;</div>
 139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
 140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">public</span>:</div>
 141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<a·class="code·hl_class"·href="a04744.html">ShonanFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j2,·<span·class="keyword">const</span>·Rot·&amp;R12,·<span·class="keywordtype">size_t</span>·p,</div>
 143 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>···············<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model·=·<span·class="keyword">nullptr</span>,</div>
 144 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>···············<span·class="keyword">const</span>·boost::shared_ptr&lt;Matrix&gt;·&amp;G·=·<span·class="keyword">nullptr</span>);</div>
132 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>145 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 146 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
133 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="keyword">public</span>:</div>147 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keywordtype">void</span></div>
 148 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string·&amp;s,</div>
 149 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>········<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div>
134 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="}"> 
135 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a04748.html#af066e4ba178cc6af9a3163f005d4deea">···58</a></span>··<a·class="code·hl_function"·href="a04748.html#af066e4ba178cc6af9a3163f005d4deea">ShonanGaugeFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keywordtype">size_t</span>·p,·<span·class="keywordtype">size_t</span>·d·=·3,</div> 
136 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····················boost::optional&lt;double&gt;·gamma·=·boost::none)</div> 
137 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······:·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>{key})·{</div> 
138 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<span·class="keywordflow">if</span>·(p·&lt;·d)·{</div> 
139 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······<span·class="keywordflow">throw</span>·std::invalid_argument(<span·class="stringliteral">&quot;ShonanGaugeFactor·must·have·p&gt;=d.&quot;</span>);</div> 
140 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····}</div>150 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
 151 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>·&amp;expected,</div>
 152 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··············<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const·override</span>;</div>
141 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="comment">//·Calculate·dimensions</span></div> 
142 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordtype">size_t</span>·q·=·p·-·d;</div> 
143 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="keywordtype">size_t</span>·P·=·SOn::Dimension(p);·<span·class="comment">//·dimensionality·of·SO(p)</span></div> 
144 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····rows_·=·SOn::Dimension(q);····<span·class="comment">//·dimensionality·of·SO(q),·the·gauge</span></div> 
145 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>153 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
146 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="comment">//·Create·constant·Jacobian·as·a·rows_*P·matrix:·there·are·rows_·penalized</span></div> 
147 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="comment">//·dimensions,·but·it·is·a·bit·tricky·to·find·them·among·the·P·columns.</span></div> 
148 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="comment">//·The·key·is·to·look·at·how·skew-symmetric·matrices·are·laid·out·in·SOn.h:</span></div> 
149 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="comment">//·the·first·tangent·dimension·will·always·be·included,·but·beyond·that·we</span></div> 
150 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="comment">//·have·to·be·careful.·We·always·need·to·skip·the·d·top-rows·of·the·skew-</span></div> 
151 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="comment">//·symmetric·matrix·as·they·below·to·K,·part·of·the·Stiefel·manifold.</span></div> 
152 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····Matrix·A(rows_,·P);</div> 
153 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····A.setZero();</div> 
154 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····<span·class="keywordtype">double</span>·invSigma·=·gamma·?·std::sqrt(*gamma)·:·1.0;</div> 
155 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keywordtype">size_t</span>·i·=·0,·j·=·0,·n·=·p·-·1·-·d;</div> 
156 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordflow">while</span>·(i·&lt;·rows_)·{</div> 
157 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······A.block(i,·j,·n,·n)·=·invSigma·*·Matrix::Identity(n,·n);</div> 
158 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>······i·+=·n;</div>154 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
159 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>······j·+=·n·+·d;·<span·class="comment">//·skip·d·columns</span></div> 
160 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>······n·-=·1;</div> 
161 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····}</div>155 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··Vector</div>
162 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="comment">//·TODO(frank):·assign·the·right·one·in·the·right·columns</span></div>156 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··evaluateError(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03304.html">SOn</a>·&amp;Q1,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03304.html">SOn</a>·&a[·...·truncated·by·diffoscope;·len:·6,·SHA:·44de07cb8a66697bd9e085b83d824d567d65f821a2b5628b354d07b47e9c5f0e·...·]</div>
 157 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>················boost::optional&lt;Matrix·&amp;&gt;·H1·=·boost::none,</div>
 158 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>················boost::optional&lt;Matrix·&amp;&gt;·H2·=·boost::none)·<span·class="keyword">const·override</span>;</div>
163 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····whitenedJacobian_·=</div>159 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
164 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>········boost::make_shared&lt;JacobianFactor&gt;(key,·A,·Vector::Zero(rows_));</div>160 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span><span·class="keyword">private</span>:</div>
 161 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keywordtype">void</span>·fillJacobians(<span·class="keyword">const</span>·Matrix·&amp;M1,·<span·class="keyword">const</span>·Matrix·&amp;M2,</div>
 162 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·····················boost::optional&lt;Matrix·&amp;&gt;·H1,</div>
 163 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·····················boost::optional&lt;Matrix·&amp;&gt;·H2)·<span·class="keyword">const</span>;</div>
165 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··}</div>164 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>};</div>
166 </div>165 </div>
167 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>166 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
168 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno"><a·class="line"·href="a04748.html#a94cec89a59809e64fd9e439ec4757018">···91</a></span>··<a·class="code·hl_function"·href="a04748.html#a94cec89a59809e64fd9e439ec4757018">~ShonanGaugeFactor</a>()<span·class="keyword"[·...·truncated·by·diffoscope;·len:·20,·SHA:·c7928dc0a743e3230faa277f5c6abbd6f7e9119b11cab654104b654f0f6c2a65·...·]</div>167 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span><span·class="comment">//·Explicit·instantiation·for·d=2·and·d=3·in·.cpp·file:</span></div>
 168 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span><span·class="keyword">using·</span>ShonanFactor2·=·<a·class="code·hl_class"·href="a04744.html">ShonanFactor&lt;2&gt;</a>;</div>
 169 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span><span·class="keyword">using·</span>ShonanFactor3·=·<a·class="code·hl_class"·href="a04744.html">ShonanFactor&lt;3&gt;</a>;</div>
169 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div>170 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>
170 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno"><a·class="line"·href="a04748.html#a408de50cac8a0dbca050acf9d5a5d209">···94</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a04748.html#a408de50cac8a0dbca050acf9d5a5d209">error</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·&amp;c)<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·0;·}</div> 
171 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div> 
172 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno"><a·class="line"·href="a04748.html#acf710e8b8ddd4c7c2b87c6baf513b310">···97</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a04748.html#acf710e8b8ddd4c7c2b87c6baf513b310">dim</a>()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·rows_;·}</div> 
173 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>·</div> 
174 <div·class="foldopen"·id="foldopen00100"·data-start="{"·data-end="}"> 
175 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno"><a·class="line"·href="a04748.html#aa1f2e5da985917e369cb1f9a408e2420">··100</a></span>··boost::shared_ptr&lt;GaussianFactor&gt;·<a·class="code·hl_function"·href="a04748.html#aa1f2e5da985917e369cb1f9a408e2420">linearize</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·&amp;c)<span·class="keyword">·const·override·</span>{</div> 
176 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>····<span·class="keywordflow">return</span>·whitenedJacobian_;</div> 
177 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>··}</div> 
178 </div> 
179 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>};</div> 
180 </div> 
181 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span><span·class="comment">//·\ShonanGaugeFactor</span></div> 
182 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>·</div> 
183 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>}·<span·class="comment">//·namespace·gtsam</span></div>171 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>}·<span·class="comment">//·namespace·gtsam</span></div>
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100 <a·href="#func-members">Functions</a>··</div>103 <a·href="#func-members">Functions</a>··</div>
101 ··<div·class="headertitle"><div·class="title">MFAS.cpp·File·Reference</div></div>104 ··<div·class="headertitle"><div·class="title">SfmData.h·File·Reference</div></div>
102 </div><!--header-->105 </div><!--header-->
103 <div·class="contents">106 <div·class="contents">
  
104 <p>Source·file·for·the·MFAS·class.··107 <p>Data·structure·for·dealing·with·Structure·from·Motion·data.··
105 <a·href="#details">More...</a></p>108 <a·href="#details">More...</a></p>
  
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 114 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a04704.html"·title="SfmData·stores·a·bunch·of·SfmTracks.">SfmData</a>·stores·a·bunch·of·SfmTracks.··<a·href="a04704.html#details">More...</a><br·/></td></tr>
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 117 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a04708.html#details">More...</a><br·/></td></tr>
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 128 <tr·class="memitem:acab0207730cf78822bdf274b50739d31"·id="r_acab0207730cf78822bdf274b50739d31"><td·class="memItemLeft"·align="right"·valign="top"><a·id="acab0207730cf78822bdf274b50739d31"·name="acab0207730cf78822bdf274b50739d31"></a>
 129 typedef·<a·class="el"·href="a03104.html">PinholeCamera</a>&lt;·<a·class="el"·href="a02968.html">Cal3Bundler</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::SfmCamera</b></td></tr>
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107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>133 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
108 Functions</h2></td></tr>134 Functions</h2></td></tr>
109 <tr·class="memitem:abb3efd5cd3e888ac46d52e935c4a3de5"·id="r_abb3efd5cd3e888ac46d52e935c4a3de5"><td·class="memItemLeft"·align="right"·valign="top"><a·id="abb3efd5cd3e888ac46d52e935c4a3de5"·name="abb3efd5cd3e888ac46d52e935c4a3de5"></a> 
110 unordered_map&lt;·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>,·GraphNode·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>graphFromEdges</b>·(const·map&lt;·MFAS::KeyPair,·double·&gt;·&amp;edgeWeights)</td></tr>135 <tr·class="memitem:a710ec0322f4a2c0883841b58516b7a6a"·id="r_a710ec0322f4a2c0883841b58516b7a6a"><td·class="memItemLeft"·align="right"·valign="top"><a·class="el"·href="a04704.html">SfmData</a>&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·[·...·truncated·by·diffoscope;·len:·104,·SHA:·5786739bb2cfedd00fce62c42d7a78580ff7ae0f6a6d1febdeb6c6669c04c089·...·])</td></tr>
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111 <tr·class="separator:abb3efd5cd3e888ac46d52e935c4a3de5"><td·class="memSeparator"·colspan="2">&#160;</td></tr>137 <tr·class="separator:a710ec0322f4a2c0883841b58516b7a6a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
112 <tr·class="memitem:a26102a4f47cc94335b77dc0fbd1460ff"·id="r_a26102a4f47cc94335b77dc0fbd1460ff"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a26102a4f47cc94335b77dc0fbd1460ff"·name="a26102a4f47cc94335b77dc0fbd1460ff"></a> 
113 <a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>selectNextNodeInOrdering</b>·(const·unordered_map&lt;·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>[·...·truncated·by·diffoscope;·len:·27,·SHA:·71d41fff4f3f192b40e120f147a8ae187bf128005c079fb62cad68175d9e865f·...·])</td></tr>138 <tr·class="memitem:a43c2c2ead4fddd79d9c3f9a5bfa764ae"·id="r_a43c2c2ead4fddd79d9c3f9a5bfa764ae"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a43c2c2ead4fddd79d9c3f9[·...·truncated·by·diffoscope;·len:·126,·SHA:·ec52c642d0324bc5f4b89c442df97a5a2341ff03600c119eadee650086b35e22·...·])</td></tr>
 139 <tr·class="memdesc:a43c2c2ead4fddd79d9c3f9a5bfa764ae"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·function·writes·a·"Bundle·Adjustment·in·the·Large"·(BAL)·file·from·a·<a·class="el"·href="a04704.html"·title="SfmData·stores·a·bunch·of·SfmTracks.">SfmData</a>·structure.··<br·/></td></tr>
114 <tr·class="separator:a26102a4f47cc94335b77dc0fbd1460ff"><td·class="memSeparator"·colspan="2">&#160;</td></tr>140 <tr·class="separator:a43c2c2ead4fddd79d9c3f9a5bfa764ae"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
115 <tr·class="memitem:ad2adb0b0db06f2cd0b7bfaec6a78e473"·id="r_ad2adb0b0db06f2cd0b7bfaec6a78e473"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ad2adb0b0db06f2cd0b7bfaec6a78e473"·name="ad2adb0b0db06f2cd0b7bfaec6a78e473"></a> 
116 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>absWeightOfEdge</b>·(const·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1,·const·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2,·[·...·truncated·by·diffoscope;·len:·56,·SHA:·639a2d33b4172087013b1a898815651a583df69bf53efed226108ce3b0083796·...·]s)</td></tr>141 <tr·class="memitem:a4a2433812cf34ee359e3ec99f4f5bcc4"·id="r_a4a2433812cf34ee359e3ec99f4f5bcc4"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a4a2433812cf34ee359e3e[·...·truncated·by·diffoscope;·len:·199,·SHA:·235ff252b869276f9b0cb70f3d2e1d7f57952450c7bba1b38551580635e09458·...·]s)</td></tr>
 142 <tr·class="memdesc:a4a2433812cf34ee359e3ec99f4f5bcc4"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·function·writes·a·"Bundle·Adjustment·in·the·Large"·(BAL)·file·from·a·<a·class="el"·href="a04704.html"·title="SfmData·stores·a·bunch·of·SfmTracks.">SfmData</a>·structure·and·a·value·structure·(measurements·are·the·same·as·the·SfM·input·data,·while·camera·poses·and·values·are·read·from·<a·class="el"·href="a04612.html"·title="A·non-templated·config·holding·any·types·of·Manifold-group·elements.">Values</a>)··<br·/></td></tr>
 143 <tr·class="separator:a4a2433812cf34ee359e3ec99f4f5bcc4"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 145 <tr·class="memdesc:ade6eca65dc0168a65f641961ca97924c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·function·converts·an·openGL·camera·pose·to·an·GTSAM·camera·pose.··<br·/></td></tr>
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 148 <tr·class="memdesc:aaff07ef70e6161c4d1d2bd7546ff91e6"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·function·converts·a·GTSAM·camera·pose·to·an·openGL·camera·pose.··<br·/></td></tr>
 149 <tr·class="separator:aaff07ef70e6161c4d1d2bd7546ff91e6"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 151 <tr·class="memdesc:ad632ed56581bf174eef379bbe272a06a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·function·converts·a·GTSAM·camera·pose·to·an·openGL·camera·pose.··<br·/></td></tr>
 152 <tr·class="separator:ad632ed56581bf174eef379bbe272a06a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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 154 <tr·class="memdesc:ad8b55993353cbab0fde06b872783fe92"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·function·creates·initial·values·for·cameras·from·db.··<br·/></td></tr>
117 <tr·class="separator:ad2adb0b0db06f2cd0b7bfaec6a78e473"><td·class="memSeparator"·colspan="2">&#160;</td></tr>155 <tr·class="separator:ad8b55993353cbab0fde06b872783fe92"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
118 <tr·class="memitem:a15fece1c2c6b780bda48c8dd464fd799"·id="r_a15fece1c2c6b780bda48c8dd464fd799"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a15fece1c2c6b780bda48c8dd464fd799"·name="a15fece1c2c6b780bda48c8dd464fd799"></a> 
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122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>160 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 161 <div·class="textblock"><p>Data·structure·for·dealing·with·Structure·from·Motion·data.·</p>
123 <div·class="textblock"><p>Source·file·for·the·MFAS·class.·</p> 
124 <dl·class="section·author"><dt>Author</dt><dd>Akshay·Krishnan·</dd></dl> 
125 <dl·class="section·date"><dt>Date</dt><dd>July·2020·</dd></dl>162 <dl·class="section·date"><dt>Date</dt><dd>January·2022·</dd></dl>
 163 <dl·class="section·author"><dt>Author</dt><dd>Frank·dellaert·</dd></dl>
126 </div></div><!--·contents·-->164 </div></div><!--·contents·-->
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130 ··<ul>168 ··<ul>
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134 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::gtsfm::MatchIndicesMap</b>·=·std::map&lt;·<a·class="el"·href="a02292.html">IndexPair</a>,·CorrespondenceIndices·&gt;</td></tr>134 using&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::gtsfm::MatchIndicesMap</b>·=·std::map&lt;·<a·class="el"·href="a02292.html">IndexPair</a>,·CorrespondenceIndices·&gt;</td></tr>
135 <tr·class="separator:aa1dc32b3ba4379c2928b18642fa075e7"><td·class="memSeparator"·colspan="2">&#160;</td></tr>135 <tr·class="separator:aa1dc32b3ba4379c2928b18642fa075e7"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
136 </table><table·class="memberdecls">136 </table><table·class="memberdecls">
137 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>137 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
138 Functions</h2></td></tr>138 Functions</h2></td></tr>
139 <tr·class="memitem:ac50218675ff25e1e9202d335ecfa6b3a"·id="r_ac50218675ff25e1e9202d335ecfa6b3a"><td·class="memItemLeft"·align="right"·valign="top">std::vector&lt;·<a·class="el"·href="a04712.html">SfmTrack2d</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01211.html#ac50218675ff25e1e9202d335ecfa6b3a">gtsam::gtsfm::tracksFromPairwiseMatches</a>·(const·MatchIndicesMap·&amp;matches,·const·KeypointsVector·&amp;keypoints,·bool·verbose)</td></tr>139 <tr·class="memitem:ac50218675ff25e1e9202d335ecfa6b3a"·id="r_ac50218675ff25e1e9202d335ecfa6b3a"><td·class="memItemLeft"·align="right"·valign="top">std::vector&lt;·<a·class="el"·href="a04712.html">SfmTrack2d</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01196.html#ac50218675ff25e1e9202d335ecfa6b3a">gtsam::gtsfm::tracksFromPairwiseMatches</a>·(const·MatchIndicesMap·&amp;matches,·const·KeypointsVector·&amp;keypoints,·bool·verbose)</td></tr>
140 <tr·class="memdesc:ac50218675ff25e1e9202d335ecfa6b3a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Creates·a·list·of·tracks·from·2d·point·correspondences.··<br·/></td></tr>140 <tr·class="memdesc:ac50218675ff25e1e9202d335ecfa6b3a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Creates·a·list·of·tracks·from·2d·point·correspondences.··<br·/></td></tr>
141 <tr·class="separator:ac50218675ff25e1e9202d335ecfa6b3a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>141 <tr·class="separator:ac50218675ff25e1e9202d335ecfa6b3a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
142 </table>142 </table>
143 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>143 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
144 <div·class="textblock"><p>Identifies·connected·components·in·the·keypoint·matches·graph.·</p>144 <div·class="textblock"><p>Identifies·connected·components·in·the·keypoint·matches·graph.·</p>
145 <dl·class="section·date"><dt>Date</dt><dd>July·2022·</dd></dl>145 <dl·class="section·date"><dt>Date</dt><dd>July·2022·</dd></dl>
146 <dl·class="section·author"><dt>Author</dt><dd>John·Lambert·</dd></dl>146 <dl·class="section·author"><dt>Author</dt><dd>John·Lambert·</dd></dl>
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113 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>113 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
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121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01214.html">gtsam/sfm/SfmTrack.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01226.html">gtsam/sfm/SfmTrack.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;Eigen/Core&gt;</span></div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;Eigen/Core&gt;</span></div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
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162 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>std::vector&lt;SfmTrack2d&gt;·tracksFromPairwiseMatches(</div>162 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>std::vector&lt;SfmTrack2d&gt;·tracksFromPairwiseMatches(</div>
163 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="keyword">const</span>·MatchIndicesMap&amp;·matches,·<span·class="keyword">const</span>·KeypointsVector&amp;·keypoints,</div>163 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="keyword">const</span>·MatchIndicesMap&amp;·matches,·<span·class="keyword">const</span>·KeypointsVector&amp;·keypoints,</div>
164 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="keywordtype">bool</span>·verbose·=·<span·class="keyword">false</span>);</div>164 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="keywordtype">bool</span>·verbose·=·<span·class="keyword">false</span>);</div>
165 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>165 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
166 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>}··<span·class="comment">//·namespace·gtsfm</span></div>166 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>}··<span·class="comment">//·namespace·gtsfm</span></div>
167 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>167 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>
168 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>}··<span·class="comment">//·namespace·gtsam</span></div>168 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>}··<span·class="comment">//·namespace·gtsam</span></div>
169 <div·class="ttc"·id="aa00062_html"><div·class="ttname"><a·href="a00062.html">DSFMap.h</a></div><div·class="ttdoc">Allow·for·arbitrary·type·in·DSF.</div></div>169 <div·class="ttc"·id="aa00023_html"><div·class="ttname"><a·href="a00023.html">DSFMap.h</a></div><div·class="ttdoc">Allow·for·arbitrary·type·in·DSF.</div></div>
170 <div·class="ttc"·id="aa01214_html"><div·class="ttname"><a·href="a01214.html">SfmTrack.h</a></div><div·class="ttdoc">A·simple·data·structure·for·a·track·in·Structure·from·Motion.</div></div>170 <div·class="ttc"·id="aa01226_html"><div·class="ttname"><a·href="a01226.html">SfmTrack.h</a></div><div·class="ttdoc">A·simple·data·structure·for·a·track·in·Structure·from·Motion.</div></div>
171 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>171 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
172 <div·class="ttc"·id="aa04692_html"><div·class="ttname"><a·href="a04692.html">gtsam::gtsfm::Keypoints</a></div><div·class="ttdef"><b>Definition</b>·DsfTrackGenerator.h:41</div></div>172 <div·class="ttc"·id="aa04692_html"><div·class="ttname"><a·href="a04692.html">gtsam::gtsfm::Keypoints</a></div><div·class="ttdef"><b>Definition</b>·DsfTrackGenerator.h:41</div></div>
173 <div·class="ttc"·id="aa04692_html_ab906f39dfa48f5a5c0eef453fea324bf"><div·class="ttname"><a·href="a04692.html#ab906f39dfa48f5a5c0eef453fea324bf">gtsam::gtsfm::Keypoints::responses</a></div><div·class="ttdeci">boost::optional&lt;·gtsam::Vector·&gt;·responses</div><div·class="ttdoc">Optional·confidences/responses·for·each·detection,·of·shape·N.</div><div·class="ttdef"><b>Definition</b>·DsfTrackGenerator.h:50</div></div>173 <div·class="ttc"·id="aa04692_html_ab906f39dfa48f5a5c0eef453fea324bf"><div·class="ttname"><a·href="a04692.html#ab906f39dfa48f5a5c0eef453fea324bf">gtsam::gtsfm::Keypoints::responses</a></div><div·class="ttdeci">boost::optional&lt;·gtsam::Vector·&gt;·responses</div><div·class="ttdoc">Optional·confidences/responses·for·each·detection,·of·shape·N.</div><div·class="ttdef"><b>Definition</b>·DsfTrackGenerator.h:50</div></div>
174 </div><!--·fragment·--></div><!--·contents·-->174 </div><!--·fragment·--></div><!--·contents·-->
175 </div><!--·doc-content·-->175 </div><!--·doc-content·-->
176 <!--·start·footer·part·-->176 <!--·start·footer·part·-->
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121 <div·class="textblock"><p>Recovering·translations·in·an·epipolar·graph·when·rotations·are·given.·</p> 
122 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert,·Akshay·Krishnan·</dd></dl> 
123 <dl·class="section·date"><dt>Date</dt><dd>March·2020·</dd></dl>115 <dl·class="section·date"><dt>Date</dt><dd>January·2022·</dd></dl>
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 128 <div·class="textblock"><p>Identifies·connected·components·in·the·keypoint·matches·graph.·</p>
129 <div·class="textblock"><p>MFAS·class·to·solve·Minimum·Feedback·Arc·Set·graph·problem.·</p> 
130 <dl·class="section·author"><dt>Author</dt><dd>Akshay·Krishnan·</dd></dl> 
131 <dl·class="section·date"><dt>Date</dt><dd>September·2020·</dd></dl>129 <dl·class="section·date"><dt>Date</dt><dd>October·2022·</dd></dl>
 130 <dl·class="section·author"><dt>Author</dt><dd>John·Lambert·</dd></dl>
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101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">TranslationFactor.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">BinaryMeasurement.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Binary·factor·for·a·relative·translation·direction·measurement.··105 <p>Binary·measurement·represents·a·measurement·between·two·keys·in·a·graph.·A·binary·measurement·is·similar·to·a·BetweenFactor,·except·that·it·does·not·contain·an·error·function.·It·is·a·measurement·(along·with·a·noise·model)·from·one·key·to·another.·Note·that·the·d[·...·truncated·by·diffoscope;·len:·112,·SHA:·c2ea8d8a459348e1484793b83f14e97b0519845b4c4ec8ed89a5d8122d8d5dc0·...·].··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a01205_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a01205_source.html">Go·to·the·source·code·of·this·file.</a></p>
108 <table·class="memberdecls">108 <table·class="memberdecls">
109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
110 Classes</h2></td></tr>110 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04752.html">gtsam::TranslationFactor</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04688.html">gtsam::BinaryMeasurement&lt;·T·&gt;</a></td></tr>
112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Binary·factor·for·a·relative·translation·direction·measurement·w_aZb.··<a·href="a04752.html#details">More...</a><br·/></td></tr> 
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
114 </table><table·class="memberdecls">113 </table><table·class="memberdecls">
115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>114 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
116 Namespaces</h2></td></tr>115 Namespaces</h2></td></tr>
117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>116 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>117 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>118 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 </table>119 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>120 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>Binary·factor·for·a·relative·translation·direction·measurement.·</p>121 <div·class="textblock"><p>Binary·measurement·represents·a·measurement·between·two·keys·in·a·graph.·A·binary·measurement·is·similar·to·a·BetweenFactor,·except·that·it·does·not·contain·an·error·function.·It·is·a·measurement·(along·with·a·noise·model)·from·one·key·to·another.·Note·that·the·d[·...·truncated·by·diffoscope;·len:·112,·SHA:·c2ea8d8a459348e1484793b83f14e97b0519845b4c4ec8ed89a5d8122d8d5dc0·...·].·</p>
123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>122 <dl·class="section·author"><dt>Author</dt><dd>Akshay·Krishnan·</dd></dl>
124 <dl·class="section·date"><dt>Date</dt><dd>March·2020·</dd></dl>123 <dl·class="section·date"><dt>Date</dt><dd>July·2020·</dd></dl>
125 </div></div><!--·contents·-->124 </div></div><!--·contents·-->
126 </div><!--·doc-content·-->125 </div><!--·doc-content·-->
127 <!--·start·footer·part·-->126 <!--·start·footer·part·-->
128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->127 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
129 ··<ul>128 ··<ul>
130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_76df0d5ddca8353881dcb68d9cbdfd25.html">sfm</a></li><li·class="navelem"><a·class="el"·href="a01205.html">TranslationFactor.h</a></li>129 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_76df0d5ddca8353881dcb68d9cbdfd25.html">sfm</a></li><li·class="navelem"><a·class="el"·href="a01205.html">BinaryMeasurement.h</a></li>
131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>130 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
132 ··</ul>131 ··</ul>
133 </div>132 </div>
134 </body>133 </body>
135 </html>134 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/TranslationFactor.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/BinaryMeasurement.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">TranslationFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">BinaryMeasurement.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01205.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01205.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2020,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2020,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
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114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span>·</div>120 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span>·</div>
 121 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00632.html">gtsam/inference/Factor.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Point3.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Unit3.h&gt;</span></div> 
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00824.html">gtsam/linear/NoiseModel.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00839.html">gtsam/linear/NoiseModel.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 126 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>
 127 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
 128 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
128 <div·class="foldopen"·id="foldopen00042"·data-start="{"·data-end="};">131 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">
129 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04752.html">···42</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04752.html">TranslationFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class[·...·truncated·by·diffoscope;·len:·64,·SHA:·977b3a4ace386f75b8408d626cc58e1d658346e44680160bb3ee170b8bb05cc1·...·]·{</div>132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04688.html">···36</a></span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T&gt;·<span·class="keyword">class·</span><a·class="code·hl_class"·href="a04688.html">[·...·truncated·by·diffoscope;·len:·114,·SHA:·74a238213fda20a11d9e227316c160e6419d59cbc9df272d5f6dfe670a74ca8b·...·]·{</div>
 133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="comment">//·Check·that·T·type·is·testable</span></div>
 134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··BOOST_CONCEPT_ASSERT((<a·class="code·hl_class"·href="a02476.html">IsTestable&lt;T&gt;</a>));</div>
 135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
 136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">public</span>:</div>
 137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·shorthand·for·a·smart·pointer·to·a·measurement</span></div>
 138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">using·</span>shared_ptr·=·<span·class="keyword">typename</span>·boost::shared_ptr&lt;BinaryMeasurement&gt;;</div>
 139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
130 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·<span·class="keyword">private</span>:</div>140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">private</span>:</div>
131 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;Point3,·Point3&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div> 
132 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·measured_w_aZb_;</div>141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··T·measured_;··················</div>
 142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·noiseModel_;·</div>
133 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
134 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·<span·class="keyword">public</span>:</div>144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·<span·class="keyword">public</span>:</div>
135 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a04752.html#a7c01dfa0ae1540c90d4439671b5a74d4">···49</a></span>··<a·class="code·hl_function"·href="a04752.html#a7c01dfa0ae1540c90d4439671b5a74d4">TranslationFactor</a>()·{}</div>145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<a·class="code·hl_class"·href="a04688.html">BinaryMeasurement</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Ke[·...·truncated·by·diffoscope;·len:·63,·SHA:·c0bd7f9328d85211e5ce85ee4321d6cccc53f8b45f7b309b3ca1eb9c974b55bc·...·]</div>
 146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model·=·<span·class="keyword">nullptr</span>)</div>
 147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······:·<a·class="code·hl_function"·href="a03592.html#a322a4d391be45b5909a65895fb7b023d">Factor</a>(std::vector&lt;Key&gt;({key1,·key2})),</div>
136 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>148 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>········measured_(measured),</div>
137 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<a·class="code·hl_function"·href="a04752.html#a7c01dfa0ae1540c90d4439671b5a74d4">TranslationFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·a,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·b,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03380.html">Unit3</a>&amp;·w_aZb,</div> 
138 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·noiseModel)</div> 
139 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······:·Base(noiseModel,·a,·b),·measured_w_aZb_(w_aZb.point3())·{}</div>149 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>········noiseModel_(model)·{}</div>
140 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>150 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 151 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a04688.html#a8cf91e3bfce563f6d7abdee35b8c755b">···56</a></span>··<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a04688.html#a8cf91e3bfce563f6d7abdee35b8c755b">~BinaryMeasurement</a>()·{}</div>
 152 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 153 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 154 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">keys_</a>[0];·}</div>
 155 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">keys_</a>[1];·}</div>
 156 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keyword">const</span>·T·&amp;measured()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·measured_;·}</div>
 157 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;noiseModel()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·noiseModel_;·}</div>
 158 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 159 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
141 <div·class="foldopen"·id="foldopen00066"·data-start="{"·data-end="}">160 <div·class="foldopen"·id="foldopen00070"·data-start="{"·data-end="}">
 161 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a04688.html#a77c353cc2f848094368c86f9b460f871">···70</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04688.html#a77c353cc2f848094368c86f9b460f871">print</a>(<span·class="keyword">const</span>·std::string·&amp;s,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter·=</div>
 162 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·······································DefaultKeyFormatter)<span·class="keyword">·const·override·</span>{</div>
 163 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;BinaryMeasurement(&quot;</span>·&lt;&lt;·keyFormatter(this-&gt;key1())·&lt;&lt;·<span·class="stringliteral">&quot;,&quot;</span></div>
 164 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··············&lt;&lt;·keyFormatter(this-&gt;key2())·&lt;&lt;·<span·class="stringliteral">&quot;)\n&quot;</span>;</div>
 165 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Print</a>(measured_,·<span·class="stringliteral">&quot;··measured:·&quot;</span>);</div>
 166 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····this-&gt;noiseModel_-&gt;print(<span·class="stringliteral">&quot;··noise·model:·&quot;</span>);</div>
142 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno"><a·class="line"·href="a04752.html#a863b3218f0ab46be65181c66c5e182d5">···66</a></span>··Vector·<a·class="code·hl_function"·href="a04752.html#a863b3218f0ab46be65181c66c5e182d5">evaluateError</a>(</div> 
143 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·Ta,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·Tb,</div> 
144 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······boost::optional&lt;Matrix&amp;&gt;·H1·=·boost::none,</div> 
145 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······boost::optional&lt;Matrix&amp;&gt;·H2·=·boost::none)<span·class="keyword">·const·override·</span>{</div> 
146 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·dir·=·Tb·-·Ta;</div> 
147 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····Matrix33·H_predicted_dir;</div> 
148 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·predicted·=·<a·class="code·hl_function"·href="a01428.html#abb52bb00c68909fc1147e5d112e8c2ae">normalize</a>(dir,·H1·||·H2·?·&amp;H_predicted_dir·:·<span·class="keyword">nullptr</span>);</div> 
149 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="keywordflow">if</span>·(H1)·*H1·=·-H_predicted_dir;</div> 
150 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="keywordflow">if</span>·(H2)·*H2·=·H_predicted_dir;</div> 
151 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="keywordflow">return</span>·predicted·-·measured_w_aZb_;</div> 
152 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··}</div>167 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··}</div>
153 </div>168 </div>
154 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>169 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
155 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·<span·class="keyword">private</span>:</div> 
156 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span>boost::serialization::access;</div> 
157 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div> 
158 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div> 
159 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····ar&amp;·boost::serialization::make_nvp(</div> 
160 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>········<span·class="stringliteral">&quot;Base&quot;</span>,·boost::serialization::base_object&lt;Base&gt;(*<span·class="keyword">this</span>));</div>170 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04688.html">BinaryMeasurement</a>·&amp[·...·truncated·by·diffoscope;·len:·99,·SHA:·9349e3d25a633e5eef5b71e1e6d2171a2715b1cfb3c9c1100d765094a8dd294a·...·]</div>
 171 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04688.html">BinaryMeasurement&lt;T&gt;</a>·*e·=</div>
 172 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>········<span·class="keyword">dynamic_cast&lt;</span><span·class="keyword">const·</span><a·class="code·hl_class"·href="a04688.html">BinaryMeasurement&lt;T&gt;</a>·*<span·class="keyword">&gt;</span>(&amp;expected);</div>
 173 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>····<span·class="keywordflow">return</span>·e·!=·<span·class="keyword">nullptr</span>·&amp;&amp;·<a·class="code·hl_function"·href="a03592.html#a5cc62be07fbcde6678f8b346ab3a3f78">Factor::equals</a>(*e)·&amp;&amp;</div>
 174 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>···········<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(this-&gt;measured_,·e-&gt;measured_,·tol)·&amp;&amp;</div>
 175 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>···········noiseModel_-&gt;equals(*expected.noiseModel());</div>
161 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··}</div>176 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··}</div>
162 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>};··<span·class="comment">//·\·TranslationFactor</span></div>177 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>};</div>
163 </div>178 </div>
164 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>}··<span·class="comment">//·namespace·gtsam</span></div>179 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>}·<span·class="comment">//·namespace·gtsam</span></div>
 180 <div·class="ttc"·id="aa00107_html"><div·class="ttname"><a·href="a00107.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>
 181 <div·class="ttc"·id="aa00590_html"><div·class="ttname"><a·href="a00590.html">Key.h</a></div></div>
165 <div·class="ttc"·id="aa00332_html"><div·class="ttname"><a·href="a00332.html">Point3.h</a></div><div·class="ttdoc">3D·Point</div></div>182 <div·class="ttc"·id="aa00632_html"><div·class="ttname"><a·href="a00632.html">Factor.h</a></div><div·class="ttdoc">The·base·class·for·all·factors.</div></div>
166 <div·class="ttc"·id="aa00824_html"><div·class="ttname"><a·href="a00824.html">NoiseModel.h</a></div></div>183 <div·class="ttc"·id="aa00839_html"><div·class="ttname"><a·href="a00839.html">NoiseModel.h</a></div></div>
167 <div·class="ttc"·id="aa01133_html"><div·class="ttname"><a·href="a01133.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div> 
168 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>184 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
169 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div> 
170 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>185 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>
171 <div·class="ttc"·id="aa01428_html_abb52bb00c68909fc1147e5d112e8c2ae"><div·class="ttname"><a·href="a01428.html#abb52bb00c68909fc1147e5d112e8c2ae">gtsam::normalize</a></div><div·class="ttdeci">Point3·normalize(const·Point3·&amp;p,·OptionalJacobian&lt;·3,·3·&gt;·H)</div><div·class="ttdoc">normalize,·with·optional·Jacobian</div><div·class="ttdef"><b>Definition</b>·Point3.cpp:52</div></div> 
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">BinaryMeasurement.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">ShonanGaugeFactor.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Binary·measurement·represents·a·measurement·between·two·keys·in·a·graph.·A·binary·measurement·is·similar·to·a·BetweenFactor,·except·that·it·does·not·contain·an·error·function.·It·is·a·measurement·(along·with·a·noise·model)·from·one·key·to·another.·Note·tha[·...·truncated·by·diffoscope;·len:·119,·SHA:·4c460481dfe7e72897b20d6fdfb770884f15aed1b34cc431cc468b04f827181e·...·].··105 <p>Factor·used·in·Shonan·Averaging·to·clamp·down·gauge·freedom.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a01208_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a01208_source.html">Go·to·the·source·code·of·this·file.</a></p>
108 <table·class="memberdecls">108 <table·class="memberdecls">
109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
110 Classes</h2></td></tr>110 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04688.html">gtsam::BinaryMeasurement&lt;·T·&gt;</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04748.html">gtsam::ShonanGaugeFactor</a></td></tr>
 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·<a·class="el"·href="a04748.html"·title="The·ShonanGaugeFactor·creates·a·constraint·on·a·single·SO(n)·to·avoid·moving·in·the·stabilizer.">ShonanGaugeFactor</a>·creates·a·constraint·on·a·single·SO(n)·to·avoid·moving·in·the·stabilizer.··<a·href="a04748.html#details">More...</a><br·/></td></tr>
112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
113 </table><table·class="memberdecls">114 </table><table·class="memberdecls">
114 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
115 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
116 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
117 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
118 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
119 </table>120 </table>
120 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 122 <div·class="textblock"><p>Factor·used·in·Shonan·Averaging·to·clamp·down·gauge·freedom.·</p>
121 <div·class="textblock"><p>Binary·measurement·represents·a·measurement·between·two·keys·in·a·graph.·A·binary·measurement·is·similar·to·a·BetweenFactor,·except·that·it·does·not·contain·an·error·function.·It·is·a·measurement·(along·with·a·noise·model)·from·one·key·to·another.·Note·that·the·direction·is·important.·A·measurement·from·key1·to·key2·is·not·the·same·as·the·same·measurement·from·key2·to·key1.·</p> 
122 <dl·class="section·author"><dt>Author</dt><dd>Akshay·Krishnan·</dd></dl> 
123 <dl·class="section·date"><dt>Date</dt><dd>July·2020·</dd></dl>123 <dl·class="section·date"><dt>Date</dt><dd>March·2019·</dd></dl>
 124 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
124 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
125 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
126 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
127 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
128 ··<ul>129 ··<ul>
129 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_76df0d5ddca8353881dcb68d9cbdfd25.html">sfm</a></li><li·class="navelem"><a·class="el"·href="a01208.html">BinaryMeasurement.h</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_76df0d5ddca8353881dcb68d9cbdfd25.html">sfm</a></li><li·class="navelem"><a·class="el"·href="a01208.html">ShonanGaugeFactor.h</a></li>
130 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
131 ··</ul>132 ··</ul>
132 </div>133 </div>
133 </body>134 </body>
134 </html>135 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/BinaryMeasurement.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/ShonanGaugeFactor.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
14 <script·type="text/javascript"·src="navtreedata.js"></script>14 <script·type="text/javascript"·src="navtreedata.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">BinaryMeasurement.h</div></div>104 ··<div·class="headertitle"><div·class="title">ShonanGaugeFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01208.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01208.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2020,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span>·</div> 
120 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00587.html">gtsam/inference/Factor.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00824.html">gtsam/linear/NoiseModel.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
125 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div> 
126 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00323.html">gtsam/geometry/SOn.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00824.html">gtsam/linear/JacobianFactor.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
130 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">125 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04688.html">···36</a></span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T&gt;·<span·class="keyword">class·</span><a·class="code·hl_class"·href="a04688.html">[·...·truncated·by·diffoscope;·len:·104,·SHA:·c13378533d5a04f868a73cc6e6527ae8500b56af496dba11ff097b6bc76b6a6f·...·]Factor</a>·{</div>126 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04748.html">···45</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04748.html">ShonanGaugeFactor</a>·:·<span·class="keyword">public</span>·<a·class="[·...·truncated·by·diffoscope;·len:·43,·SHA:·5442c58eed7bb5c41a2d8a34952b62e3a346d334b86f1c9787df09f1cc443387·...·]Factor</a>·{</div>
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="comment">//·Check·that·T·type·is·testable</span></div>127 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Row·dimension,·equal·to·the·dimensionality·of·SO(p-d)</span></div>
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··BOOST_CONCEPT_ASSERT((<a·class="code·hl_class"·href="a02476.html">IsTestable&lt;T&gt;</a>));</div> 
134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div> 
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">public</span>:</div>128 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keywordtype">size_t</span>·rows_;</div>
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·shorthand·for·a·smart·pointer·to·a·measurement</span></div> 
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">using·</span>shared_ptr·=·<span·class="keyword">typename</span>·boost::shared_ptr&lt;BinaryMeasurement&gt;;</div> 
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>129 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 130 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··boost::shared_ptr&lt;JacobianFactor&gt;·whitenedJacobian_;</div>
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">private</span>:</div> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··T·measured_;··················</div> 
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·noiseModel_;·</div> 
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·<span·class="keyword">public</span>:</div> 
144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<a·class="code·hl_class"·href="a04688.html">BinaryMeasurement</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2,·<span·class="keyword">const</span>·T·&amp;measured,</div> 
145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model·=·<span·class="keyword">nullptr</span>)</div> 
146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······:·<a·class="code·hl_function"·href="a03592.html#a322a4d391be45b5909a65895fb7b023d">Factor</a>(std::vector&lt;Key&gt;({key1,·key2})),</div> 
147 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>········measured_(measured),</div> 
148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>········noiseModel_(model)·{}</div> 
149 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>131 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a04688.html#a8cf91e3bfce563f6d7abdee35b8c755b">···56</a></span>··<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a04688.html#a8cf91e3bfce563f6d7abdee35b8c755b">~BinaryMeasurement</a>()·{}</div> 
151 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>132 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="keyword">public</span>:</div>
152 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
153 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">keys_</a>[0];·}</div> 
154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">keys_</a>[1];·}</div> 
155 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keyword">const</span>·T·&amp;measured()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·measured_;·}</div> 
156 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;noiseModel()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·noiseModel_;·}</div> 
157 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div> 
158 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div> 
159 <div·class="foldopen"·id="foldopen00070"·data-start="{"·data-end="}">133 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="}">
 134 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a04748.html#af066e4ba178cc6af9a3163f005d4deea">···58</a></span>··<a·class="code·hl_function"·href="a04748.html#af066e4ba178cc6af9a3163f005d4deea">ShonanGaugeFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keywordtype">size_t</span>·p,·<span·class="keywordtype">size_t</span>·d·=·3,</div>
 135 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····················boost::optional&lt;double&gt;·gamma·=·boost::none)</div>
 136 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······:·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>{key})·{</div>
 137 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<span·class="keywordflow">if</span>·(p·&lt;·d)·{</div>
 138 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······<span·class="keywordflow">throw</span>·std::invalid_argument(<span·class="stringliteral">&quot;ShonanGaugeFactor·must·have·p&gt;=d.&quot;</span>);</div>
160 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a04688.html#a77c353cc2f848094368c86f9b460f871">···70</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04688.html#a77c353cc2f848094368c86f9b460f871">print</a>(<span·class="keyword">const</span>·std::string·&amp;s,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter·=</div> 
161 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·······································DefaultKeyFormatter)<span·class="keyword">·const·override·</span>{</div> 
162 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;BinaryMeasurement(&quot;</span>·&lt;&lt;·keyFormatter(this-&gt;key1())·&lt;&lt;·<span·class="stringliteral">&quot;,&quot;</span></div> 
163 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··············&lt;&lt;·keyFormatter(this-&gt;key2())·&lt;&lt;·<span·class="stringliteral">&quot;)\n&quot;</span>;</div> 
164 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Print</a>(measured_,·<span·class="stringliteral">&quot;··measured:·&quot;</span>);</div> 
165 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····this-&gt;noiseModel_-&gt;print(<span·class="stringliteral">&quot;··noise·model:·&quot;</span>);</div> 
166 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··}</div>139 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····}</div>
 140 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="comment">//·Calculate·dimensions</span></div>
 141 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordtype">size_t</span>·q·=·p·-·d;</div>
 142 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="keywordtype">size_t</span>·P·=·SOn::Dimension(p);·<span·class="comment">//·dimensionality·of·SO(p)</span></div>
 143 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····rows_·=·SOn::Dimension(q);····<span·class="comment">//·dimensionality·of·SO(q),·the·gauge</span></div>
 144 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 145 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="comment">//·Create·constant·Jacobian·as·a·rows_*P·matrix:·there·are·rows_·penalized</span></div>
 146 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="comment">//·dimensions,·but·it·is·a·bit·tricky·to·find·them·among·the·P·columns.</span></div>
 147 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="comment">//·The·key·is·to·look·at·how·skew-symmetric·matrices·are·laid·out·in·SOn.h:</span></div>
 148 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="comment">//·the·first·tangent·dimension·will·always·be·included,·but·beyond·that·we</span></div>
 149 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="comment">//·have·to·be·careful.·We·always·need·to·skip·the·d·top-rows·of·the·skew-</span></div>
 150 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="comment">//·symmetric·matrix·as·they·below·to·K,·part·of·the·Stiefel·manifold.</span></div>
 151 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····Matrix·A(rows_,·P);</div>
 152 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····A.setZero();</div>
 153 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····<span·class="keywordtype">double</span>·invSigma·=·gamma·?·std::sqrt(*gamma)·:·1.0;</div>
 154 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keywordtype">size_t</span>·i·=·0,·j·=·0,·n·=·p·-·1·-·d;</div>
 155 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordflow">while</span>·(i·&lt;·rows_)·{</div>
 156 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······A.block(i,·j,·n,·n)·=·invSigma·*·Matrix::Identity(n,·n);</div>
 157 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>······i·+=·n;</div>
 158 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>······j·+=·n·+·d;·<span·class="comment">//·skip·d·columns</span></div>
 159 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>······n·-=·1;</div>
 160 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····}</div>
 161 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="comment">//·TODO(frank):·assign·the·right·one·in·the·right·columns</span></div>
 162 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····whitenedJacobian_·=</div>
 163 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>········boost::make_shared&lt;JacobianFactor&gt;(key,·A,·Vector::Zero(rows_));</div>
 164 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··}</div>
167 </div>165 </div>
168 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div> 
169 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04688.html">BinaryMeasurement</a>·&amp;expected,·<span·class="keywordtype">double</span>·tol·=·1e-9)<span·class="keyword">·const·</span>{</div> 
170 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04688.html">BinaryMeasurement&lt;T&gt;</a>·*e·=</div> 
171 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>········<span·class="keyword">dynamic_cast&lt;</span><span·class="keyword">const·</span><a·class="code·hl_class"·href="a04688.html">BinaryMeasurement&lt;T&gt;</a>·*<span·class="keyword">&gt;</span>(&amp;expected);</div> 
172 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>····<span·class="keywordflow">return</span>·e·!=·<span·class="keyword">nullptr</span>·&amp;&amp;·<a·class="code·hl_function"·href="a03592.html#a5cc62be07fbcde6678f8b346ab3a3f78">Factor::equals</a>(*e)·&amp;&amp;</div> 
173 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>···········<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(this-&gt;measured_,·e-&gt;measured_,·tol)·&amp;&amp;</div> 
174 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>···········noiseModel_-&gt;equals(*expected.noiseModel());</div> 
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101 <a·href="#typedef-members">Typedefs</a>·&#124;102 <a·href="#typedef-members">Typedefs</a>··</div>
102 <a·href="#func-members">Functions</a>··</div> 
103 ··<div·class="headertitle"><div·class="title">DsfTrackGenerator.cpp·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">MFAS.h·File·Reference</div></div>
104 </div><!--header-->104 </div><!--header-->
105 <div·class="contents">105 <div·class="contents">
  
106 <p>Identifies·connected·components·in·the·keypoint·matches·graph.··106 <p>MFAS·class·to·solve·Minimum·Feedback·Arc·Set·graph·problem.··
107 <a·href="#details">More...</a></p>107 <a·href="#details">More...</a></p>
  
 108 <p><a·href="a01211_source.html">Go·to·the·source·code·of·this·file.</a></p>
108 <table·class="memberdecls">109 <table·class="memberdecls">
 110 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
 111 Classes</h2></td></tr>
 112 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04700.html">gtsam::MFAS</a></td></tr>
 113 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·<a·class="el"·href="a04700.html"·title="The·MFAS·class·to·solve·a·Minimum·feedback·arc·set·(MFAS)·problem.">MFAS</a>·class·to·solve·a·Minimum·feedback·arc·set·(<a·class="el"·href="a04700.html"·title="The·MFAS·class·to·solve·a·Minimum·feedback·arc·set·(MFAS)·problem.">MFAS</a>)·problem.··<a·href="a04700.html#details">More...</a><br·/></td></tr>
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109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>116 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
110 Namespaces</h2></td></tr>117 Namespaces</h2></td></tr>
111 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
112 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>119 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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114 </table><table·class="memberdecls">121 </table><table·class="memberdecls">
115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="typedef-members"·name="typedef-members"></a>122 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="typedef-members"·name="typedef-members"></a>
116 Typedefs</h2></td></tr>123 Typedefs</h2></td></tr>
117 <tr·class="memitem:ad6ed1d283516cb91330d20c8de2f3c84"·id="r_ad6ed1d283516cb91330d20c8de2f3c84"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ad6ed1d283516cb91330d20c8de2f3c84"·name="ad6ed1d283516cb91330d20c8de2f3c84"></a> 
118 typedef·<a·class="el"·href="a02284.html">DSFMap</a>&lt;·<a·class="el"·href="a02292.html">IndexPair</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::gtsfm::DSFMapIndexPair</b></td></tr>124 <tr·class="memitem:a72a3f33080fb47337f36631a1ad73841"·id="r_a72a3f33080fb47337f36631a1ad73841"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a72a3f33080fb47337f36631a1ad73841"·name="a72a3f33080fb47337f36631a1ad73841"></a>
 125 typedef·std::map&lt;·std::pair&lt;·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>,·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·&gt;,·double·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::KeyPairDoubleMap</b></td></tr>
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120 </table><table·class="memberdecls"> 
121 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a> 
122 Functions</h2></td></tr> 
123 <tr·class="memitem:ac50218675ff25e1e9202d335ecfa6b3a"·id="r_ac50218675ff25e1e9202d335ecfa6b3a"><td·class="memItemLeft"·align="right"·valign="top">std::vector&lt;·<a·class="el"·href="a04712.html">SfmTrack2d</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01211.html#ac50218675ff25e1e9202d335ecfa6b3a">gtsam::gtsfm::tracksFromPairwiseMatches</a>·(const·MatchIndicesMap·&amp;matches,·const·KeypointsVector·&amp;keypoints,·bool·verbose)</td></tr> 
124 <tr·class="memdesc:ac50218675ff25e1e9202d335ecfa6b3a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Creates·a·list·of·tracks·from·2d·point·correspondences.··<br·/></td></tr> 
125 <tr·class="separator:ac50218675ff25e1e9202d335ecfa6b3a"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
126 </table>127 </table>
127 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>128 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
128 <div·class="textblock"><p>Identifies·connected·components·in·the·keypoint·matches·graph.·</p>129 <div·class="textblock"><p>MFAS·class·to·solve·Minimum·Feedback·Arc·Set·graph·problem.·</p>
 130 <dl·class="section·author"><dt>Author</dt><dd>Akshay·Krishnan·</dd></dl>
129 <dl·class="section·date"><dt>Date</dt><dd>October·2022·</dd></dl>131 <dl·class="section·date"><dt>Date</dt><dd>September·2020·</dd></dl>
130 <dl·class="section·author"><dt>Author</dt><dd>John·Lambert·</dd></dl> 
131 </div><h2·class="groupheader">Function·Documentation</h2> 
132 <a·id="ac50218675ff25e1e9202d335ecfa6b3a"·name="ac50218675ff25e1e9202d335ecfa6b3a"></a> 
133 <h2·class="memtitle"><span·class="permalink"><a·href="#ac50218675ff25e1e9202d335ecfa6b3a">&#9670;&#160;</a></span>tracksFromPairwiseMatches()</h2> 
  
134 <div·class="memitem"> 
135 <div·class="memproto"> 
136 ······<table·class="memname"> 
137 ········<tr> 
138 ··········<td·class="memname">std::vector&lt;·SfmTrack2d·&gt;·gtsam::gtsfm::tracksFromPairwiseMatches·</td> 
139 ··········<td>(</td> 
140 ··········<td·class="paramtype">const·MatchIndicesMap·&amp;&#160;</td> 
141 ··········<td·class="paramname"><em>matches</em>,·</td> 
142 ········</tr> 
143 ········<tr> 
144 ··········<td·class="paramkey"></td> 
145 ··········<td></td> 
146 ··········<td·class="paramtype">const·KeypointsVector·&amp;&#160;</td> 
147 ··········<td·class="paramname"><em>keypoints</em>,·</td> 
148 ········</tr> 
149 ········<tr> 
150 ··········<td·class="paramkey"></td> 
151 ··········<td></td> 
152 ··········<td·class="paramtype">bool&#160;</td> 
153 ··········<td·class="paramname"><em>verbose</em>&#160;</td> 
154 ········</tr> 
155 ········<tr> 
156 ··········<td></td> 
157 ··········<td>)</td> 
158 ··········<td></td><td></td> 
159 ········</tr> 
160 ······</table> 
161 </div><div·class="memdoc"> 
  
162 <p>Creates·a·list·of·tracks·from·2d·point·correspondences.·</p> 
163 <p>Creates·a·disjoint-set·forest·(DSF)·and·2d·tracks·from·pairwise·matches.·We·create·a·singleton·for·union-find·set·elements·from·camera·index·of·a·detection·and·the·index·of·that·detection·in·that·camera's·keypoint·list,·i.e.·(i,k).</p> 
164 <dl·class="params"><dt>Parameters</dt><dd> 
165 ··<table·class="params"> 
166 ····<tr><td·class="paramname">Map</td><td>from·(i1,i2)·image·pair·indices·to·(K,2)·matrix,·for·K·correspondence·indices,·from·each·image.·</td></tr> 
167 ····<tr><td·class="paramname">Length-N</td><td>list·of·keypoints,·for·N·images/cameras.·</td></tr> 
168 ··</table> 
169 ··</dd> 
170 </dl> 
  
171 </div> 
172 </div> 
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140 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
141 <div·class="textblock"><p>A·simple·data·structure·for·a·track·in·Structure·from·Motion.·</p>114 <div·class="textblock"><p>Shonan·Averaging·algorithm.·</p>
142 <dl·class="section·date"><dt>Date</dt><dd>January·2022·</dd></dl>115 <dl·class="section·date"><dt>Date</dt><dd>March·2019·-·August·2020·</dd></dl>
143 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>116 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert,·David·Rosen,·and·Jing·Wu·</dd></dl>
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127 Typedefs</h2></td></tr>127 Typedefs</h2></td></tr>
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129 typedef·<a·class="el"·href="a03104.html">PinholeCamera</a>&lt;·<a·class="el"·href="a02968.html">Cal3Bundler</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::SfmCamera</b></td></tr> 
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145 <tr·class="memdesc:ade6eca65dc0168a65f641961ca97924c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·function·converts·an·openGL·camera·pose·to·an·GTSAM·camera·pose.··<br·/></td></tr> 
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148 <tr·class="memdesc:aaff07ef70e6161c4d1d2bd7546ff91e6"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·function·converts·a·GTSAM·camera·pose·to·an·openGL·camera·pose.··<br·/></td></tr> 
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151 <tr·class="memdesc:ad632ed56581bf174eef379bbe272a06a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·function·converts·a·GTSAM·camera·pose·to·an·openGL·camera·pose.··<br·/></td></tr> 
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157 <tr·class="memdesc:aba34ed4a103d9057536ee5cac27cfdef"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·function·creates·initial·values·for·cameras·and·points·from·db.··<br·/></td></tr> 
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159 </table>139 </table>
160 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>140 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
161 <div·class="textblock"><p>Data·structure·for·dealing·with·Structure·from·Motion·data.·</p>141 <div·class="textblock"><p>A·simple·data·structure·for·a·track·in·Structure·from·Motion.·</p>
162 <dl·class="section·date"><dt>Date</dt><dd>January·2022·</dd></dl>142 <dl·class="section·date"><dt>Date</dt><dd>January·2022·</dd></dl>
163 <dl·class="section·author"><dt>Author</dt><dd>Frank·dellaert·</dd></dl>143 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
164 </div></div><!--·contents·-->144 </div></div><!--·contents·-->
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168 ··<ul>148 ··<ul>
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170 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>150 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
171 ··</ul>151 ··</ul>
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111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
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114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00380.html">gtsam/geometry/Cal3Bundler.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00041.html">gtsam/base/serialization.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00422.html">gtsam/geometry/PinholeCamera.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00416.html">gtsam/geometry/Point2.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00455.html">gtsam/geometry/Point3.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01073.html">gtsam/nonlinear/Values.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01214.html">gtsam/sfm/SfmTrack.h</a>&gt;</span></div> 
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;Eigen/Core&gt;</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a01428.html#acab0207730cf78822bdf274b50739d31">···33</a></span><span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03104.html">PinholeCamera&lt;Cal3Bundler&gt;</a>·<a·class="code·hl_typedef"·href="a01428.html#acab0207730cf78822bdf274b50739d31">SfmCamer[·...·truncated·by·diffoscope;·len:·1,·SHA:·ca978112ca1bbdcafac231b39a23dc4da786eff8147c4e72b9807785afee48bb·...·]</a>;</div>132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a01428.html#a9ad7940245bbbf4bf25d1dc4690b0108">···33</a></span><span·class="keyword">typedef</span>·std::pair&lt;size_t,·Point2&gt;·<a·class="code·hl_typedef"·href="a01428.html#a9ad7940245bbbf4bf25d1dc4690b0108">SfmMeasurement</a>;</div>
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a01428.html#a21a02e01a9608ce6cade24c1366b208c">···36</a></span><span·class="keyword">typedef</span>·std::pair&lt;size_t,·size_t&gt;·<a·class="code·hl_typedef"·href="a01428.html#a21a02e01a9608ce6cade24c1366b208c">SiftIndex</a>;</div>
 135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
134 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};">136 <div·class="foldopen"·id="foldopen00043"·data-start="{"·data-end="};">
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a04704.html">···39</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04704.html">SfmData</a>·{</div>137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04712.html">···43</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04712.html">SfmTrack2d</a>·{</div>
 138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04712.html#adb900552472345b3f993ad48fd6c20b9">···45</a></span>··std::vector&lt;SfmMeasurement&gt;·<a·class="code·hl_variable"·href="a04712.html#adb900552472345b3f993ad48fd6c20b9">measurements</a>;</div>
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04704.html#aca9835ee681fe7dfbd3d0e2b58d4f50d">···40</a></span>··std::vector&lt;SfmCamera&gt;·<a·class="code·hl_variable"·href="a04704.html#aca9835ee681fe7dfbd3d0e2b58d4f50d">cameras</a>;··</div> 
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div> 
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04704.html#ad005f3beddfb6a8f735ad3369d2b81e6">···42</a></span>··std::vector&lt;SfmTrack&gt;·<a·class="code·hl_variable"·href="a04704.html#ad005f3beddfb6a8f735ad3369d2b81e6">tracks</a>;··</div> 
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div> 
140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">static</span>·<a·class="code·hl_struct"·href="a04704.html">SfmData</a>·FromBundlerFile(<span·class="keyword">const</span>·std::string&amp;·filename);</div>140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a04712.html#a5c92bb2b24444a025cf93fc5bba23d99">···48</a></span>··std::vector&lt;SiftIndex&gt;·<a·class="code·hl_variable"·href="a04712.html#a5c92bb2b24444a025cf93fc5bba23d99">siftIndices</a>;</div>
142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>141 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
143 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">static</span>·<a·class="code·hl_struct"·href="a04704.html">SfmData</a>·FromBalFile(<span·class="keyword">const</span>·std::string&amp;·filename);</div> 
144 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>142 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 143 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="comment">//·Default·constructor.</span></div>
 144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<a·class="code·hl_struct"·href="a04712.html">SfmTrack2d</a>()·=·<span·class="keywordflow">default</span>;</div>
145 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>145 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
146 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno"><a·class="line"·href="a04704.html#aa45104530ee1f6a59ccd2fb4bfd87e81">···68</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04704.html#aa45104530ee1f6a59ccd2fb4bfd87e81">addTrac[·...·truncated·by·diffoscope;·len:·131,·SHA:·9fbc3214b4508a85309f6e359520a5d23fe1ab289d165af302eac6affca60097·...·]</div>146 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="comment">//·Constructor·from·measurements.</span></div>
 147 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_struct"·href="a04712.html">SfmTrack2d</a>(<span·class="keyword">const</span>·std::vector&lt;SfmMeasurement&gt;&amp;·measurements)</div>
 148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······:·measurements(measurements)·{}</div>
147 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
148 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno"><a·class="line"·href="a04704.html#a212dc3dacb95e3a07284318f9d55a9cf">···71</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04704.html#a212dc3dacb95e3a07284318f9d55a9cf">addCame[·...·truncated·by·diffoscope;·len:·173,·SHA:·eec4020f6252b120644d33eccda3846611d9dad46098f2725865e40bc7532da6·...·]</div>150 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
 151 <div·class="foldopen"·id="foldopen00065"·data-start="{"·data-end="}">
 152 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a04712.html#a2d1c3ce0603efd4cfe84d7afc67ec881">···65</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04712.html#a2d1c3ce0603efd4cfe84d7afc67ec881">addMeasurement</a>(<span·class="keywordtype">size_t</span>·idx,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a>&amp;·m)·{</div>
 153 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····measurements.emplace_back(idx,·m);</div>
 154 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div>
 155 </div>
 156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 157 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a04712.html#acd57c58676a3b7d65e8cd76d9af87886">···70</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a04712.html#acd57c58676a3b7d65e8cd76d9af87886">numberMeasurements</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·measurements.size();·}</div>
149 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
150 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno"><a·class="line"·href="a04704.html#a43c98621154cdb9484c36d4f98b4b7ab">···74</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a04704.html#a43c98621154cdb9484c36d[·...·truncated·by·diffoscope;·len:·129,·SHA:·5d2bf537e28d3c1e0067efb9b538053c879ae5945c7ae9f1c96ed97049278077·...·]>159 <div·class="foldopen"·id="foldopen00073"·data-start="{"·data-end="}">
 160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a04712.html#a2ed6a745abf00f5943c471c6420a6c84">···73</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a9ad7940245bbbf4bf25d1dc4690b0108">SfmMeasurement</a>&amp;·<a·class="code·hl_function"·href="a04712.html#a2ed6a745abf00f5943c471c6420a6c84">measurement</a>(<span·class="keywordtype">size_t</span>·idx)<span·class="keyword">·const·</span>{</div>
 161 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="keywordflow">return</span>·measurements[idx];</div>
151 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··}</div>
152 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno"><a·class="line"·href="a04704.html#a4269e1944bff60fe248fae59a35cc9f2">···77</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a04704.html#a4269e1944bf[·...·truncated·by·diffoscope;·len:·138,·SHA:·86a4e6d32fb8f3f8eaf889bcd83997adbdba2451487e31080eb0c751de489ba4·...·]/div>163 </div>
153 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>164 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
154 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a04704.html#a46b17be69d78037b9642966bcbea9df7">···80</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04716.html">SfmTrack</a>&amp;·<a·class="code·hl_function"·[·...·truncated·by·diffoscope;·len:·190,·SHA:·c1d5b01dd18bb4ee0bce2494645aa1d5e27fc6a7ac06a1ce0aae6cf41e2d3653·...·]s[idx];·}</div>165 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a04712.html#a8c995c6aeb473a35c84f6a3e872d3b44">···78</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a21a02e01a9608ce6cade24c1366b208c">SiftIndex</[·...·truncated·by·diffoscope;·len:·235,·SHA:·8929be8d46dfadc181156aa9bd1097cbca7d734075aa69ff4aa8fbc065e7e6b2·...·]s[idx];·}</div>
155 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>166 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
156 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno"><a·class="line"·href="a04704.html#aab4f9598f723b5b76a53a60b6ba65ff9">···83</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#acab0207730cf78822bdf274b5073[·...·truncated·by·diffoscope;·len:·259,·SHA:·7e1a6daffbf5e6cedc243e34aa077a9226ba46f86dd4926d0e96ac28934e0982·...·]>167 <div·class="foldopen"·id="foldopen00084"·data-start="{"·data-end="}">
 168 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a04712.html#a8d92f8d9dfe4a24d19f1b58dc8d8f792">···84</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a04712.html#a8d92f8d9dfe4a24d19f1b58dc8d8f792">hasUniqueCameras</a>()<span·class="keyword">·const·</span>{</div>
157 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>169 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····std::vector&lt;int&gt;·track_cam_indices;</div>
158 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno"><a·class="line"·href="a04704.html#a0e3c28537291c933634b8be21a3f53bc">···86</a></span>··<span·class="keyword">const</span>·std::vector&lt;SfmCamera&gt;&amp;·<a·class="code·hl_function"·href="a04704.html#a0e3c28537291c933634b8be21a3f53bc">cameraList</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·cameras;·}</div> 
159 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<span·class="keyword">const</span>·std::vector&lt;SfmTrack&gt;&amp;·trackList()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·tracks;·}</div>170 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····<span·class="keywordflow">for</span>·(<span·class="keyword">auto</span>&amp;·measurement·:·measurements)·{</div>
 171 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>······track_cam_indices.emplace_back(measurement.first);</div>
160 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>172 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····}</div>
 173 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>····<span·class="keyword">auto</span>·i·=</div>
 174 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>········std::adjacent_find(track_cam_indices.begin(),·track_cam_indices.end());</div>
 175 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····<span·class="keywordtype">bool</span>·all_cameras_unique·=·(i·==·track_cam_indices.end());</div>
 176 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····<span·class="keywordflow">return</span>·all_cameras_unique;</div>
161 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>··NonlinearFactorGraph·generalSfmFactors(</div>177 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>··}</div>
162 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>······<span·class="keyword">const</span>·SharedNoiseModel&amp;·model·=·noiseModel::Isotropic::Sigma(2,</div> 
163 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>···································································1.0))·<span·class="keyword">const</span>;</div>178 </div>
 179 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>
164 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>·</div>180 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>·</div>
 181 <div·class="foldopen"·id="foldopen00100"·data-start="{"·data-end="}">
 182 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno"><a·class="line"·href="a04712.html#ab785a70d96fe2068e81f6deb13620522">··100</a></span>··Eigen::MatrixX2d·<a·class="code·hl_function"·href="a04712.html#ab785a70d96fe2068e81f6deb13620522">measurementMatrix</a>()<span·class="keyword">·const·</span>{</div>
165 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>··NonlinearFactorGraph·sfmFactorGraph(</div> 
166 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>······<span·class="keyword">const</span>·SharedNoiseModel&amp;·model·=·noiseModel::Isotropic::Sigma(2,·1.0),</div> 
167 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>······boost::optional&lt;size_t&gt;·fixedCamera·=·0,</div> 
168 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>······boost::optional&lt;size_t&gt;·fixedPoint·=·0)·<span·class="keyword">const</span>;</div> 
169 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno">··113</span>·</div>183 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>····Eigen::MatrixX2d·m(numberMeasurements(),·2);</div>
 184 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·i·=·0;·i·&lt;·numberMeasurements();·i++)·{</div>
170 <div·class="line"><a·id="l00117"·name="l00117"></a><span·class="lineno">··117</span>·</div> 
171 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>··<span·class="keywordtype">void</span>·print(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const</span>;</div> 
172 <div·class="line"><a·id="l00120"·name="l00120"></a><span·class="lineno">··120</span>·</div> 
173 <div·class="line"><a·id="l00122"·name="l00122"></a><span·class="lineno">··122</span>··<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·SfmData&amp;·sfmData,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div> 
174 <div·class="line"><a·id="l00123"·name="l00123"></a><span·class="lineno">··123</span>·</div> 
175 <div·class="line"><a·id="l00125"·name="l00125"></a><span·class="lineno">··125</span><span·class="preprocessor">#ifdef·GTSAM_ALLOW_DEPRECATED_SINCE_V42</span></div> 
176 <div·class="line"><a·id="l00128"·name="l00128"></a><span·class="lineno">··128</span>··<span·class="keywordtype">void</span>·GTSAM_DEPRECATED·add_track(<span·class="keyword">const</span>·SfmTrack&amp;·t)·{·tracks.push_back(t);·}</div> 
177 <div·class="line"><a·id="l00129"·name="l00129"></a><span·class="lineno">··129</span>··<span·class="keywordtype">void</span>·GTSAM_DEPRECATED·add_camera(<span·class="keyword">const</span>·SfmCamera&amp;·cam)·{</div> 
178 <div·class="line"><a·id="l00130"·name="l00130"></a><span·class="lineno">··130</span>····cameras.push_back(cam);</div>185 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>······m.row(i)·=·measurement(i).second;</div>
179 <div·class="line"><a·id="l00131"·name="l00131"></a><span·class="lineno">··131</span>··}</div> 
180 <div·class="line"><a·id="l00132"·name="l00132"></a><span·class="lineno">··132</span>··<span·class="keywordtype">size_t</span>·GTSAM_DEPRECATED·number_tracks()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·tracks.size();·}</div> 
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114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Vector.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00104.html">gtsam/base/Vector.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00371.html">gtsam/geometry/Rot2.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00419.html">gtsam/geometry/Rot2.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00278.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00890.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01037.html">gtsam/nonlinear/LevenbergMarquardtParams.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01166.html">gtsam/nonlinear/LevenbergMarquardtParams.h</a>&gt;</span></div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01208.html">gtsam/sfm/BinaryMeasurement.h</a>&gt;</span></div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01205.html">gtsam/sfm/BinaryMeasurement.h</a>&gt;</span></div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00716.html">gtsam/linear/PowerMethod.h</a>&gt;</span></div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00866.html">gtsam/linear/PowerMethod.h</a>&gt;</span></div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00899.html">gtsam/linear/AcceleratedPowerMethod.h</a>&gt;</span></div>130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00743.html">gtsam/linear/AcceleratedPowerMethod.h</a>&gt;</span></div>
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01319.html">gtsam/slam/dataset.h</a>&gt;</span></div>131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01334.html">gtsam/slam/dataset.h</a>&gt;</span></div>
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#include·&lt;Eigen/Sparse&gt;</span></div>133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#include·&lt;Eigen/Sparse&gt;</span></div>
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="preprocessor">#include·&lt;type_traits&gt;</span></div>136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="preprocessor">#include·&lt;type_traits&gt;</span></div>
137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
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419 <div·class="line"><a·id="l00449"·name="l00449"></a><span·class="lineno">··449</span>}··<span·class="comment">//·namespace·gtsam</span></div>419 <div·class="line"><a·id="l00449"·name="l00449"></a><span·class="lineno">··449</span>}··<span·class="comment">//·namespace·gtsam</span></div>
420 </div>420 </div>
421 </div>421 </div>
422 </div>422 </div>
423 </div>423 </div>
424 </div>424 </div>
425 </div>425 </div>
 426 <div·class="ttc"·id="aa00044_html"><div·class="ttname"><a·href="a00044.html">Matrix.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·MatrixXd</div></div>
426 <div·class="ttc"·id="aa00014_html"><div·class="ttname"><a·href="a00014.html">Vector.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·VectorXd</div></div>427 <div·class="ttc"·id="aa00104_html"><div·class="ttname"><a·href="a00104.html">Vector.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·VectorXd</div></div>
427 <div·class="ttc"·id="aa00095_html"><div·class="ttname"><a·href="a00095.html">Matrix.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·MatrixXd</div></div> 
428 <div·class="ttc"·id="aa00278_html"><div·class="ttname"><a·href="a00278.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div>428 <div·class="ttc"·id="aa00332_html"><div·class="ttname"><a·href="a00332.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div>
429 <div·class="ttc"·id="aa00371_html"><div·class="ttname"><a·href="a00371.html">Rot2.h</a></div><div·class="ttdoc">2D·rotation</div></div>429 <div·class="ttc"·id="aa00419_html"><div·class="ttname"><a·href="a00419.html">Rot2.h</a></div><div·class="ttdoc">2D·rotation</div></div>
 430 <div·class="ttc"·id="aa00743_html"><div·class="ttname"><a·href="a00743.html">AcceleratedPowerMethod.h</a></div><div·class="ttdoc">accelerated·power·method·for·fast·eigenvalue·and·eigenvector·computation</div></div>
430 <div·class="ttc"·id="aa00716_html"><div·class="ttname"><a·href="a00716.html">PowerMethod.h</a></div><div·class="ttdoc">Power·method·for·fast·eigenvalue·and·eigenvector·computation.</div></div>431 <div·class="ttc"·id="aa00866_html"><div·class="ttname"><a·href="a00866.html">PowerMethod.h</a></div><div·class="ttdoc">Power·method·for·fast·eigenvalue·and·eigenvector·computation.</div></div>
431 <div·class="ttc"·id="aa00884_html"><div·class="ttname"><a·href="a00884.html">VectorValues.h</a></div><div·class="ttdoc">Factor·Graph·Values.</div></div>432 <div·class="ttc"·id="aa00890_html"><div·class="ttname"><a·href="a00890.html">VectorValues.h</a></div><div·class="ttdoc">Factor·Graph·Values.</div></div>
432 <div·class="ttc"·id="aa00899_html"><div·class="ttname"><a·href="a00899.html">AcceleratedPowerMethod.h</a></div><div·class="ttdoc">accelerated·power·method·for·fast·eigenvalue·and·eigenvector·computation</div></div> 
433 <div·class="ttc"·id="aa01037_html"><div·class="ttname"><a·href="a01037.html">LevenbergMarquardtParams.h</a></div><div·class="ttdoc">Parameters·for·Levenberg-Marquardt·trust-region·scheme.</div></div>433 <div·class="ttc"·id="aa01166_html"><div·class="ttname"><a·href="a01166.html">LevenbergMarquardtParams.h</a></div><div·class="ttdoc">Parameters·for·Levenberg-Marquardt·trust-region·scheme.</div></div>
434 <div·class="ttc"·id="aa01208_html"><div·class="ttname"><a·href="a01208.html">BinaryMeasurement.h</a></div><div·class="ttdoc">Binary·measurement·represents·a·measurement·between·two·keys·in·a·graph.·A·binary·measurement·is·simi...</div></div>434 <div·class="ttc"·id="aa01205_html"><div·class="ttname"><a·href="a01205.html">BinaryMeasurement.h</a></div><div·class="ttdoc">Binary·measurement·represents·a·measurement·between·two·keys·in·a·graph.·A·binary·measurement·is·simi...</div></div>
435 <div·class="ttc"·id="aa01319_html"><div·class="ttname"><a·href="a01319.html">dataset.h</a></div><div·class="ttdoc">utility·functions·for·loading·datasets</div></div>435 <div·class="ttc"·id="aa01334_html"><div·class="ttname"><a·href="a01334.html">dataset.h</a></div><div·class="ttdoc">utility·functions·for·loading·datasets</div></div>
436 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>436 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/PoseTranslationPrior.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/EssentialMatrixConstraint.h·Source·File</title>
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Offset 98, 142 lines modifiedOffset 98, 127 lines modified
98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">PoseTranslationPrior.h</div></div>104 ··<div·class="headertitle"><div·class="title">EssentialMatrixConstraint.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01235.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span>·</div>107 <a·href="a01235.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#pragma·once</span></div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
 109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2014,·Georgia·Tech·Research·Corporation,</span></div>
 110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
 111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
 112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
 113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
 114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
 115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
 116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
109 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
110 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08128.html">gtsam/geometry/concepts.h</a>&gt;</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
111 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div> 
112 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/geometry/EssentialMatrix.h&gt;</span></div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
113 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
114 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
115 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·POSE&gt;</div> 
116 <div·class="foldopen"·id="foldopen00021"·data-start="{"·data-end="};">125 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">
117 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno"><a·class="line"·href="a04892.html">···21</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04892.html">PoseTranslationPrior</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_cl[·...·truncated·by·diffoscope;·len:·53,·SHA:·251eff78016f7d0a2ba9a2ea9a60e6f5a69926e7668a23d0e34e45cda3d89a77·...·]&gt;·{</div>126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a04808.html">···30</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04808.html">EssentialMatrixConstraint</a>:·<span·class="keyword">public</span>·<a·[·...·truncated·by·diffoscope;·len:·78,·SHA:·d174a1e75eecb37d71bf8a4ce7bf2c62b2e56fe2f5b771062664d2e9daaa152d·...·]&gt;·{</div>
118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">public</span>:</div> 
119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04892.html">PoseTranslationPrior&lt;POSE&gt;</a>·This;</div> 
120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;POSE&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div> 
121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>··<span·class="keyword">typedef</span>·POSE·Pose;</div> 
122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·POSE::Translation·Translation;</div> 
123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·POSE::Rotation·Rotation;</div> 
124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
125 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··GTSAM_CONCEPT_POSE_TYPE(Pose)</div> 
126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··GTSAM_CONCEPT_GROUP_TYPE(Pose)</div> 
127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··GTSAM_CONCEPT_LIE_TYPE(Translation)</div> 
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">protected</span>:</div>128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">private</span>:</div>
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··Translation·measured_;</div>130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04808.html">EssentialMatrixConstraint</a>·<a·class="code·hl_class"·href="a04808.html">This</a>;</div>
 131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;Pose3,·Pose3&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div>
132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<a·class="code·hl_class"·href="a03068.html">EssentialMatrix</a>·measuredE_;·</div>
133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">public</span>:</div>134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">public</span>:</div>
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div> 
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04892.html#adad7eab23d69d2dec6ae4ad59e0a8c65">···40</a></span>··<a·class="code·hl_function"·href="a04892.html#adad7eab23d69d2dec6ae4ad59e0a8c65">PoseTranslationPrior</a>()·{}</div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
 136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·shorthand·for·a·smart·pointer·to·a·factor</span></div>
 137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04808.html#aa71b27df9573bff00b1a95c0fba271fe">···42</a></span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;EssentialMatrixConstraint&gt;·<a·class="code·hl_typedef"·href="a04808.html#aa71b27df9573bff00b1a95c0fba271fe">shared_ptr</a>;</div>
 138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
137 <div·class="foldopen"·id="foldopen00043"·data-start="{"·data-end="}">139 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="}">
 140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04808.html#ac03a28866f89ad12046904c7c0cff4b8">···45</a></span>··<a·class="code·hl_function"·href="a04808.html#ac03a28866f89ad12046904c7c0cff4b8">EssentialMatrixConstraint</a>()·{</div>
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04892.html#a1701c62175b4e30c8c1df8159764480c">···43</a></span>··<a·class="code·hl_function"·href="a04892.html#a1701c62175b4e30c8c1df8159764480c">PoseTranslationPrior</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>,·<span·class="keyword">const</span>·Translation&amp;·measured,·<span·class="keyword">const</span>·noiseModel::Base::shared_ptr&amp;·model)</div> 
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··:·<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>),·measured_(measured)·{</div> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··}</div>141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··}</div>
141 </div>142 </div>
142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
143 <div·class="foldopen"·id="foldopen00048"·data-start="{"·data-end="}">144 <div·class="foldopen"·id="foldopen00055"·data-start="{"·data-end="}">
144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a04892.html#a204e0b877e117aabfe599ca247a195f8">···48</a></span>··<a·class="code·hl_function"·href="a04892.html#a204e0b877e117aabfe599ca247a195f8">PoseTranslationPrior</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>,·<span·class="keyword">const</span>·POSE&amp;·pose_z,·<span·class="keyword">const</span>·noiseModel::Base::shared_ptr&amp;·model)</div> 
145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··:·<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>),·measured_(pose_z.translation())·{</div>145 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04808.html#ad7a49abd9aa91e0671eae13becc08ca0">···55</a></span>··<a·class="code·hl_function"·href="a04808.html#ad7a49abd9aa91e0671eae13becc08ca0">EssentialMatrixConstraint</a>(<a·class="code·[·...·truncated·by·diffoscope;·len:·172,·SHA:·827b3478661245695ba59bbf1e96970432ce62ad194f7476da1eac6a7b2d439f·...·]</div>
 146 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03068.html">EssentialMatrix</a>&amp;·measuredE,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model)·:</div>
 147 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·key1,·key2),·measuredE_(measuredE)·{</div>
146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··}</div>148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··}</div>
147 </div>149 </div>
148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<a·class="code·hl_class"·href="a04892.html">~PoseTranslationPrior</a>()<span·class="keyword">·override·</span>{}</div>151 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<a·class="code·hl_class"·href="a04808.html">~EssentialMatrixConstraint</a>()<span·class="keyword">·override·</span>{</div>
 152 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div>
150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">const</span>·Translation&amp;·measured()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·measured_;·}</div> 
152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
153 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}">154 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">
154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a04892.html#a6f953d9574be86ccdac8564de316d3d1">···57</a></span>··gtsam::NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04892.html#a6f953d9574be86ccdac8564de316d3d1">clone</a>()<span·class="keyword">·const·override·</span>{</div>155 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a04808.html#a0782238c2c386bedd704df1b3722133c">···64</a></span>··gtsam::NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04808.html#a0782238c2c386bedd704df1b3722133c">clone</a>()<span·class="keyword">·const·override·</span>{</div>
155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;gtsam::NonlinearFactor&gt;(</div>156 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;gtsam::NonlinearFactor&gt;(</div>
156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>········gtsam::NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·This(*<span·class="keyword">this</span>)));·}</div>157 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········gtsam::NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·<a·class="code·hl_class"·href="a04808.html">This</a>(*<span·class="keyword">this</span>)));</div>
 158 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div>
157 </div>159 </div>
158 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 161 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,</div>
 162 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div>
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160 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a04892.html#a21443e02e31c610c1cacb743e4896215">···62</a></span>··Vector·<a·class="code·hl_function"·href="a04892.html#a21443e02e31c610c1cacb743e4896215">evaluateError</a>(<span·class="keyword">const</span>·Pose&amp;·pose,·boost::optional&lt;Matrix&amp;&gt;·H·=·boost::none)<span·class="keyword">·const·override·</span>{</div> 
161 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="keyword">const</span>·Translation&amp;·newTrans·=·pose.translation();</div> 
162 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keyword">const</span>·Rotation&amp;·R·=·pose.rotation();</div> 
163 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·tDim·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Translation&gt;::GetDimension</a>(newTrans);</div> 
164 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·xDim·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Pose&gt;::GetDimension</a>(pose);</div> 
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170 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div> 
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175 <div·class="foldopen"·id="foldopen00077"·data-start="{"·data-end="}"> 
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177 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keyword">const</span>·This·*e·=·<span·class="keyword">dynamic_cast&lt;</span><span·class="keyword">const·</span>This*<span·class="keyword">&gt;</span>·(&amp;expected);</div> 
178 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordflow">return</span>·e·!=·<span·class="keyword">nullptr</span>·&amp;&amp;·<a·class="code·hl_function"·href="a03592.html#a5cc62be07fbcde6678f8b346ab3a3f78">Base::equals</a>(*e,·tol)·&amp;&amp;·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Translation&gt;::Equals</a>(measured_,·e-&gt;measured_,·tol);</div> 
179 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··}</div> 
180 </div> 
181 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>169 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>
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101 ··<div·class="headertitle"><div·class="title">InitializePose3.cpp·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">AntiFactor.h·File·Reference</div></div>
102 </div><!--header-->103 </div><!--header-->
103 <div·class="contents">104 <div·class="contents">
  
 105 <p><a·href="a01238_source.html">Go·to·the·source·code·of·this·file.</a></p>
104 <table·class="memberdecls">106 <table·class="memberdecls">
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 109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04760.html">gtsam::AntiFactor</a></td></tr>
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108 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>116 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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110 </table>118 </table>
111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>119 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>120 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Stephen·Williams·</dd></dl>
113 <dd> 
114 Frank·Dellaert·</dd></dl> 
115 <dl·class="section·date"><dt>Date</dt><dd>August,·2014·</dd></dl> 
116 </div></div><!--·contents·-->121 </div></div><!--·contents·-->
117 </div><!--·doc-content·-->122 </div><!--·doc-content·-->
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120 ··<ul>125 ··<ul>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">OrientedPlane3Factor.h</div></div>104 ··<div·class="headertitle"><div·class="title">BoundingConstraint.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
 107 <a·href="a01250.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*</span></div> 
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment">·*·@file·OrientedPlane3Factor.cpp</span></div> 
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·@brief·OrientedPlane3·Factor·class</span></div> 
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·@author·Alex·Trevor</span></div> 
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·@date·December·22,·2013</span></div> 
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*/</span></div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
 109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
 110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
 111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
 112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
 113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
 114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
 115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
 116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
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116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#include·&lt;gtsam/geometry/OrientedPlane3.h&gt;</span></div> 
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00002.html">gtsam/base/Lie.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span>·</div> 
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span>·</div> 
121 <div·class="foldopen"·id="foldopen00018"·data-start="{"·data-end="};"> 
122 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno"><a·class="line"·href="a04880.html">···18</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04880.html">OrientedPlane3Factor</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;Pose3,·OrientedPlane3&gt;·{</div> 
123 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·<span·class="keyword">protected</span>:</div> 
124 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>··<a·class="code·hl_class"·href="a03092.html">OrientedPlane3</a>·measured_p_;</div> 
125 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;Pose3,·OrientedPlane3&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div> 
126 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 125 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·VALUE&gt;</div>
 126 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">
 127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a04780.html">···33</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a04780.html">BoundingConstraint1</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;VALUE&gt;·{</div>
127 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·<span·class="keyword">public</span>:</div>128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">typedef</span>·VALUE·X;</div>
 129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;VALUE&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div>
 130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;BoundingConstraint1&lt;VALUE&gt;·&gt;·shared_ptr;</div>
 131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
 132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keywordtype">double</span>·threshold_;</div>
 133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keywordtype">bool</span>·isGreaterThan_;·</div>
 134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
128 <div·class="foldopen"·id="foldopen00025"·data-start="{"·data-end="}">135 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="}">
129 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno"><a·class="line"·href="a04880.html#a8b12c19ade2fbcafc3dfbddeb5b84f85">···25</a></span>··<a·class="code·hl_function"·href="a04880.html#a8b12c19ade2fbcafc3dfbddeb5b84f85">OrientedPlane3Factor</a>()·{</div>136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04780.html#a936b8b1a987ef137f1b6d4bfbcc3db9f">···41</a></span>··<a·class="code·hl_function"·href="a04780.html#a936b8b1a987ef137f1b6d4bfbcc3db9f">BoundingConstraint1</a>(<a·class="code·hl_typ[·...·truncated·by·diffoscope;·len:·207,·SHA:·c5b49a3bc651867bb02be4e71a368e5d61e07fa1b9814cf7b36db111e260186d·...·]</div>
 137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>······<span·class="keywordtype">bool</span>·isGreaterThan,·<span·class="keywordtype">double</span>·mu·=·1000.0)·:</div>
 138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>········<a·class="code·hl_class"·href="a04536.html">Base</a>(<a·class="code·hl_function"·href="a04504.html#ae995e64bbd0660091eb6b40cba60aef7">noiseModel</a>::Constrained::All(1,·mu),·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>),</div>
 139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>········threshold_(threshold),·isGreaterThan_(isGreaterThan)·{</div>
130 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>··}</div>140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··}</div>
131 </div>141 </div>
132 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<a·class="code·hl_class"·href="a04880.html">~OrientedPlane3Factor</a>()<span·class="keyword">·override·</span>{}</div>142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<a·class="code·hl_struct"·href="a04780.html">~BoundingConstraint1</a>()<span·class="keyword">·override·</span>{}</div>
133 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·threshold()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·threshold_;·}</div>
 146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">bool</span>·isGreaterThan()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·isGreaterThan_;·}</div>
 147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 148 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a04780.html#ae8d1b604f8580bfd89940d1154b66feb">···57</a></span>··<span·class="keyword">virtual</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a04780.html#ae8d1b604f8580bfd89940d1154b66feb">value</a>(<span·class="keyword">const</span>·X&amp;·x,·boost::optional&lt;Matrix&amp;&gt;·H·=</div>
 149 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······boost::none)·<span·class="keyword">const</span>·=·0;</div>
 150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
134 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="}">151 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}">
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04880.html#a2cef73cad1acb86d374f8aaa07f3a647">···36</a></span>··<a·class="code·hl_function"·href="a04880.html#a2cef73cad1acb86d374f8aaa07f3a647">OrientedPlane3Factor</a>(<span·class="keyword">const</span>·Vector4&amp;·z,·<span·class="keyword">const</span>·SharedGaussian&amp;·noiseModel,</div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·······················<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·poseKey,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·landmarkKey)</div> 
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>······:·<a·class="code·hl_class"·href="a04536.html">Base</a>(noiseModel,·poseKey,·landmarkKey),·measured_p_(z)·{}</div>152 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a04780.html#a310753e6eab123dfab602fe9b6d4c180">···61</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a04780.html#a310753e6eab123dfab602fe9b6d4c180">active<[·...·truncated·by·diffoscope;·len:·147,·SHA:·569825f838d923f49a165bf1d4bd140535bd333927ae9e9c7bd7a3ac55c9a026·...·]</div>
 153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<span·class="comment">//·note:·still·active·at·equality·to·avoid·zigzagging</span></div>
 154 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="keywordtype">double</span>·x·=·<a·class="code·hl_function"·href="a04780.html#ae8d1b604f8580bfd89940d1154b66feb">value</a>(c.<a·class="code·hl_function"·href="a04612.html#a5e511b1e15b67a4fdaaf5bcf676dd1ff">at</a>&lt;X&gt;(this-&gt;key()));</div>
 155 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keywordflow">return</span>·(isGreaterThan_)·?·x·&lt;=·threshold_·:·x·&gt;=·threshold_;</div>
 156 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··}</div>
138 </div>157 </div>
 158 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
 159 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··Vector·evaluateError(<span·class="keyword">const</span>·X&amp;·x,·boost::optional&lt;Matrix&amp;&gt;·H·=</div>
 160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······boost::none)<span·class="keyword">·const·override·</span>{</div>
 161 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····Matrix·D;</div>
 162 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a04504.html#ad141af2ca30963a19b2c8b7bf09021d3">error</a>·=·<a·class="code·hl_function"·href="a04780.html#ae8d1b604f8580bfd89940d1154b66feb">value</a>(x,·D)·-·threshold_;</div>
 163 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="keywordflow">if</span>·(H)·{</div>
 164 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······<span·class="keywordflow">if</span>·(isGreaterThan_)·*H·=·D;</div>
 165 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······<span·class="keywordflow">else</span>·*H·=·-1.0·*·D;</div>
 166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····}</div>
 167 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
 168 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="keywordflow">if</span>·(isGreaterThan_)</div>
 169 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>······<span·class="keywordflow">return</span>·(Vector(1)·&lt;&lt;·<a·class="code·hl_function"·href="a04504.html#ad141af2ca30963a19b2c8b7bf09021d3">error</a>).finished();</div>
 170 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keywordflow">else</span></div>
 171 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>······<span·class="keywordflow">return</span>·-1.0·*·(Vector(1)·&lt;&lt;·<a·class="code·hl_function"·href="a04504.html#ad141af2ca30963a19b2c8b7bf09021d3">error</a>).finished();</div>
 172 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··}</div>
 173 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
 174 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span><span·class="keyword">private</span>:</div>
139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>175 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;OrientedPlane3Factor&quot;</span>,</div> 
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">[·...·truncated·by·diffoscope;·len:·20,·SHA:·29701625456861ebc752e6e90761b96fc213d4f9e2ad70ac179cd3908b59c0d9·...·]>;</div>176 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno"><a·class="line"·href="a04780.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">···85</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a04780.html#ac98d07dd8f[·...·truncated·by·diffoscope;·len:·55,·SHA:·07248cf00ec13fb4b21f377699730ae9f599e3659f085d3a71218cf97237b147·...·]>;</div>
 177 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
 178 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 179 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····<span·class="comment">//·NoiseModelFactor1·instead·of·NoiseModelFactorN·for·backward·compatibility</span></div>
 180 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>····ar·&amp;·boost::serialization::make_nvp(<span·class="stringliteral">&quot;NoiseModelFactor1&quot;</span>,</div>
 181 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>········boost::serialization::base_object&lt;Base&gt;(*<span·class="keyword">this</span>));</div>
 182 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(threshold_);</div>
 183 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(isGreaterThan_);</div>
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>184 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>··}</div>
143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··Vector·evaluateError(</div> 
144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&amp;·pose,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03092.html">OrientedPlane3</a>&amp;·plane,</div> 
145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······boost::optional&lt;Matrix&amp;&gt;·H1·=·boost::none,</div> 
146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······boost::optional&lt;Matrix&amp;&gt;·H2·=·boost::none)·<span·class="keyword">const·override</span>;</div> 
147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>};</div>185 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>};</div>
148 </div>186 </div>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/AntiFactor.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/JacobianFactorSVD.h·Source·File</title>
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100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">AntiFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">JacobianFactorSVD.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01253.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·---------------------------------------------------------------[·...·truncated·by·diffoscope;·len:·13,·SHA:·04b7afb740d6c973bde6bb200d55eb4b57f46490cb6092cfcd4d75078fb58fb5·...·]</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*</span></div>
 108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment">·*·@file··JacobianFactorSVD.h</span></div>
 109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·@date··Oct·27,·2013</span></div>
 110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·@uthor·Frank·Dellaert</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*/</span></div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div> 
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div> 
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div> 
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div> 
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div> 
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div> 
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div> 
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div> 
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span>·</div>
118 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="preprocessor">#pragma·once</span></div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="preprocessor">#pragma·once</span></div>
 114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00818.html">gtsam/linear/RegularJacobianFactor.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div> 
120 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#include·&lt;ostream&gt;</span></div> 
121 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span>·</div>
122 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00815.html">gtsam/linear/GaussianFactor.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div> 
125 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
126 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>117 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">template</span>&lt;<span·class="keywordtype">size_t</span>·D,·<span·class="keywordtype">size_t</span>·ZDim&gt;</div>
127 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};">118 <div·class="foldopen"·id="foldopen00029"·data-start="{"·data-end="};">
128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a04760.html">···31</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a04760.html">AntiFactor</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href[·...·truncated·by·diffoscope;·len:·34,·SHA:·ad15dc9d7994488c56a028f3d72a73fb553e73995655e33b048b5ef5fd61ea6a·...·]·{</div>119 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno"><a·class="line"·href="a04872.html">···29</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04872.html">JacobianFactorSVD</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"[·...·truncated·by·diffoscope;·len:·54,·SHA:·6d8aa2c07fb29344a4400084977db8d0a0cf017e59942e195c3fb441878a7576·...·]·{</div>
129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>120 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 121 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04016.html">RegularJacobianFactor&lt;D&gt;</a>·Base;</div>
 122 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">typedef</span>·Eigen::Matrix&lt;double,·ZDim,·D&gt;·MatrixZD;·<span·class="comment">//·e.g·2·x·6·with·Z=Point2</span></div>
130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">private</span>:</div>123 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">typedef</span>·std::pair&lt;Key,·Matrix&gt;·KeyMatrix;</div>
131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>124 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04760.html">AntiFactor</a>·<a·class="code·hl_class"·href="a04760.html">This</a>;</div> 
133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>·<a·class="code·hl_class"·href="a04496.html">Base</a>;</div> 
134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="keyword">typedef</span>·NonlinearFactor::shared_ptr·sharedFactor;</div>125 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">public</span>:</div>
135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>126 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 127 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="}">
 128 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a04872.html#a551b1c04012573be8cb418c02ed77295">···38</a></span>··<a·class="code·hl_function"·href="a04872.html#a551b1c04012573be8cb418c02ed77295">JacobianFactorSVD</a>()·{</div>
136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····sharedFactor·factor_;</div>129 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··}</div>
 130 </div>
137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>131 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
 132 <div·class="foldopen"·id="foldopen00042"·data-start="{"·data-end="}">
 133 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04872.html#a7631acc7207dd75097e22708237f3632">···42</a></span>··<a·class="code·hl_function"·href="a04872.html#a7631acc7207dd75097e22708237f3632">JacobianFactorSVD</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,</div>
 134 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····················<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·SharedDiagonal())</div>
138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">public</span>:</div>135 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······:·Base()·{</div>
 136 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····Matrix·zeroMatrix·=·Matrix::Zero(0,·D);</div>
 137 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····Vector·zeroVector·=·Vector::Zero(0);</div>
 138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····std::vector&lt;KeyMatrix&gt;·QF;</div>
 139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····QF.reserve(<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>.size());</div>
 140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·key:·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>)</div>
 141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······QF.push_back(KeyMatrix(key,·zeroMatrix));</div>
 142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<a·class="code·hl_function"·href="a03844.html#a87edd57f5afdc5a429163d6a917b6cec">JacobianFactor::fillTerms</a>(QF,·zeroVector,·model);</div>
139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>143 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div>
 144 </div>
140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="comment">//·shorthand·for·a·smart·pointer·to·a·factor</span></div> 
141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;AntiFactor&gt;·shared_ptr;</div> 
142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div> 
143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a04760.html#a344e9905b3dbb09d34599cf6c59ccbf7">···47</a></span>····<a·class="code·hl_function"·href="a04760.html#a344e9905b3dbb09d34599cf6c59ccbf7">AntiFactor</a>()·{}</div> 
144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a04760.html#a0db982b2aa42e353e2c17e0ebf379602">···50</a></span>····<a·class="code·hl_function"·href="a04760.html#a0db982b2aa42e353e2c17e0ebf379602">AntiFactor</a>(NonlinearFactor::shared_ptr·factor)·:·<a·class="code·hl_class"·href="a04496.html">Base</a>(factor-&gt;<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>()),·factor_(factor)·{}</div> 
146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div> 
147 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<a·class="code·hl_class"·href="a04760.html">~AntiFactor</a>()<span·class="keyword">·override·</span>{}</div> 
148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
149 <div·class="foldopen"·id="foldopen00055"·data-start="{"·data-end="}">146 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">
150 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04760.html#aaae5776982262946ead794d553e860ff">···55</a></span>····gtsam::NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04760.html#aaae5776982262946ead794d553e860ff">clone</a>()<span·class="keyword">·const·override·</span>{</div> 
151 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;gtsam::NonlinearFactor&gt;(</div> 
152 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··········gtsam::NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·<a·class="code·hl_class"·href="a04760.html">This</a>(*<span·class="keyword">this</span>)));·}</div>147 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a04872.html#a72d8f9bc4560c97915194f35f8c2025f">···64</a></span>··<a·class="code·hl_function"·href="a04872.html#a72d8f9bc4560c97915194f35f8c2025f">JacobianFactorSVD</a>(</div>
 148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,</div>
 149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<span·class="keyword">const</span>·std::vector&lt;MatrixZD,·Eigen::aligned_allocator&lt;MatrixZD&gt;·&gt;&amp;·Fblocks,</div>
 150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······<span·class="keyword">const</span>·Matrix&amp;·Enull,·<span·class="keyword">const</span>·Vector&amp;·b,</div>
 151 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·SharedDiagonal())</div>
 152 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······:·Base()·{</div>
 153 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordtype">size_t</span>·numKeys·=·Enull.rows()·/·ZDim;</div>
 154 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="keywordtype">size_t</span>·m2·=·ZDim·*·numKeys·-·3;·<span·class="comment">//·TODO:·is·this·not·just·Enull.rows()?</span></div>
 155 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="comment">//·PLAIN·nullptr·SPACE·TRICK</span></div>
 156 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="comment">//·Matrix·Q·=·Enull·*·Enull.transpose();</span></div>
 157 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="comment">//·for(const·KeyMatrixZD&amp;·it:·Fblocks)</span></div>
 158 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="comment">//···QF.push_back(KeyMatrix(it.first,·Q.block(0,·2·*·j++,·m2,·2)·*·it.second));</span></div>
 159 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="comment">//·JacobianFactor·factor(QF,·Q·*·b);</span></div>
 160 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····std::vector&lt;KeyMatrix&gt;·QF;</div>
 161 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····QF.reserve(numKeys);</div>
 162 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·k·=·0;·k·&lt;·Fblocks.size();·++k)·{</div>
 163 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key·=·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>[k];</div>
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110 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>120 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
111 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>122 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
113 </table>123 </table>
114 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
115 <div·class="textblock"><p>common·code·between·lago.*·(2D)·and·InitializePose3.*·(3D)·</p>125 <div·class="textblock"><p>Smart·factor·on·cameras·(pose·+·calibration)·</p>
116 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>126 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
117 <dl·class="section·date"><dt>Date</dt><dd>August,·2020·</dd></dl>127 <dd>
 128 Zsolt·Kira·</dd>
 129 <dd>
 130 Frank·Dellaert·</dd></dl>
118 </div></div><!--·contents·-->131 </div></div><!--·contents·-->
119 </div><!--·doc-content·-->132 </div><!--·doc-content·-->
120 <!--·start·footer·part·-->133 <!--·start·footer·part·-->
121 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->134 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
122 ··<ul>135 ··<ul>
123 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_323e70a1eef083399c870cf8a6035771.html">slam</a></li><li·class="navelem"><a·class="el"·href="a01268.html">InitializePose.h</a></li>136 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_323e70a1eef083399c870cf8a6035771.html">slam</a></li><li·class="navelem"><a·class="el"·href="a01268.html">SmartProjectionFactor.h</a></li>
124 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>137 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
125 ··</ul>138 ··</ul>
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128 </html>141 </html>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">InitializePose3.h</div></div>104 ··<div·class="headertitle"><div·class="title">KarcherMeanFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01271.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div>
 119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·KarcherMeanFactor.h</span></div>
 120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@author·Frank·Dellaert</span></div>
 121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·March·2019</span></div>
 122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*/</span></div>
 123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>
118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
 127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00824.html">gtsam/linear/JacobianFactor.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00278.html">gtsam/geometry/Rot3.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00635.html">gtsam/inference/graph.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00770.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/VectorValues.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T&gt;</div>
 134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>T·FindKarcherMean(<span·class="keyword">const</span>·std::vector&lt;T,·Eigen::aligned_allocator&lt;T&gt;&gt;·&amp;rotations);</div>
130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T&gt;·T·FindKarcherMean(std::initializer_list&lt;T&gt;·&amp;&amp;rotations);</div>
131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">typedef</span>·std::map&lt;Key,·std::vector&lt;size_t&gt;·&gt;·KeyVectorMap;</div> 
132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">typedef</span>·std::map&lt;Key,·Rot3&gt;·KeyRotMap;</div> 
133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
134 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};">138 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">
 139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04876.html">···45</a></span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T&gt;·<span·class="keyword">class·</span><a·class="code·hl_class"·href="a04876.html">KarcherMeanFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>·{</div>
 140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Compile·time·dimension:·can·be·-1</span></div>
 141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">enum</span>·{·D·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::dimension</a>·};</div>
135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04856.html">···37</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04856.html">InitializePose3</a>·{</div> 
136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·buildLinearOrientationGraph(</div> 
137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·g);</div> 
138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·normalizeRelaxedRotations(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04064.html">VectorValues</a>&amp;·relaxedRot3);</div> 
140 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·computeOrientationsChordal(</div> 
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·pose3Graph);</div> 
143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="comment">//·Runtime·dimension:·always·&gt;=0</span></div>
 144 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keywordtype">size_t</span>·d_;</div>
144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·computeOrientationsGradient(</div> 
145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·pose3Graph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·givenGuess,</div> 
146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······<span·class="keywordtype">size_t</span>·maxIter·=·10000,·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·setRefFrame·=·<span·class="keyword">true</span>);</div> 
147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>145 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··boost::shared_ptr&lt;JacobianFactor&gt;·whitenedJacobian_;</div>
148 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·createSymbolicGraph(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·pose3Graph,</div> 
149 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··································KeyVectorMap*·adjEdgesMap,</div> 
150 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··································KeyRotMap*·factorId2RotMap);</div> 
151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
152 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keyword">static</span>·Vector3·gradientTron(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03228.html">Rot3</a>&amp;·R1,·<span·class="keyword">const</span>·<a·class="[·...·truncated·by·diffoscope;·len:·129,·SHA:·1c86dd4fc816e33d1685eff2368e5d7e5774ed3b9420922305ec96e7f3b36f4f·...·]</div>148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="keyword">public</span>:</div>
153 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······························<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·b);</div>149 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·CONTAINER&gt;</div>
 150 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<a·class="code·hl_class"·href="a04876.html">KarcherMeanFactor</a>(<span·class="keyword">const</span>·CONTAINER·&amp;<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,·<span·class="keywordtype">int</span>·d·=·D,</div>
 151 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····················boost::optional&lt;double&gt;·beta·=·boost::none);</div>
154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>152 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 153 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno"><a·class="line"·href="a04876.html#acd61ca0d89f80448537dbaed5964b429">···66</a></span>··<a·class="code·hl_function"·href="a04876.html#acd61ca0d89f80448537dbaed5964b429">~KarcherMeanFactor</a>()<span·class="keyword">·override·</span>{}</div>
155 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>·buildPose3graph(</div> 
156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph);</div> 
157 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>154 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
 155 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a04876.html#a1f7ee10ee0fe130c9c2e8780571520d7">···69</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a04876.html#a1f7ee10ee0fe130c9c2e8780571520d7">error</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·&amp;c)<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·0;·}</div>
158 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·computePoses(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialRot,</div> 
159 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·····························<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>*·poseGraph,</div> 
160 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·····························<span·class="keywordtype">bool</span>·singleIter·=·<span·class="keyword">true</span>);</div> 
161 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>156 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
 157 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno"><a·class="line"·href="a04876.html#a5eae98c33fbadf006492d3e5a0b7164c">···72</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a04876.html#a5eae98c33fbadf006492d3e5a0b7164c">dim</a>()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·d_;·}</div>
162 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·initializeOrientations(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph);</div> 
163 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div> 
164 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·initialize(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,</div> 
165 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>···························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·givenGuess,·<span·class="keywordtype">bool</span>·useGradient·=·<span·class="keyword">false</span>);</div> 
166 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div> 
167 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·initialize(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph);</div> 
168 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>};</div>158 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
 159 <div·class="foldopen"·id="foldopen00075"·data-start="{"·data-end="}">
 160 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a04876.html#a96e646c2e519ab84bc8fcd86ca5f443e">···75</a></span>··boost::shared_ptr&lt;GaussianFactor&gt;·<a·class="code·hl_function"·href="a04876.html#a96e646c2e519ab84bc8fcd86ca5f443e">linearize</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·&amp;c)<span·class="keyword">·const·override·</span>{</div>
 161 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="keywordflow">return</span>·whitenedJacobian_;</div>
 162 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··}</div>
169 </div>163 </div>
 164 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>};</div>
 165 </div>
 166 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span><span·class="comment">//·\KarcherMeanFactor</span></div>
170 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>}··<span·class="comment">//·end·of·namespace·gtsam</span></div>167 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>}·<span·class="comment">//·namespace·gtsam</span></div>
171 <div·class="ttc"·id="aa00278_html"><div·class="ttname"><a·href="a00278.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div> 
172 <div·class="ttc"·id="aa00635_html"><div·class="ttname"><a·href="a00635.html">graph.h</a></div><div·class="ttdoc">Graph·algorithm·using·boost·library.</div></div> 
173 <div·class="ttc"·id="aa00770_html"><div·class="ttname"><a·href="a00770.html">GaussianFactorGraph.h</a></div><div·class="ttdoc">Linear·Factor·Graph·where·all·factors·are·Gaussians.</div></div> 
174 <div·class="ttc"·id="aa00884_html"><div·class="ttname"><a·href="a00884.html">VectorValues.h</a></div><div·class="ttdoc">Factor·Graph·Values.</div></div>168 <div·class="ttc"·id="aa00044_html"><div·class="ttname"><a·href="a00044.html">Matrix.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·MatrixXd</div></div>
175 <div·class="ttc"·id="aa01145_html"><div·class="ttname"><a·href="a01145.html">NonlinearFactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·consisting·of·non-linear·factors.</div></div>169 <div·class="ttc"·id="aa00824_html"><div·class="ttname"><a·href="a00824.html">JacobianFactor.h</a></div></div>
176 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>170 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
 171 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
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4 <meta·http-equiv="Content-Type"·content="text/xhtml;charset=UTF-8"/>4 <meta·http-equiv="Content-Type"·content="text/xhtml;charset=UTF-8"/>
5 <meta·http-equiv="X-UA-Compatible"·content="IE=11"/>5 <meta·http-equiv="X-UA-Compatible"·content="IE=11"/>
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/EssentialMatrixConstraint.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/TriangulationFactor.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
14 <script·type="text/javascript"·src="navtreedata.js"></script>14 <script·type="text/javascript"·src="navtreedata.js"></script>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">EssentialMatrixConstraint.h</div></div>104 ··<div·class="headertitle"><div·class="title">TriangulationFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01274.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2014,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00410.html">gtsam/geometry/CalibratedCamera.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/lexical_cast.hpp&gt;</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/geometry/EssentialMatrix.h&gt;</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
 127 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>
125 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">128 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">
126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a04808.html">···30</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04808.html">EssentialMatrixConstraint</a>:·<span·class="keyword">public</span>·<a·c[·...·truncated·by·diffoscope;·len:·76,·SHA:·a97aaeafea7816b3a5375b786ed84c1d9d2427c28273f8a750ef5751be19bcd1·...·]3&gt;·{</div>129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a04968.html">···33</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04968.html">TriangulationFactor</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class[·...·truncated·by·diffoscope;·len:·51,·SHA:·e2b67789bdb764634baf7ec143300eedf25ff1f5bf0d037ec5d9e07d1720caa6·...·]3&gt;·{</div>
127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">private</span>:</div>131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">public</span>:</div>
129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div> 
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04808.html">EssentialMatrixConstraint</a>·<a·class="code·hl_class"·href="a04808.html">This</a>;</div> 
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;Pose3,·Pose3&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div> 
132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a04968.html#aae9d48231158b12f7fe3d7d60966cd3a">···38</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a04968.html#aae9d48231158b12f7fe3d7d60966cd3a">Camera</a>·=·CAMERA;</div>
133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<a·class="code·hl_class"·href="a03068.html">EssentialMatrix</a>·measuredE_;·</div> 
134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">public</span>:</div> 
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·shorthand·for·a·smart·pointer·to·a·factor</span></div> 
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04808.html#aa71b27df9573bff00b1a95c0fba271fe">···42</a></span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;EssentialMatrixConstraint&gt;·<a·class="code·hl_typedef"·href="a04808.html#aa71b27df9573bff00b1a95c0fba271fe">shared_ptr</a>;</div> 
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
 135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">protected</span>:</div>
139 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="}"> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04808.html#ac03a28866f89ad12046904c7c0cff4b8">···45</a></span>··<a·class="code·hl_function"·href="a04808.html#ac03a28866f89ad12046904c7c0cff4b8">EssentialMatrixConstraint</a>()·{</div> 
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··}</div>136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
142 </div>137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04968.html#abff67cf060fab7062fdfc659a1204df0">···43</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04536.html">Base</a>·=·<a·class[·...·truncated·by·diffoscope;·len:·73,·SHA:·f9bddc039be5aa21f76254aabb5daa17fe80a6834b4425e8731d98af687149ca·...·]/div>
 138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
 139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a04968.html#aec81a5514bfc054806d486d441eaae13">···46</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a04968.html#aec81a5514bfc054806d486d441eaae13">This</a>·=·<a·class="code·hl_class"·href="a04968.html">TriangulationFactor&lt;CAMERA&gt;</a>;</div>
143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>140 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
144 <div·class="foldopen"·id="foldopen00055"·data-start="{"·data-end="}"> 
145 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04808.html#ad7a49abd9aa91e0671eae13becc08ca0">···55</a></span>··<a·class="code·hl_function"·href="a04808.html#ad7a49abd9aa91e0671eae13becc08ca0">EssentialMatrixConstraint</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2,</div> 
146 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03068.html">EssentialMatrix</a>&amp;·measuredE,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model)·:</div> 
147 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·key1,·key2),·measuredE_(measuredE)·{</div>141 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a04968.html#a89c1dcaccd0ae0bfbaf1593b1e8d673f">···49</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a04968.html#a89c1dcaccd0ae0bfbaf1593b1e8d673f">Measurement[·...·truncated·by·diffoscope;·len:·65,·SHA:·88dec9d7c97df25049ba5aacacdd57cb48c578747aa6a3df012d72aab08e7a6d·...·]</div>
 142 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·Keep·a·copy·of·measurement·and·calibration·for·I/O</span></div>
 144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a04968.html#afe3ec00477435bf000943670d27a15b2">···52</a></span>··<span·class="keyword">const</span>·CAMERA·<a·class="code·hl_variable"·href="a04968.html#afe3ec00477435bf000943670d27a15b2">camera_</a>;·</div>
 145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a04968.html#af5260f93ab73cc09b483c08b318f7889">···53</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a04968.html#a89c1dcaccd0ae0bfbaf1593b1e8d673f">Measurement</a>·<a·class="code·hl_variable"·href="a04968.html#af5260f93ab73cc09b483c08b318f7889">measured_</a>;·</div>
 146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="comment">//·verbosity·handling·for·Cheirality·Exceptions</span></div>
 148 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a04968.html#a0fe8550e6416afd3405bd9cfaea87a5c">···56</a></span>··<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04968.html#a0fe8550e6416afd3405bd9cfaea87a5c">throwCheirality_</a>;·</div>
 149 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a04968.html#ac7e1e1c9da6242b95c6da60d59953600">···57</a></span>··<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04968.html#ac7e1e1c9da6242b95c6da60d59953600">verboseCheirality_</a>;·</div>
148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··}</div>150 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span><span·class="keyword">public</span>:</div>
 152 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
 153 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 154 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a04968.html#af5b41dc5437432adfeb1b66b6f049780">···63</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a04968.html#af5b41dc5437432adfeb1b66b6f049780">shared_ptr</a>·=·boost::shared_ptr&lt;This&gt;;</div>
 155 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 156 <div·class="foldopen"·id="foldopen00066"·data-start="{"·data-end="}">
 157 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno"><a·class="line"·href="a04968.html#ae02b051f95339acc3e410d5352b985d2">···66</a></span>··<a·class="code·hl_function"·href="a04968.html#ae02b051f95339acc3e410d5352b985d2">TriangulationFactor</a>()·:</div>
 158 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······<a·class="code·hl_variable"·href="a04968.html#a0fe8550e6416afd3405bd9cfaea87a5c">throwCheirality_</a>(false),·<a·class="code·hl_variable"·href="a04968.html#ac7e1e1c9da6242b95c6da60d59953600">verboseCheirality_</a>(false)·{</div>
 159 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··}</div>
149 </div>160 </div>
150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>161 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
151 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<a·class="code·hl_class"·href="a04808.html">~EssentialMatrixConstraint</a>()<span·class="keyword">·override·</span>{</div> 
152 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div> 
153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div> 
154 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">162 <div·class="foldopen"·id="foldopen00079"·data-start="{"·data-end="}">
155 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a04808.html#a0782238c2c386bedd704df1b3722133c">···64</a></span>··gtsam::NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04808.html#a0782238c2c386bedd704df1b3722133c">clone</a>([·...·truncated·by·diffoscope;·len:·47,·SHA:·7da812eb1a22224d7604126b6624da41a1414842fc6810eec329e4440532ced5·...·]</div>163 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno"><a·class="line"·href="a04968.html#a73cd66af4faf4400cffe370d803ee223">···79</a></span>··<a·class="code·hl_function"·href="a04968.html#a73cd66af4faf4400cffe370d803ee223">TriangulationFactor</a>(<span·class="keyword"[·...·truncated·by·diffoscope;·len:·264,·SHA:·d7a2d670a0a47ccdedd217a20ad2b212ef9829e732c7f2cc60d2a4d59ac42fe9·...·]</div>
 164 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·pointKey,·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a04968.html#a229cf2e42a61da1974a3d2f2ed9aa426">throwCheirality</a>·=·<span·class="keyword">false</span>,</div>
 165 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>······<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a04968.html#aaa3d5c65f9d098bf8e5fa1292c54e159">verboseCheirality</a>·=·<span·class="keyword">false</span>)·:</div>
 166 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>······<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·pointKey),·<a·class="code·hl_variable"·href="a04968.html#afe3ec00477435bf000943670d27a15b2">camera_</a>(camera),·<a·class="code·hl_variable"·href="a04968.html#af5260f93ab73cc09b483c08b318f7889">measured_</a>(<a·class="code·hl_function"·href="a04968.html#a90c53cabdb77d29f7f60b1cd0cefa0ab">measured</a>),·<a·class="code·hl_variable"·href="a04968.html#a0fe8550e6416afd3405bd9cfaea87a5c">throwCheirality_</a>(</div>
 167 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··········<a·class="code·hl_function"·href="a04968.html#a229cf2e42a61da1974a3d2f2ed9aa426">throwCheirality</a>),·<a·class="code·hl_variable"·href="a04968.html#ac7e1e1c9da6242b95c6da60d59953600">verboseCheirality_</a>(<a·class="code·hl_function"·href="a04968.html#aaa3d5c65f9d098bf8e5fa1292c54e159">verboseCheirality</a>)·{</div>
 168 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····<span·class="keywordflow">if</span>·(model·&amp;&amp;·model-&gt;dim()·!=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Measurement&gt;::dimension</a>)</div>
156 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;gtsam::NonlinearFactor&gt;(</div>169 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>······<span·class="keywordflow">throw</span>·std::invalid_argument(</div>
157 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········gtsam::NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·<a·class="code·hl_class"·href="a04808.html">This</a>(*<span·class="keyword">this</span>)));</div>170 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··········<span·class="stringliteral">&quot;TriangulationFactor·must·be·created·with·&quot;</span></div>
 171 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··············+·boost::lexical_cast&lt;std::string&gt;((<span·class="keywordtype">int</span>)·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Measurement&gt;::dimension</a>)</div>
 172 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··············+·<span·class="stringliteral">&quot;-dimensional·noise·model.&quot;</span>);</div>
158 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div>173 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··}</div>
159 </div>174 </div>
160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>175 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>
161 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,</div> 
162 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div> 
163 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div> 
164 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>&amp;·expected,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const·override</span>;</div> 
165 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div> 
166 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··Vector·evaluateError(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&amp;·p1,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&amp;·p2,</div> 
167 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>······boost::optional&lt;Matrix&amp;&gt;·Hp1·=·boost::none,·<span·class="comment">//</span></div> 
168 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>······boost::optional&lt;Matrix&amp;&gt;·Hp2·=·boost::none)·<span·class="keyword">const·override</span>;</div> 
169 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div> 
170 <div·class="foldopen"·id="foldopen00086"·data-start="{"·data-end="}">176 <div·class="foldopen"·id="foldopen00092"·data-start="{"·data-end="}">
 177 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno"><a·class="line"·href="a04968.html#abfe7a9acf4b4b3711e19e394dd37cd56">···92</a></span>··<a·class="code·hl_function"·href="a04968.html#abfe7a9acf4b4b3711e19e394dd37cd56">~TriangulationFactor</a>()<span·class="keyword">·override·</span>{</div>
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105 <p>Provides·partially·implemented·constraints·to·implement·bounds.··104 <p>common·code·between·lago.*·(2D)·and·InitializePose3.*·(3D)··
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124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>114 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
125 <div·class="textblock"><p>Provides·partially·implemented·constraints·to·implement·bounds.·</p>115 <div·class="textblock"><p>common·code·between·lago.*·(2D)·and·InitializePose3.*·(3D)·</p>
126 <dl·class="section·author"><dt>Author</dt><dd>Alex·Cunningham·</dd></dl>116 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
 117 <dl·class="section·date"><dt>Date</dt><dd>August,·2020·</dd></dl>
127 </div></div><!--·contents·-->118 </div></div><!--·contents·-->
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">BoundingConstraint.h</div></div>104 ··<div·class="headertitle"><div·class="title">InitializePose.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01280.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01280.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keywordtype">double</span>·threshold_;</div>131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Pose&gt;</div>
133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keywordtype">bool</span>·isGreaterThan_;·</div>132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">static</span>·NonlinearFactorGraph·buildPoseGraph(<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·graph)·{</div>
 133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··NonlinearFactorGraph·poseGraph;</div>
134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
135 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="}"> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04780.html#a936b8b1a987ef137f1b6d4bfbcc3db9f">···41</a></span>··<a·class="code·hl_function"·href="a04780.html#a936b8b1a987ef137f1b6d4bfbcc3db9f">BoundingConstraint1</a>(<a·class="code·hl_type[·...·truncated·by·diffoscope;·len:·206,·SHA:·00bf196f41ce2248948890eb954bc9ca86fc4f50243774ee6a1f90d1e36be6aa·...·]</div>135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keywordflow">for</span>·(<span·class="keyword">const</span>·<span·class="keyword">auto</span>&amp;·factor·:·graph)·{</div>
 136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="comment">//·recast·to·a·between·on·Pose</span></div>
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>······<span·class="keywordtype">bool</span>·isGreaterThan,·<span·class="keywordtype">double</span>·mu·=·1000.0)·:</div>137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keywordflow">if</span>·(<span·class="keyword">auto</span>·between·=</div>
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>········<a·class="code·hl_class"·href="a04536.html">Base</a>(<a·class="code·hl_function"·href="a04504.html#ae995e64bbd0660091eb6b40cba60aef7">noiseModel</a>::Constrained::All(1,·mu),·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>),</div> 
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>········threshold_(threshold),·isGreaterThan_(isGreaterThan)·{</div>138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>············boost::dynamic_pointer_cast&lt;BetweenFactor&lt;Pose&gt;·&gt;(factor))</div>
 139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······poseGraph.<a·class="code·hl_function"·href="a03524.html#abfdae5dfdd83614797463fe4171b18a5">add</a>(between);</div>
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··}</div>140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
141 </div> 
142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<a·class="code·hl_struct"·href="a04780.html">~BoundingConstraint1</a>()<span·class="keyword">·override·</span>{}</div> 
144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·threshold()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·threshold_;·}</div> 
146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">bool</span>·isGreaterThan()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·isGreaterThan_;·}</div> 
147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div> 
148 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a04780.html#ae8d1b604f8580bfd89940d1154b66feb">···57</a></span>··<span·class="keyword">virtual</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a04780.html#ae8d1b604f8580bfd89940d1154b66feb">value</a>(<span·class="keyword">const</span>·X&amp;·x,·boost::optional&lt;Matrix&amp;&gt;·H·=</div> 
149 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······boost::none)·<span·class="keyword">const</span>·=·0;</div> 
150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
151 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}"> 
152 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a04780.html#a310753e6eab123dfab602fe9b6d4c180">···61</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a04780.html#a310753e6eab123dfab602fe9b6d4c180">active</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·c)<span·class="keyword">·const·override·</span>{</div> 
153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<span·class="comment">//·note:·still·active·at·equality·to·avoid·zigzagging</span></div>141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····<span·class="comment">//·recast·PriorFactor&lt;Pose&gt;·to·BetweenFactor&lt;Pose&gt;</span></div>
154 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="keywordtype">double</span>·x·=·<a·class="code·hl_function"·href="a04780.html#ae8d1b604f8580bfd89940d1154b66feb">value</a>(c.<a·class="code·hl_function"·href="a04612.html#a5e511b1e15b67a4fdaaf5bcf676dd1ff">at</a>&lt;X&gt;(this-&gt;key()));</div> 
155 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keywordflow">return</span>·(isGreaterThan_)·?·x·&lt;=·threshold_·:·x·&gt;=·threshold_;</div>142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="keywordflow">if</span>·(<span·class="keyword">auto</span>·prior·=·boost::dynamic_pointer_cast&lt;PriorFactor&lt;Pose&gt;·&gt;(factor))</div>
 143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······poseGraph.emplace_shared&lt;BetweenFactor&lt;Pose&gt;·&gt;(</div>
 144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··········kAnchorKey,·prior-&gt;keys()[0],·prior-&gt;prior(),·prior-&gt;noiseModel());</div>
156 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··}</div>145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··}</div>
157 </div>146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keywordflow">return</span>·poseGraph;</div>
158 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>147 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>}</div>
159 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··Vector·evaluateError(<span·class="keyword">const</span>·X&amp;·x,·boost::optional&lt;Matrix&amp;&gt;·H·=</div> 
160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······boost::none)<span·class="keyword">·const·override·</span>{</div> 
161 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····Matrix·D;</div> 
162 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a04504.html#ad141af2ca30963a19b2c8b7bf09021d3">error</a>·=·<a·class="code·hl_function"·href="a04780.html#ae8d1b604f8580bfd89940d1154b66feb">value</a>(x,·D)·-·threshold_;</div> 
163 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="keywordflow">if</span>·(H)·{</div> 
164 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······<span·class="keywordflow">if</span>·(isGreaterThan_)·*H·=·D;</div> 
165 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······<span·class="keywordflow">else</span>·*H·=·-1.0·*·D;</div> 
166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····}</div> 
167 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 149 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Pose&gt;</div>
 150 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><span·class="keyword">static</span>·<a·class="code·hl_class"·href="a05076.html">Values</a>·computePoses(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05076.html">Values</a>&amp;·initialRot,</div>
 151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>···························NonlinearFactorGraph*·posegraph,</div>
 152 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>···························<span·class="keywordtype">bool</span>·singleIter·=·<span·class="keyword">true</span>)·{</div>
 153 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">const</span>·<span·class="keyword">auto</span>·origin·=·Pose().translation();</div>
 154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
168 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="keywordflow">if</span>·(isGreaterThan_)</div>155 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="comment">//·Upgrade·rotations·to·full·poses</span></div>
169 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>······<span·class="keywordflow">return</span>·(Vector(1)·&lt;&lt;·<a·class="code·hl_function"·href="a04504.html#ad141af2ca30963a19b2c8b7bf09021d3">error</a>).finished();</div>156 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<a·class="code·hl_class"·href="a05076.html">Values</a>·initialPose;</div>
 157 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keywordflow">for</span>·(<span·class="keyword">const</span>·<span·class="keyword">auto</span>&amp;·key_rot·:·initialRot.extract&lt;typename·Pose::Rotation&gt;())·{</div>
 158 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·key·=·key_rot.first;</div>
 159 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····<span·class="keyword">const</span>·<span·class="keyword">auto</span>&amp;·rot·=·key_rot.second;</div>
170 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keywordflow">else</span></div>160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="keyword">const</span>·Pose·initializedPose(rot,·origin);</div>
171 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>······<span·class="keywordflow">return</span>·-1.0·*·(Vector(1)·&lt;&lt;·<a·class="code·hl_function"·href="a04504.html#ad141af2ca30963a19b2c8b7bf09021d3">error</a>).finished();</div>161 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····initialPose.insert(key,·initializedPose);</div>
172 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··}</div>162 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··}</div>
173 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>163 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 164 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="comment">//·add·prior·on·dummy·node</span></div>
 165 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="keyword">auto</span>·priorModel·=·<a·class="code·hl_function"·href="a03940.html#a61fda7a7390d3fc40f5618185e801bfe">noiseModel::Unit::Create</a>(Pose::dimension);</div>
 166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··initialPose.insert(kAnchorKey,·Pose());</div>
 167 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··posegraph-&gt;emplace_shared&lt;PriorFactor&lt;Pose&gt;·&gt;(kAnchorKey,·Pose(),·priorModel);</div>
 168 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 169 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="comment">//·Create·optimizer</span></div>
 170 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··GaussNewtonParams·params;</div>
 171 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keywordflow">if</span>·(singleIter)·{</div>
 172 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····params.maxIterations·=·1;</div>
174 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span><span·class="keyword">private</span>:</div>173 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··}·<span·class="keywordflow">else</span>·{</div>
 174 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····params.setVerbosity(<span·class="stringliteral">&quot;TERMINATION&quot;</span>);</div>
175 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>175 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··}</div>
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102 <a·href="#define-members">Macros</a>··</div>102 <a·href="#func-members">Functions</a>··</div>
103 ··<div·class="headertitle"><div·class="title">BetweenFactor.h·File·Reference</div></div>103 ··<div·class="headertitle"><div·class="title">FrobeniusFactor.h·File·Reference</div></div>
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105 <div·class="contents">105 <div·class="contents">
  
 106 <p>Various·factors·that·minimize·some·Frobenius·norm.··
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109 Classes</h2></td></tr>111 Classes</h2></td></tr>
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111 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·class·for·a·measurement·predicted·by·"between(config[key1],config[key2])".··<a·href="a04764.html#details">More...</a><br·/></td></tr> 
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117 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Binary·between·constraint·-·forces·between·to·a·given·value·This·constraint·requires·the·underlying·type·to·a·Lie·type.··<a·href="a04772.html#details">More...</a><br·/></td></tr>116 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a04832.html"·title="FrobeniusFactor·calculates·the·Frobenius·norm·between·rotation·matrices.">FrobeniusFactor</a>·calculates·the·Frobenius·norm·between·rotation·matrices.··<a·href="a04832.html#details">More...</a><br·/></td></tr>
118 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>117 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
119 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04776.html">gtsam::traits&lt;·BetweenConstraint&lt;·VALUE·&gt;·&gt;</a></td></tr>118 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04836.html">gtsam::FrobeniusBetweenFactor&lt;·Rot·&gt;</a></td></tr>
120 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a04776.html#details">More...</a><br·/></td></tr>119 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a04836.html"·title="FrobeniusBetweenFactor·is·a·BetweenFactor·that·evaluates·the·Frobenius·norm·of·the·rotation·error·bet...">FrobeniusBetweenFactor</a>·is·a·<a·class="el"·href="a04764.html"·title="A·class·for·a·measurement·predicted·by[·...·truncated·by·diffoscope;·len:·209,·SHA:·d444f3fd3ab7527d8f8d811581ca91c814d3d3314aa1c9c01d2c4d480f772eb7·...·]6.html#details">More...</a><br·/></td></tr>
121 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>120 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
122 </table><table·class="memberdecls">121 </table><table·class="memberdecls">
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124 Namespaces</h2></td></tr>123 Namespaces</h2></td></tr>
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126 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>125 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
127 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>126 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
128 </table><table·class="memberdecls">127 </table><table·class="memberdecls">
129 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="define-members"·name="define-members"></a>128 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a>
130 Macros</h2></td></tr>129 Functions</h2></td></tr>
131 <tr·class="memitem:a17e12c180bebc56ed6dbc4f793d5a156"·id="r_a17e12c180bebc56ed6dbc4f793d5a156"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a17e12c180bebc56ed6dbc4f793d5a156"·name="a17e12c180bebc56ed6dbc4f793d5a156"></a> 
132 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>BETWEENFACTOR_VISIBILITY</b>&#160;&#160;&#160;GTSAM_EXPORT</td></tr>130 <tr·class="memitem:aa43e7fd7c2b86873458a91ddafc506e4"·id="r_aa43e7fd7c2b86873458a91ddafc506e4"><td·class="memItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&#160;</td><td·class="m[·...·truncated·by·diffoscope;·len:·266,·SHA:·d936909918bd5d09d07b01dac682877f2c54feab057bb35b4ee966af5ec2891a·...·]</td></tr>
 131 <tr·class="memdesc:aa43e7fd7c2b86873458a91ddafc506e4"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">When·creating·(any)·<a·class="el"·href="a04832.html"·title="FrobeniusFactor·calculates·the·Frobenius·norm·between·rotation·matrices.">FrobeniusFactor</a>·we·can·convert·a·Rot/Pose·<a·class="el"·href="a04764.html"·title="A·class·for·a·measurement·predicted·by·&quot;between(config[key1],config[key2])&quot;.">BetweenFactor</a>·noise·model·into·a·n-dimensional·isotropic·noise·model·used·to·weight·the·Frobenius·norm.··<br·/></td></tr>
133 <tr·class="separator:a17e12c180bebc56ed6dbc4f793d5a156"><td·class="memSeparator"·colspan="2">&#160;</td></tr>132 <tr·class="separator:aa43e7fd7c2b86873458a91ddafc506e4"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
134 </table>133 </table>
135 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>134 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 135 <div·class="textblock"><p>Various·factors·that·minimize·some·Frobenius·norm.·</p>
 136 <dl·class="section·date"><dt>Date</dt><dd>March·2019·</dd></dl>
136 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert,·Viorela·Ila·</dd></dl>137 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
137 </div></div><!--·contents·-->138 </div></div><!--·contents·-->
138 </div><!--·doc-content·-->139 </div><!--·doc-content·-->
139 <!--·start·footer·part·-->140 <!--·start·footer·part·-->
140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->141 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
141 ··<ul>142 ··<ul>
142 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_323e70a1eef083399c870cf8a6035771.html">slam</a></li><li·class="navelem"><a·class="el"·href="a01283.html">BetweenFactor.h</a></li>143 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_323e70a1eef083399c870cf8a6035771.html">slam</a></li><li·class="navelem"><a·class="el"·href="a01283.html">FrobeniusFactor.h</a></li>
143 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>144 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
144 ··</ul>145 ··</ul>
145 </div>146 </div>
146 </body>147 </body>
147 </html>148 </html>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">BetweenFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">FrobeniusFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01283.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01283.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div> 
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121 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
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127 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#define·BETWEENFACTOR_VISIBILITY</span></div> 
128 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#else</span></div> 
129 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="comment">//·This·will·trigger·a·LNKxxxx·on·MSVC,·so·disable·for·MSVC·build</span></div> 
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134 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
135 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
 127 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>GTSAM_EXPORT·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a></div>
 128 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><a·class="code·hl_function"·href="a01428.html#aa43e7fd7c2b86873458a91ddafc506e4">ConvertNoiseModel</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model,·<span·class="keywordtype">size_t</span>·n,</div>
 129 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··················<span·class="keywordtype">bool</span>·defaultToUnit·=·<span·class="keyword">true</span>);</div>
136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·VALUE&gt;</div> 
137 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="};"> 
138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04764.html">···40</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a04764.html">BetweenFactor</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;VALUE,·VALUE&gt;·{</div> 
139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div> 
140 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="comment">//·Check·that·VALUE·type·is·a·testable·Lie·group</span></div> 
141 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····BOOST_CONCEPT_ASSERT((<a·class="code·hl_class"·href="a02476.html">IsTestable&lt;VALUE&gt;</a>));</div> 
142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····BOOST_CONCEPT_ASSERT((<a·class="code·hl_class"·href="a02380.html">IsLieGroup&lt;VALUE&gt;</a>));</div> 
143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>130 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 131 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Rot&gt;</div>
 132 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="};">
 133 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a04828.html">···51</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04828.html">FrobeniusPrior</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;Rot&gt;·{</div>
 134 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">enum</span>·{·Dim·=·Rot::VectorN2::RowsAtCompileTime·};</div>
 135 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">using·</span>MatrixNN·=·<span·class="keyword">typename</span>·Rot::MatrixNN;</div>
 136 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··Eigen::Matrix&lt;double,·Dim,·1&gt;·vecM_;··</div>
 137 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">public</span>:</div>138 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·<span·class="keyword">public</span>:</div>
145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>139 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keyword">typedef</span>·VALUE·T;</div> 
147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
148 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">private</span>:</div> 
149 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div> 
150 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04764.html">BetweenFactor&lt;VALUE&gt;</a>·This;</div> 
151 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;VALUE,·VALUE&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div> 
152 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div> 
153 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····VALUE·measured_;·</div> 
154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">public</span>:</div> 
155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>140 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="comment">//·shorthand·for·a·smart·pointer·to·a·factor</span></div> 
157 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a04764.html#a5f6d47911015651afe9139f016c04420">···60</a></span>····<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·boost::shared_ptr&lt;BetweenFactor&gt;·<a·class="code·hl_typedef"·href="a04764.html#a5f6d47911015651afe9139f016c04420">shared_ptr</a>;</div> 
158 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>141 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="}">
 142 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a04828.html#a6a15c66a4b8b0d762a8bab33ad950a66">···60</a></span>··<a·class="code·hl_function"·href="a04828.html#a6a15c66a4b8b0d762a8bab33ad950a66">FrobeniusPrior</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j,·<span·class="keyword">const</span>·MatrixNN&amp;·M,</div>
 143 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model·=·<span·class="keyword">nullptr</span>)</div>
 144 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······:·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;Rot&gt;(<a·class="code·hl_function"·href="a01428.html#aa43e7fd7c2b86873458a91ddafc506e4">ConvertNoiseModel</a>(model,·Dim),·j)·{</div>
 145 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····vecM_·&lt;&lt;·Eigen::Map&lt;const·Matrix&gt;(M.data(),·Dim,·1);</div>
159 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>146 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··}</div>
160 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno"><a·class="line"·href="a04764.html#a059852c5e2a89302b823baae2de62676">···66</a></span>····<a·class="code·hl_function"·href="a04764.html#a059852c5e2a89302b823baae2de62676">BetweenFactor</a>()·{}</div> 
161 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div> 
162 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}"> 
163 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a04764.html#a8b852f5210cb19fa5c31ff97a5aec20e">···69</a></span>····<a·class="code·hl_function"·href="a04764.html#a8b852f5210cb19fa5c31ff97a5aec20e">BetweenFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2,·<span·class="keyword">const</span>·VALUE&amp;·<a·class="code·hl_function"·href="a04764.html#a63ed8a6a94fe1b40b58de2e271c63640">measured</a>,</div> 
164 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>········<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model·=·<span·class="keyword">nullptr</span>)·:</div> 
165 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·key1,·key2),·measured_(<a·class="code·hl_function"·href="a04764.html#a63ed8a6a94fe1b40b58de2e271c63640">measured</a>)·{</div> 
166 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····}</div> 
167 </div>147 </div>
168 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div> 
169 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
170 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<a·class="code·hl_class"·href="a04764.html">~BetweenFactor</a>()<span·class="keyword">·override·</span>{}</div> 
171 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div> 
172 <div·class="foldopen"·id="foldopen00079"·data-start="{"·data-end="}">149 <div·class="foldopen"·id="foldopen00067"·data-start="{"·data-end="}">
173 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno"><a·class="line"·href="a04764.html#a4966e979798882500e4d56904f4bf615">···79</a></span>····gtsam::NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04764.html#a4966e979798882500e4d56904f4bf615">clone</a>()<span·class="keyword">·const·override·</span>{</div> 
174 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;gtsam::NonlinearFactor&gt;(</div> 
175 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··········gtsam::NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·This(*<span·class="keyword">this</span>)));·}</div>150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a04828.html#aef850900d2b1b15beffebd6c7af8084b">···67</a></span>··Vector·<a·class="code·hl_function"·href="a04828.html#aef850900d2b1b15beffebd6c7af8084b">evaluateError</a>(<span·class="keyword[·...·truncated·by·diffoscope;·len:·26,·SHA:·bd414c0c1bf1ab8a21a651ebcd723a55ee3c44bbc8120d0861398359ff526e75·...·]</div>
 151 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·······················boost::optional&lt;Matrix&amp;&gt;·H·=·boost::none)<span·class="keyword">·const·override·</span>{</div>
 152 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="keywordflow">return</span>·R.vec(H)·-·vecM_;··<span·class="comment">//·Jacobian·is·computed·only·when·needed.</span></div>
 153 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··}</div>
176 </div>154 </div>
 155 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>};</div>
 156 </div>
177 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>157 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
 158 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Rot&gt;</div>
 159 <div·class="foldopen"·id="foldopen00078"·data-start="{"·data-end="};">
 160 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a04832.html">···78</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04832.html">FrobeniusFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;Rot,·Rot&gt;·{</div>
 161 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keyword">enum</span>·{·Dim·=·Rot::VectorN2::RowsAtCompileTime·};</div>
178 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>162 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
 163 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·<span·class="keyword">public</span>:</div>
179 <div·class="foldopen"·id="foldopen00087"·data-start="{"·data-end="}">164 <div·class="foldopen"·id="foldopen00083"·data-start="{"·data-end="}">
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99 ··<div·class="summary">99 ··<div·class="summary">
 100 <a·href="#nested-classes">Classes</a>·&#124;
100 <a·href="#namespaces">Namespaces</a>·&#124;101 <a·href="#namespaces">Namespaces</a>··</div>
101 <a·href="#typedef-members">Typedefs</a>·&#124; 
102 <a·href="#func-members">Functions</a>··</div> 
103 ··<div·class="headertitle"><div·class="title">lago.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">PoseTranslationPrior.h·File·Reference</div></div>
104 </div><!--header-->103 </div><!--header-->
105 <div·class="contents">104 <div·class="contents">
  
106 <p>Initialize·Pose2·in·a·factor·graph·using·LAGO·(Linear·Approximation·for·Graph·Optimization).··105 <p>Implements·a·prior·on·the·translation·component·of·a·pose.··
107 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
108 <p><a·href="a01292_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a01292_source.html">Go·to·the·source·code·of·this·file.</a></p>
109 <table·class="memberdecls">108 <table·class="memberdecls">
 109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
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 111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04892.html">gtsam::PoseTranslationPrior&lt;·POSE·&gt;</a></td></tr>
 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·prior·on·the·translation·part·of·a·pose.··<a·href="a04892.html#details">More...</a><br·/></td></tr>
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111 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
112 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
113 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
115 </table><table·class="memberdecls"> 
116 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="typedef-members"·name="typedef-members"></a> 
117 Typedefs</h2></td></tr> 
118 <tr·class="memitem:a0f8b3fc27fe6b9e89c0355ed2a3223a0"·id="r_a0f8b3fc27fe6b9e89c0355ed2a3223a0"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a0f8b3fc27fe6b9e89c0355ed2a3223a0"·name="a0f8b3fc27fe6b9e89c0355ed2a3223a0"></a> 
119 typedef·std::map&lt;·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>,·double·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::lago::key2doubleMap</b></td></tr> 
120 <tr·class="separator:a0f8b3fc27fe6b9e89c0355ed2a3223a0"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
121 </table><table·class="memberdecls"> 
122 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a> 
123 Functions</h2></td></tr> 
124 <tr·class="memitem:aac4c429709c709302730ca909853dfdf"·id="r_aac4c429709c709302730ca909853dfdf"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aac4c429709c709302730ca909853dfdf"·name="aac4c429709c709302730ca909853dfdf"></a> 
125 key2doubleMap&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::lago::computeThetasToRoot</b>·(const·key2doubleMap·&amp;deltaThetaMap,·const·<a·class="el"·href="a03624.html">PredecessorMap</a>&lt;·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·&gt;·&amp;tree)</td></tr> 
126 <tr·class="memdesc:aac4c429709c709302730ca909853dfdf"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Compute·the·cumulative·orientations·(without·wrapping)·for·all·nodes·wrt·the·root·(root·has·zero·orientation).·<br·/></td></tr> 
127 <tr·class="separator:aac4c429709c709302730ca909853dfdf"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
128 <tr·class="memitem:a7ea9e2dba2e94a43874d8991d52e5394"·id="r_a7ea9e2dba2e94a43874d8991d52e5394"><td·class="memItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01340.html#a7ea9e2dba2e94a43874d8991d52e5394">gtsam::lago::getSymbolicGraph</a>·(std::vector&lt;·size_t·&gt;·&amp;spanningTreeIds,·std::vector&lt;·size_t·&gt;·&amp;chordsIds,·key2doubleMap·&amp;deltaThetaMap,·const·<a·class="el"·href="a03624.html">PredecessorMap</a>&lt;·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·&gt;·&amp;tree,·const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;g)</td></tr> 
129 <tr·class="memdesc:a7ea9e2dba2e94a43874d8991d52e5394"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Given·a·factor·graph·"g",·and·a·spanning·tree·"tree",·select·the·nodes·belonging·to·the·tree·and·to·g,·and·stores·the·factor·slots·corresponding·to·edges·in·the·tree·and·to·chordsIds·wrt·this·tree.··<br·/></td></tr> 
130 <tr·class="separator:a7ea9e2dba2e94a43874d8991d52e5394"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
131 <tr·class="memitem:a9477b0693aa50d75046628f441d71c33"·id="r_a9477b0693aa50d75046628f441d71c33"><td·class="memItemLeft"·align="right"·valign="top"><a·class="el"·href="a03792.html">GaussianFactorGraph</a>&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01340.html#a9477b0693aa50d75046628f441d71c33">gtsam::lago::buildLinearOrientationGraph</a>·(const·std::vector&lt;·size_t·&gt;·&amp;spanningTreeIds,·const·std::vector&lt;·size_t·&gt;·&amp;chordsIds,·const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;g,·const·key2doubleMap·&amp;orientationsToRoot,·const·<a·class="el"·href="a03624.html">PredecessorMap</a>&lt;·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·&gt;·&amp;tree)</td></tr> 
132 <tr·class="memdesc:a9477b0693aa50d75046628f441d71c33"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Linear·factor·graph·with·regularized·orientation·measurements.··<br·/></td></tr> 
133 <tr·class="separator:a9477b0693aa50d75046628f441d71c33"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
134 <tr·class="memitem:a9041770353904630d5a294d11af87b64"·id="r_a9041770353904630d5a294d11af87b64"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a9041770353904630d5a294d11af87b64"·name="a9041770353904630d5a294d11af87b64"></a> 
135 <a·class="el"·href="a04064.html">VectorValues</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::lago::initializeOrientations</b>·(const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;graph,·bool·useOdometricPath=true)</td></tr> 
136 <tr·class="memdesc:a9041770353904630d5a294d11af87b64"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">LAGO:·Return·the·orientations·of·the·<a·class="el"·href="a03156.html"·title="A·2D·pose·(Point2,Rot2)">Pose2</a>·in·a·generic·factor·graph.·<br·/></td></tr> 
137 <tr·class="separator:a9041770353904630d5a294d11af87b64"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
138 <tr·class="memitem:ab3efd4e7361d258d34ad47d56eba7392"·id="r_ab3efd4e7361d258d34ad47d56eba7392"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ab3efd4e7361d258d34ad47d56eba7392"·name="ab3efd4e7361d258d34ad47d56eba7392"></a> 
139 <a·class="el"·href="a04612.html">Values</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::lago::initialize</b>·(const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;graph,·bool·useOdometricPath=true)</td></tr> 
140 <tr·class="memdesc:ab3efd4e7361d258d34ad47d56eba7392"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Return·the·values·for·the·<a·class="el"·href="a03156.html"·title="A·2D·pose·(Point2,Rot2)">Pose2</a>·in·a·generic·factor·graph.·<br·/></td></tr> 
141 <tr·class="separator:ab3efd4e7361d258d34ad47d56eba7392"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
142 <tr·class="memitem:a8529054feb091f9be3c3301d6f1f4a58"·id="r_a8529054feb091f9be3c3301d6f1f4a58"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a8529054feb091f9be3c3301d6f1f4a58"·name="a8529054feb091f9be3c3301d6f1f4a58"></a> 
143 <a·class="el"·href="a04612.html">Values</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::lago::initialize</b>·(const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;graph,·const·<a·class="el"·href="a04612.html">Values</a>·&amp;initialGuess)</td></tr> 
144 <tr·class="memdesc:a8529054feb091f9be3c3301d6f1f4a58"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Only·correct·the·orientation·part·in·initialGuess.·<br·/></td></tr> 
145 <tr·class="separator:a8529054feb091f9be3c3301d6f1f4a58"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
146 </table>120 </table>
147 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 122 <div·class="textblock"><p>Implements·a·prior·on·the·translation·component·of·a·pose.·</p>
148 <div·class="textblock"><p>Initialize·Pose2·in·a·factor·graph·using·LAGO·(Linear·Approximation·for·Graph·Optimization).·</p> 
149 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd> 
150 <dd> 
151 Frank·Dellaert·</dd></dl> 
152 <dl·class="section·date"><dt>Date</dt><dd>May·14,·2014</dd></dl> 
153 <p>see·papers:</p> 
154 <p>L.·Carlone,·R.·Aragues,·J.·Castellanos,·and·B.·Bona,·A·fast·and·accurate·approximation·for·planar·pose·graph·optimization,·IJRR,·2014.</p> 
155 <p>L.·Carlone,·R.·Aragues,·J.A.·Castellanos,·and·B.·Bona,·A·linear·approximation·for·graph-based·simultaneous·localization·and·mapping,·RSS,·2011.</p> 
156 <dl·class="params"><dt>Parameters</dt><dd> 
157 ··<table·class="params"> 
158 ····<tr><td·class="paramname">graph</td><td>nonlinear·factor·graph·(can·include·arbitrary·factors·but·we·assume·that·there·is·a·subgraph·involving·Pose2·and·betweenFactors).·Also·in·the·current·version·we·assume·that·there·is·an·odometric·spanning·path·(x0-&gt;x1,·x1-&gt;x2,·etc)·and·a·prior·on·x0.·This·assumption·can·be·relaxed·by·using·the·extra·argument·useOdometricPath·=·false,·although·this·part·of·code·is·not·stable·yet.·</td></tr> 
159 ··</table> 
160 ··</dd> 
161 </dl> 
162 <dl·class="section·return"><dt>Returns</dt><dd><a·class="el"·href="a05076.html"·title="In·nonlinear·factors,·the·error·function·returns·the·negative·log-likelihood·as·a·non-linear·function...">Values</a>:·initial·guess·from·LAGO·(only·pose2·are·initialized)</dd></dl> 
163 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd> 
164 <dd> 
165 Frank·Dellaert·</dd></dl> 
166 <dl·class="section·date"><dt>Date</dt><dd>May·14,·2014·</dd></dl>123 <dl·class="section·date"><dt>Date</dt><dd>Jun·14,·2012·</dd></dl>
 124 <dl·class="section·author"><dt>Author</dt><dd>Alex·Cunningham·</dd></dl>
167 </div><h2·class="groupheader">Function·Documentation</h2> 
168 <a·id="a9477b0693aa50d75046628f441d71c33"·name="a9477b0693aa50d75046628f441d71c33"></a> 
169 <h2·class="memtitle"><span·class="permalink"><a·href="#a9477b0693aa50d75046628f441d71c33">&#9670;&#160;</a></span>buildLinearOrientationGraph()</h2> 
  
170 <div·class="memitem"> 
171 <div·class="memproto"> 
172 ······<table·class="memname"> 
173 ········<tr> 
174 ··········<td·class="memname">GTSAM_EXPORT·GaussianFactorGraph·gtsam::lago::buildLinearOrientationGraph·</td> 
175 ··········<td>(</td> 
176 ··········<td·class="paramtype">const·vector&lt;·size_t·&gt;·&amp;&#160;</td> 
177 ··········<td·class="paramname"><em>spanningTreeIds</em>,·</td> 
178 ········</tr> 
179 ········<tr> 
180 ··········<td·class="paramkey"></td> 
181 ··········<td></td> 
182 ··········<td·class="paramtype">const·vector&lt;·size_t·&gt;·&amp;&#160;</td> 
183 ··········<td·class="paramname"><em>chordsIds</em>,·</td> 
184 ········</tr> 
185 ········<tr> 
186 ··········<td·class="paramkey"></td> 
187 ··········<td></td> 
188 ··········<td·class="paramtype">const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;&#160;</td> 
189 ··········<td·class="paramname"><em>g</em>,·</td> 
190 ········</tr> 
191 ········<tr> 
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100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">lago.h</div></div>104 ··<div·class="headertitle"><div·class="title">PoseTranslationPrior.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01292.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01292.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span>·</div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#pragma·once</span></div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div> 
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div> 
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div> 
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div> 
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div> 
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div> 
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div> 
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div> 
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>109 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 110 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08128.html">gtsam/geometry/concepts.h</a>&gt;</span></div>
 111 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
 112 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span>·</div>
 113 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 114 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div>
 115 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·POSE&gt;</div>
 116 <div·class="foldopen"·id="foldopen00021"·data-start="{"·data-end="};">
 117 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno"><a·class="line"·href="a04892.html">···21</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04892.html">PoseTranslationPrior</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;POSE&gt;·{</div>
 118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">public</span>:</div>
 119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04892.html">PoseTranslationPrior&lt;POSE&gt;</a>·This;</div>
 120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;POSE&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div>
 121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>··<span·class="keyword">typedef</span>·POSE·Pose;</div>
 122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·POSE::Translation·Translation;</div>
 123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·POSE::Rotation·Rotation;</div>
 124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
 125 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··GTSAM_CONCEPT_POSE_TYPE(Pose)</div>
 126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··GTSAM_CONCEPT_GROUP_TYPE(Pose)</div>
 127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··GTSAM_CONCEPT_LIE_TYPE(Translation)</div>
 128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
118 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#pragma·once</span></div>129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">protected</span>:</div>
 130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··Translation·measured_;</div>
119 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">public</span>:</div>
 134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
 135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04892.html#adad7eab23d69d2dec6ae4ad59e0a8c65">···40</a></span>··<a·class="code·hl_function"·href="a04892.html#adad7eab23d69d2dec6ae4ad59e0a8c65">PoseTranslationPrior</a>()·{}</div>
120 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00770.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/VectorValues.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00635.html">gtsam/inference/graph.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
125 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
126 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">namespace·</span>lago·{</div>137 <div·class="foldopen"·id="foldopen00043"·data-start="{"·data-end="}">
 138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04892.html#a1701c62175b4e30c8c1df8159764480c">···43</a></span>··<a·class="code·hl_function"·href="a04892.html#a1701c62175b4e30c8c1df8159764480c">PoseTranslationPrior</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>,·<span·class="keyword">const</span>·Translation&amp;·measured,·<span·class="keyword">const</span>·noiseModel::Base::shared_ptr&amp;·model)</div>
 139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··:·<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>),·measured_(measured)·{</div>
127 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··}</div>
128 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="keyword">typedef</span>·std::map&lt;Key,·double&gt;·key2doubleMap;</div>141 </div>
129 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 143 <div·class="foldopen"·id="foldopen00048"·data-start="{"·data-end="}">
 144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a04892.html#a204e0b877e117aabfe599ca247a195f8">···48</a></span>··<a·class="code·hl_function"·href="a04892.html#a204e0b877e117aabfe599ca247a195f8">PoseTranslationPrior</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>,·<span·class="keyword">const</span>·POSE&amp;·pose_z,·<span·class="keyword">const</span>·noiseModel::Base::shared_ptr&amp;·model)</div>
 145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··:·<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>),·measured_(pose_z.translation())·{</div>
 146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··}</div>
 147 </div>
130 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>GTSAM_EXPORT·key2doubleMap·computeThetasToRoot(</div>148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
131 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">const</span>·key2doubleMap&amp;·deltaThetaMap,·<span·class="keyword">const</span>·PredecessorMap&lt;Key&gt;&amp;·tree);</div>149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<a·class="code·hl_class"·href="a04892.html">~PoseTranslationPrior</a>()<span·class="keyword">·override·</span>{}</div>
132 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">const</span>·Translation&amp;·measured()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·measured_;·}</div>
133 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>GTSAM_EXPORT·<span·class="keywordtype">void</span>·getSymbolicGraph(</div> 
134 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span><span·class="comment">/*OUTPUTS*/</span>std::vector&lt;size_t&gt;&amp;·spanningTreeIds,·std::vector&lt;size_t&gt;&amp;·chordsIds,</div> 
135 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····key2doubleMap&amp;·deltaThetaMap,</div>152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
136 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="comment">/*INPUTS*/</span><span·class="keyword">const</span>·PredecessorMap&lt;Key&gt;&amp;·tree,·<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·g);</div>153 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}">
 154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a04892.html#a6f953d9574be86ccdac8564de316d3d1">···57</a></span>··gtsam::NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04892.html#a6f953d9574be86ccdac8564de316d3d1">clone</a>()<span·class="keyword">·const·override·</span>{</div>
 155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;gtsam::NonlinearFactor&gt;(</div>
 156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>········gtsam::NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·This(*<span·class="keyword">this</span>)));·}</div>
 157 </div>
137 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>158 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
138 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>GTSAM_EXPORT·GaussianFactorGraph·buildLinearOrientationGraph(</div>159 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="}">
 160 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a04892.html#a21443e02e31c610c1cacb743e4896215">···62</a></span>··Vector·<a·class="code·hl_function"·href="a04892.html#a21443e02e31c610c1cacb743e4896215">evaluateError</a>(<span·class="keyword">const</span>·Pose&amp;·pose,·boost::optional&lt;Matrix&amp;&gt;·H·=·boost::none)<span·class="keyword">·const·override·</span>{</div>
 161 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="keyword">const</span>·Translation&amp;·newTrans·=·pose.translation();</div>
139 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="keyword">const</span>·std::vector&lt;size_t&gt;&amp;·spanningTreeIds,</div>162 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keyword">const</span>·Rotation&amp;·R·=·pose.rotation();</div>
140 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keyword">const</span>·std::vector&lt;size_t&gt;&amp;·chordsIds,·<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·g,</div> 
141 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="keyword">const</span>·key2doubleMap&amp;·orientationsToRoot,·<span·class="keyword">const</span>·PredecessorMap&lt;Key&gt;&amp;·tree);</div>163 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·tDim·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Translation&gt;::GetDimension</a>(newTrans);</div>
 164 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·xDim·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Pose&gt;::GetDimension</a>(pose);</div>
 165 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····<span·class="keywordflow">if</span>·(H)·{</div>
 166 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······*H·=·Matrix::Zero(tDim,·xDim);</div>
 167 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······std::pair&lt;size_t,·size_t&gt;·transInterval·=·POSE::translationInterval();</div>
 168 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······(*H).middleCols(transInterval.first,·tDim)·=·R.matrix();</div>
 169 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····}</div>
142 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>170 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
143 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05072.html">VectorValues</a>·initializeOrientations(</div> 
144 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·graph,·<span·class="keywordtype">bool</span>·useOdometricPath·=·<span·class="keyword">true</span>);</div>171 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Translation&gt;::Local</a>(measured_,·newTrans);</div>
 172 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··}</div>
 173 </div>
145 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>174 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
146 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05076.html">Values</a>·initialize(<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·graph,</div> 
147 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordtype">bool</span>·useOdometricPath·=·<span·class="keyword">true</span>);</div>175 <div·class="foldopen"·id="foldopen00077"·data-start="{"·data-end="}">
 176 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno"><a·class="line"·href="a04892.html#a313a43f301ee6b4745496477484173cd">···77</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a04892.html#a313a43f301ee6b4745496477484173cd">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>&amp;·expected,·<span·class="keywordtype">double</span>·tol=1e-9)<span·class="keyword">·const·override·</span>{</div>
 177 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keyword">const</span>·This·*e·=·<span·class="keyword">dynamic_cast&lt;</span><span·class="keyword">const·</span>This*<span·class="keyword">&gt;</span>·(&amp;expected);</div>
 178 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordflow">return</span>·e·!=·<span·class="keyword">nullptr</span>·&amp;&amp;·<a·class="code·hl_function"·href="a03592.html#a5cc62be07fbcde6678f8b346ab3a3f78">Base::equals</a>(*e,·tol)·&amp;&amp;·<a·class="code·hl_struct"·href="a02276.html">traits&lt;Translation&gt;::Equals</a>(measured_,·e-&gt;measured_,·tol);</div>
148 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>179 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··}</div>
 180 </div>
149 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05076.html">Values</a>·initialize(<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·graph,</div> 
150 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05076.html">Values</a>&amp;·initialGuess);</div> 
151 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>181 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
 182 <div·class="foldopen"·id="foldopen00083"·data-start="{"·data-end="}">
 183 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno"><a·class="line"·href="a04892.html#aeda95f7a98f9e73490cb1c92e26facc0">···83</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04892.html#aeda95f7a98f9e73490cb1c92e26facc0">print</a>(<span·class="keyword">const</span>·std::string&amp;·s=<span·class="stringliteral">&quot;&quot;</span>,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)<span·class="keyword">·const·override·</span>{</div>
 184 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····<a·class="code·hl_function"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">Base::print</a>(s·+·<span·class="stringliteral">&quot;PoseTranslationPrior&quot;</span>,·keyFormatter);</div>
 185 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<a·class="code·hl_struct"·href="a02276.html">traits&lt;Translation&gt;::Print</a>(measured_,·<span·class="stringliteral">&quot;Measured·Translation&quot;</span>);</div>
 186 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··}</div>
 187 </div>
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>·&#124;101 <a·href="#namespaces">Namespaces</a>··</div>
102 <a·href="#enum-members">Enumerations</a>··</div> 
103 ··<div·class="headertitle"><div·class="title">SmartFactorParams.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">RegularImplicitSchurFactor.h·File·Reference</div></div>
104 </div><!--header-->103 </div><!--header-->
105 <div·class="contents">104 <div·class="contents">
  
106 <p>Collect·common·parameters·for·SmartProjection·and·SmartStereoProjection·factors.··105 <p>A·subclass·of·GaussianFactor·specialized·to·structureless·SFM.··
107 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
108 <p><a·href="a01295_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a01295_source.html">Go·to·the·source·code·of·this·file.</a></p>
109 <table·class="memberdecls">108 <table·class="memberdecls">
110 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
111 Classes</h2></td></tr>110 Classes</h2></td></tr>
112 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04932.html">gtsam::SmartProjectionParams</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04912.html">gtsam::RegularImplicitSchurFactor&lt;·CAMERA·&gt;</a></td></tr>
 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a04912.html"·title="RegularImplicitSchurFactor.">RegularImplicitSchurFactor</a>.··<a·href="a04912.html#details">More...</a><br·/></td></tr>
 113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
 114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04916.html">gtsam::traits&lt;·RegularImplicitSchurFactor&lt;·CAMERA·&gt;·&gt;</a></td></tr>
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>115 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
114 </table><table·class="memberdecls">116 </table><table·class="memberdecls">
115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>117 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
116 Namespaces</h2></td></tr>118 Namespaces</h2></td></tr>
117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>119 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>120 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>121 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 </table><table·class="memberdecls"> 
121 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="enum-members"·name="enum-members"></a> 
122 Enumerations</h2></td></tr> 
123 <tr·class="memitem:adf2020f3f6087064dde501c99794aac3"·id="r_adf2020f3f6087064dde501c99794aac3"><td·class="memItemLeft"·align="right"·valign="top">enum·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#adf2020f3f6087064dde501c99794aac3">gtsam::LinearizationMode</a>·{·<b>HESSIAN</b> 
124 ,·<b>IMPLICIT_SCHUR</b> 
125 ,·<b>JACOBIAN_Q</b> 
126 ,·<b>JACOBIAN_SVD</b> 
127 ·}</td></tr> 
128 <tr·class="memdesc:adf2020f3f6087064dde501c99794aac3"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">SmartFactorParams:·parameters·and·(linearization/degeneracy)·modes·for·SmartProjection·and·SmartStereoProjection·factors.··<a·href="a01428.html#adf2020f3f6087064dde501c99794aac3">More...</a><br·/></td></tr> 
129 <tr·class="separator:adf2020f3f6087064dde501c99794aac3"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
130 <tr·class="memitem:ac3d021280c8a8b84903a8ce81f73ea0f"·id="r_ac3d021280c8a8b84903a8ce81f73ea0f"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac3d021280c8a8b84903a8ce81f73ea0f"·name="ac3d021280c8a8b84903a8ce81f73ea0f"></a>enum·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ac3d021280c8a8b84903a8ce81f73ea0f">gtsam::DegeneracyMode</a>·{·<b>IGNORE_DEGENERACY</b> 
131 ,·<b>ZERO_ON_DEGENERACY</b> 
132 ,·<b>HANDLE_INFINITY</b> 
133 ·}</td></tr> 
134 <tr·class="memdesc:ac3d021280c8a8b84903a8ce81f73ea0f"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">How·to·manage·degeneracy.·<br·/></td></tr> 
135 <tr·class="separator:ac3d021280c8a8b84903a8ce81f73ea0f"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
136 </table>122 </table>
137 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
138 <div·class="textblock"><p>Collect·common·parameters·for·SmartProjection·and·SmartStereoProjection·factors.·</p>124 <div·class="textblock"><p>A·subclass·of·GaussianFactor·specialized·to·structureless·SFM.·</p>
139 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>125 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
140 <dd> 
141 Zsolt·Kira·</dd> 
142 <dd>126 <dd>
143 Frank·Dellaert·</dd></dl>127 Luca·Carlone·</dd></dl>
144 </div></div><!--·contents·-->128 </div></div><!--·contents·-->
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148 ··<ul>132 ··<ul>
149 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_323e70a1eef083399c870cf8a6035771.html">slam</a></li><li·class="navelem"><a·class="el"·href="a01295.html">SmartFactorParams.h</a></li>133 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_323e70a1eef083399c870cf8a6035771.html">slam</a></li><li·class="navelem"><a·class="el"·href="a01295.html">RegularImplicitSchurFactor.h</a></li>
150 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>134 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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153 </body>137 </body>
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100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">JacobianFactorQ.h</div></div>104 ··<div·class="headertitle"><div·class="title">SmartFactorParams.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01298.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div> 
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121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@uthor·Frank·Dellaert</span></div> 
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124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
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 120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00317.html">gtsam/geometry/triangulation.h</a>&gt;</span></div>
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132 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
133 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04016.html">RegularJacobianFactor&lt;D&gt;</a>·Base;</div> 
134 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">typedef</span>·Eigen::Matrix&lt;double,·ZDim,·D&gt;·MatrixZD;</div> 
135 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keyword">typedef</span>·std::pair&lt;Key,·Matrix&gt;·KeyMatrix;</div> 
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137 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">public</span>:</div>128 </div>
138 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
139 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="}">130 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
140 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04860.html#a4dd3fbba46a6dff75bcf902931a3b769">···36</a></span>··<a·class="code·hl_function"·href="a04860.html#a4dd3fbba46a6dff75bcf902931a3b769">JacobianFactorQ</a>()·{</div>131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a01428.html#ac3d021280c8a8b84903a8ce81f73ea0f">···35</a></span><span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a01428.html#ac3d021280c8a8b84903a8ce81f73ea0f">DegeneracyM[·...·truncated·by·diffoscope;·len:·7,·SHA:·3e7bff0726644b41bfe228f1450b0fb79bc275cbe8990ec76ba9f29a220c4899·...·]·{</div>
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141 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··}</div>133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>};</div>
142 </div>134 </div>
143 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
 136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="comment">/*</span></div>
 137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="comment">·*··Parameters·for·the·smart·(stereo)·projection·factors</span></div>
 138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="comment">·*/</span></div>
144 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="}">139 <div·class="foldopen"·id="foldopen00042"·data-start="{"·data-end="};">
 140 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04932.html">···42</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a04932.html">SmartProjectionParams</a>·{</div>
145 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04860.html#abfb38e58b5b2d1293cf374b7eca2b2d4">···40</a></span>··<a·class="code·hl_function"·href="a04860.html#abfb38e58b5b2d1293cf374b7eca2b2d4">JacobianFactorQ</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,·<span·class="comment">//</span></div> 
146 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·SharedDiagonal())·:</div> 
147 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>······Base()·{</div>141 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
148 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····Matrix·zeroMatrix·=·Matrix::Zero(0,·D);</div> 
149 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····Vector·zeroVector·=·Vector::Zero(0);</div>142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04932.html#a4afa132d1f394b6256605752b3b8aab0">···44</a></span>··<a·class="code·hl_enumeration"·href="a01428.html#adf2020f3f6087064dde501c99794aac3">LinearizationMode</a>·<a·class="code·hl_variable"·href="a04932.html#a4afa132d1f394b62[·...·truncated·by·diffoscope;·len:·41,·SHA:·fb117bc2873a6da558b933c75b398930996600fb4b9e62982b2201ae56be8ba8·...·]</div>
 143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04932.html#a695982b029b814dffdd8a34bae523575">···45</a></span>··<a·class="code·hl_enumeration"·href="a01428.html#ac3d021280c8a8b84903a8ce81f73ea0f">DegeneracyMode</a>·<a·class="code·hl_variable"·href="a04932.html#a695982b029b814dffdd8a34bae523575">degeneracyMode</a>;·</div>
150 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····std::vector&lt;KeyMatrix&gt;·QF;</div>144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
151 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····QF.reserve(<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>.size());</div> 
152 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·key:·<a·class="code·hl_function"·[·...·truncated·by·diffoscope;·len:·62,·SHA:·6353dfca60de65a607556d680e592384b7d4d3a3b5c99a8fa462b95bd2df8d12·...·]</div>145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<a·class="code·hl_struct"·href="a03372.html">TriangulationParameters</a>·triangulation;</div>
 146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a04932.html#a5b1fa239a2827c833e2d6c035392d7d5">···50</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04932.html#a5b1fa239a2827c833e2d6c035392d7d5">retriangulationThreshold</a>;·</div>
 147 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04932.html#a11f8b823fcb922edff9bc2847e5fe36c">···55</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04932.html#a11f8b823fcb922edff9bc2847e5fe36c">throwCheirality</a>;·</div>
 149 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a04932.html#ab8353996f6c8ea607c213c854b6b0bc1">···56</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04932.html#ab8353996f6c8ea607c213c854b6b0bc1">verboseCheirality</a>;·</div>
153 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······QF.push_back(KeyMatrix(key,·zeroMatrix));</div>150 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
154 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<a·class="code·hl_function"·href="a03844.html#a87edd57f5afdc5a429163d6a917b6cec">JacobianFactor::fillTerms</a>(QF,·zeroVector,·model);</div>151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="comment">//·Constructor</span></div>
 152 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<a·class="code·hl_struct"·href="a04932.html">SmartProjectionParams</a>(<a·class="code·hl_enumeration"·href="a01428.html#adf2020f3f6087064dde501c99794aac3">LinearizationMode</a>·linMode·=·HESSIAN,</div>
 153 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······<a·class="code·hl_enumeration"·href="a01428.html#ac3d021280c8a8b84903a8ce81f73ea0f">DegeneracyMode</a>·degMode·=·IGNORE_DEGENERACY,·<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04932.html#a11f8b823fcb922edff9bc2847e5fe36c">throwCheirality</a>·=·<span·class="keyword">false</span>,</div>
 154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04932.html#ab8353996f6c8ea607c213c854b6b0bc1">verboseCheirality</a>·=·<span·class="keyword">false</span>,·<span·class="keywordtype">double</span>·retriangulationTh·=·1e-5)·:</div>
 155 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>········<a·class="code·hl_variable"·href="a04932.html#a4afa132d1f394b6256605752b3b8aab0">linearizationMode</a>(linMode),·<a·class="code·hl_variable"·href="a04932.html#a695982b029b814dffdd8a34bae523575">degeneracyMode</a>(degMode),·<a·class="code·hl_variable"·href="a04932.html#a5b1fa239a2827c833e2d6c035392d7d5">retriangulationThreshold</a>(</div>
 156 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>············retriangulationTh),·<a·class="code·hl_variable"·href="a04932.html#a11f8b823fcb922edff9bc2847e5fe36c">throwCheirality</a>(<a·class="code·hl_variable"·href="a04932.html#a11f8b823fcb922edff9bc2847e5fe36c">throwCheirality</a>),·<a·class="code·hl_variable"·href="a04932.html#ab8353996f6c8ea607c213c854b6b0bc1">verboseCheirality</a>(</div>
 157 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>················<a·class="code·hl_variable"·href="a04932.html#ab8353996f6c8ea607c213c854b6b0bc1">verboseCheirality</a>)·{</div>
 158 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div>
 159 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
 160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="keyword">virtual</span>·<a·class="code·hl_struct"·href="a04932.html">~SmartProjectionParams</a>()·{</div>
 161 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··}</div>
 162 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
 163 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<span·class="keywordtype">void</span>·print(<span·class="keyword">const</span>·std::string&amp;·str·=·<span·class="stringliteral">&quot;&quot;</span>)<span·class="keyword">·const·</span>{</div>
 164 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····std::cout·&lt;&lt;·<span·class="stringliteral">&quot;linearizationMode:·&quot;</span>·&lt;&lt;·<a·class="code·hl_variable"·href="a04932.html#a4afa132d1f394b6256605752b3b8aab0">linearizationMode</a>·&lt;&lt;·<span·class="stringliteral">&quot;\n&quot;</span>;</div>
 165 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····std::cout·&lt;&lt;·<span·class="stringliteral">&quot;···degeneracyMode:·&quot;</span>·&lt;&lt;·<a·class="code·hl_variable"·href="a04932.html#a695982b029b814dffdd8a34bae523575">degeneracyMode</a>·&lt;&lt;·<span·class="stringliteral">&quot;\n&quot;</span>;</div>
 166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····std::cout·&lt;&lt;·triangulation·&lt;&lt;·std::endl;</div>
155 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··}</div>167 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··}</div>
 168 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 169 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="comment">//·get·class·variables</span></div>
 170 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<a·class="code·hl_enumeration"·href="a01428.html#adf2020f3f6087064dde501c99794aac3">LinearizationMode</a>·getLinearizationMode()<span·class="keyword">·const·</span>{</div>
 171 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a04932.html#a4afa132d1f394b6256605752b3b8aab0">linearizationMode</a>;</div>
 172 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··}</div>
 173 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<a·class="code·hl_enumeration"·href="a01428.html#ac3d021280c8a8b84903a8ce81f73ea0f">DegeneracyMode</a>·getDegeneracyMode()<span·class="keyword">·const·</span>{</div>
 174 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a04932.html#a695982b029b814dffdd8a34bae523575">degeneracyMode</a>;</div>
 175 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··}</div>
 176 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··TriangulationParameters·getTriangulationParameters()<span·class="keyword">·const·</span>{</div>
 177 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="keywordflow">return</span>·triangulation;</div>
 178 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··}</div>
 179 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<span·class="keywordtype">bool</span>·getVerboseCheirality()<span·class="keyword">·const·</span>{</div>
 180 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a04932.html#ab8353996f6c8ea607c213c854b6b0bc1">verboseCheirality</a>;</div>
 181 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··}</div>
 182 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··<span·class="keywordtype">bool</span>·getThrowCheirality()<span·class="keyword">·const·</span>{</div>
 183 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a04932.html#a11f8b823fcb922edff9bc2847e5fe36c">throwCheirality</a>;</div>
 184 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··}</div>
 185 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>··<span·class="keywordtype">double</span>·getRetriangulationThreshold()<span·class="keyword">·const·</span>{</div>
 186 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a04932.html#a5b1fa239a2827c833e2d6c035392d7d5">retriangulationThreshold</a>;</div>
 187 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>··}</div>
 188 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··<span·class="comment">//·set·class·variables</span></div>
 189 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··<span·class="keywordtype">void</span>·setLinearizationMode(<a·class="code·hl_enumeration"·href="a01428.html#adf2020f3f6087064dde501c99794aac3">LinearizationMode</a>·linMode)·{</div>
 190 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>····<a·class="code·hl_variable"·href="a04932.html#a4afa132d1f394b6256605752b3b8aab0">linearizationMode</a>·=·linMode;</div>
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103 ··<div·class="headertitle"><div·class="title">FrobeniusFactor.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">StereoFactor.h·File·Reference</div></div>
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106 <p>Various·factors·that·minimize·some·Frobenius·norm.··105 <p>A·non-linear·factor·for·stereo·measurements.··
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111 Classes</h2></td></tr>110 Classes</h2></td></tr>
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 125 <div·class="textblock"><p>A·non-linear·factor·for·stereo·measurements.·</p>
135 <div·class="textblock"><p>Various·factors·that·minimize·some·Frobenius·norm.·</p> 
136 <dl·class="section·date"><dt>Date</dt><dd>March·2019·</dd></dl> 
137 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>126 <dl·class="section·author"><dt>Author</dt><dd>Alireza·Fathi·</dd>
 127 <dd>
 128 Chris·Beall·</dd></dl>
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105 <p>A·subclass·of·GaussianFactor·specialized·to·structureless·SFM.·· 
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123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
124 <div·class="textblock"><p>A·subclass·of·GaussianFactor·specialized·to·structureless·SFM.·</p> 
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126 <dd>113 <dd>
127 Luca·Carlone·</dd></dl>114 Pablo·Alcantarilla·</dd></dl>
 115 <dl·class="section·date"><dt>Date</dt><dd>Jan·5,·2014·</dd></dl>
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125 <div·class="textblock"><p>A·non-linear·factor·for·stereo·measurements.·</p>125 <div·class="textblock"><p>Reprojection·of·a·LANDMARK·to·a·2D·point.·</p>
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127 <dd>127 <dd>
128 Chris·Beall·</dd></dl>128 Richard·Roberts·</dd>
 129 <dd>
 130 Frank·Dellaert·</dd>
 131 <dd>
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112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>136 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert,·Viorela·Ila·</dd></dl>
113 <dd> 
114 Pablo·Alcantarilla·</dd></dl> 
115 <dl·class="section·date"><dt>Date</dt><dd>Jan·5,·2014·</dd></dl> 
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121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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 126 <tr·class="memitem:ac30cc9ae4cb9a4f49912bdfa27d9dca8"·id="r_ac30cc9ae4cb9a4f49912bdfa27d9dca8"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac30cc9ae4cb9a4f49912bdfa27d9dca8"·name="ac30cc9ae4cb9a4f49912bdfa27d9dca8"></a>
 127 typedef·std::map&lt;·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>,·<a·class="el"·href="a03228.html">Rot3</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::KeyRotMap</b></td></tr>
 128 <tr·class="separator:ac30cc9ae4cb9a4f49912bdfa27d9dca8"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
123 </table>129 </table>
124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>130 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
125 <div·class="textblock"><p>Smart·factor·on·poses,·assuming·camera·calibration·is·fixed.·</p>131 <div·class="textblock"><p>Initialize·Pose3·in·a·factor·graph.·</p>
126 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>132 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
127 <dd>133 <dd>
 134 Frank·Dellaert·</dd></dl>
 135 <dl·class="section·date"><dt>Date</dt><dd>August,·2014·</dd></dl>
128 Chris·Beall·</dd> 
129 <dd> 
130 Zsolt·Kira·</dd></dl> 
131 </div></div><!--·contents·-->136 </div></div><!--·contents·-->
132 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
133 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
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135 ··<ul>140 ··<ul>
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137 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>142 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">SmartProjectionPoseFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">InitializePose3.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01322.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01322.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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 126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
 127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
 128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
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 131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">typedef</span>·std::map&lt;Key,·std::vector&lt;size_t&gt;·&gt;·KeyVectorMap;</div>
 132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">typedef</span>·std::map&lt;Key,·Rot3&gt;·KeyRotMap;</div>
 133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
124 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">134 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};">
 135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04856.html">···37</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04856.html">InitializePose3</a>·{</div>
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 137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·g);</div>
125 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04944.html">···45</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04944.html">SmartProjectionPoseFactor</a></div> 
126 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04936.html">SmartProjectionFactor</a>&lt;PinholePose&lt;CALIBRATION&gt;·&gt;·{</div> 
127 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·<span·class="keyword">private</span>:</div> 
128 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03124.html">PinholePose&lt;CALIBRATION&gt;</a>·Camera;</div> 
129 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04936.html">SmartProjectionFactor&lt;Camera&gt;</a>·Base;</div> 
130 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04944.html">SmartProjectionPoseFactor&lt;CALIBRATION&gt;</a>·This;</div> 
131 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
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134 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a04944.html#a38878009ca4060a870b45f46184656dd">···54</a></span>··boost::shared_ptr&lt;CALIBRATION&gt;·<a·class="code·hl_variable"·href="a04944.html#a38878009ca4060a870b45f46184656dd">K_</a>;·</div>141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·computeOrientationsChordal(</div>
 142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·pose3Graph);</div>
 143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·computeOrientationsGradient(</div>
 145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·pose3Graph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·givenGuess,</div>
 146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······<span·class="keywordtype">size_t</span>·maxIter·=·10000,·<span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·setRefFrame·=·<span·class="keyword">true</span>);</div>
135 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
136 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span><span·class="keyword">public</span>:</div>148 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·createSymbolicGraph(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·pose3Graph,</div>
 149 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··································KeyVectorMap*·adjEdgesMap,</div>
 150 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··································KeyRotMap*·factorId2RotMap);</div>
137 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
138 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a04944.html#a28d8d11331b16d38d35f40d63bcb2853">···59</a></span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a04944.html#a28d8d11331b16[·...·truncated·by·diffoscope;·len:·36,·SHA:·f8fe6c016dbbfddeceb049f0ccbdc0346969ab35319cb37cabb9294b30c97b8d·...·]</div>152 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keyword">static</span>·Vector3·gradientTron(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03228.html">Rot3</a>&amp;·R1,·<span·class="keyword">const</span>·<a·class="[·...·truncated·by·diffoscope;·len:·129,·SHA:·1c86dd4fc816e33d1685eff2368e5d7e5774ed3b9420922305ec96e7f3b36f4f·...·]</div>
 153 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······························<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·b);</div>
139 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>154 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
140 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a04944.html#aceb2d76933a58312e2ddd0ef64f12cfd">···64</a></span>··<a·class="code·hl_function"·href="a04944.html#aceb2d76933a58312e2ddd0ef64f12cfd">SmartProjectionPoseFactor</a>()·{}</div>155 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>·buildPose3graph(</div>
 156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph);</div>
141 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>157 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 158 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·computePoses(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialRot,</div>
 159 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·····························<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>*·poseGraph,</div>
 160 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·····························<span·class="keywordtype">bool</span>·singleIter·=·<span·class="keyword">true</span>);</div>
142 <div·class="foldopen"·id="foldopen00072"·data-start="{"·data-end="}"> 
143 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno"><a·class="line"·href="a04944.html#a165cf8ab1c71f9d685fc209dd6d672b8">···72</a></span>··<a·class="code·hl_function"·href="a04944.html#a165cf8ab1c71f9d685fc209dd6d672b8">SmartProjectionPoseFactor</a>(</div> 
144 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·sharedNoiseModel,</div> 
145 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······<span·class="keyword">const</span>·boost::shared_ptr&lt;CALIBRATION&gt;·K,</div> 
146 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>······<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04932.html">SmartProjectionParams</a>&amp;·params·=·<a·class="code·hl_struct"·href="a04932.html">SmartProjectionParams</a>())</div> 
147 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>······:·Base(sharedNoiseModel,·params),·<a·class="code·hl_variable"·href="a04944.html#a38878009ca4060a870b45f46184656dd">K_</a>(K)·{</div> 
148 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··}</div>161 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 162 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·initializeOrientations(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph);</div>
 163 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>
 164 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·initialize(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,</div>
 165 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>···························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·givenGuess,·<span·class="keywordtype">bool</span>·useGradient·=·<span·class="keyword">false</span>);</div>
 166 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>
 167 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·initialize(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph);</div>
 168 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>};</div>
149 </div>169 </div>
150 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div> 
151 <div·class="foldopen"·id="foldopen00086"·data-start="{"·data-end="}"> 
152 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno"><a·class="line"·href="a04944.html#abcb92891b3d5fd2030b2c74a8349e268">···86</a></span>··<a·class="code·hl_function"·href="a04944.html#abcb92891b3d5fd2030b2c74a8349e268">SmartProjectionPoseFactor</a>(</div> 
153 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·sharedNoiseModel,</div> 
154 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>······<span·class="keyword">const</span>·boost::shared_ptr&lt;CALIBRATION&gt;·K,</div> 
155 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>······<span·class="keyword">const</span>·boost::optional&lt;Pose3&gt;·body_P_sensor,</div> 
156 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>······<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04932.html">SmartProjectionParams</a>&amp;·params·=·<a·class="code·hl_struct"·href="a04932.html">SmartProjectionParams</a>())</div> 
157 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>······:·<a·class="code·hl_class"·href="a04944.html">SmartProjectionPoseFactor</a>(sharedNoiseModel,·K,·params)·{</div> 
158 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>····this-&gt;<a·class="code·hl_variable"·href="a04928.html#ad8b373cb10b9a3e4c13a37925821e64a">body_P_sensor_</a>·=·body_P_sensor;</div> 
159 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>··}</div> 
160 </div> 
161 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div> 
162 <div·class="foldopen"·id="foldopen00096"·data-start="{"·data-end="}"> 
163 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno"><a·class="line"·href="a04944.html#a6977aebb8c9cce62f627646134f94cac">···96</a></span>··<a·class="code·hl_function"·href="a04944.html#a6977aebb8c9cce62f627646134f94cac">~SmartProjectionPoseFactor</a>()<span·class="keyword">·override·</span>{</div> 
164 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··}</div> 
165 </div> 
166 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>·</div> 
167 <div·class="foldopen"·id="foldopen00104"·data-start="{"·data-end="}"> 
168 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno"><a·class="line"·href="a04944.html#a6c638ae6535bf66d13e70852dd851ff3">··104</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04944.html#a6c638ae6535bf66d13e70852dd851ff3">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=</div> 
169 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>······DefaultKeyFormatter)<span·class="keyword">·const·override·</span>{</div> 
170 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>····std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;SmartProjectionPoseFactor,·z·=·\n·&quot;</span>;</div> 
171 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>····Base::print(<span·class="stringliteral">&quot;&quot;</span>,·keyFormatter);</div> 
172 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>··}</div> 
173 </div> 
174 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>·</div> 
175 <div·class="foldopen"·id="foldopen00111"·data-start="{"·data-end="}"> 
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120 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·KarcherMeanFactor.cpp</span></div>120 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·KarcherMeanFactor.cpp</span></div>
121 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@author·Frank·Dellaert</span></div>121 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@author·Frank·Dellaert</span></div>
122 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·March·2019</span></div>122 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·March·2019</span></div>
123 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*/</span></div>123 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*/</span></div>
124 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>124 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>
125 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>125 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
126 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>126 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
127 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01064.html">gtsam/nonlinear/GaussNewtonOptimizer.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01067.html">gtsam/nonlinear/GaussNewtonOptimizer.h</a>&gt;</span></div>
128 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>128 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01157.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>
129 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/slam/KarcherMeanFactor.h&gt;</span></div>129 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/slam/KarcherMeanFactor.h&gt;</span></div>
130 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>130 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
131 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">using·namespace·</span>std;</div>131 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">using·namespace·</span>std;</div>
132 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>132 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
133 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>133 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
134 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>134 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
135 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T,·<span·class="keyword">class</span>·ALLOC&gt;</div>135 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T,·<span·class="keyword">class</span>·ALLOC&gt;</div>
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183 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····terms[j]·=·A;</div>183 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····terms[j]·=·A;</div>
184 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··}</div>184 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··}</div>
185 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··whitenedJacobian_·=</div>185 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··whitenedJacobian_·=</div>
186 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>······boost::make_shared&lt;JacobianFactor&gt;(terms,·Vector::Zero(d));</div>186 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>······boost::make_shared&lt;JacobianFactor&gt;(terms,·Vector::Zero(d));</div>
187 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>}</div>187 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>}</div>
188 </div>188 </div>
189 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>}··<span·class="comment">//·namespace·gtsam</span></div>189 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>}··<span·class="comment">//·namespace·gtsam</span></div>
190 <div·class="ttc"·id="aa01064_html"><div·class="ttname"><a·href="a01064.html">GaussNewtonOptimizer.h</a></div></div>190 <div·class="ttc"·id="aa01067_html"><div·class="ttname"><a·href="a01067.html">GaussNewtonOptimizer.h</a></div></div>
191 <div·class="ttc"·id="aa01145_html"><div·class="ttname"><a·href="a01145.html">NonlinearFactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·consisting·of·non-linear·factors.</div></div>191 <div·class="ttc"·id="aa01157_html"><div·class="ttname"><a·href="a01157.html">NonlinearFactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·consisting·of·non-linear·factors.</div></div>
192 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>192 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
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125 <div·class="textblock"><p>Smart·factor·on·poses,·assuming·camera·calibration·is·fixed.·</p>125 <div·class="textblock"><p>Smart·factor·on·poses,·assuming·camera·calibration·is·fixed.·</p>
 126 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
126 <p>Same·as·SmartProjectionPoseFactor,·except:</p><ul> 
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128 <li>it·admits·a·different·calibration·for·each·measurement·(i.e.,·it·can·model·a·multi-camera·rig·system)</li> 
129 <li>it·allows·multiple·observations·from·the·same·pose/key·(again,·to·model·a·multi-camera·system)·<dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd> 
130 <dd>127 <dd>
131 Frank·Dellaert·</dd></dl> 
132 </li> 
133 </ul>128 Chris·Beall·</dd>
 129 <dd>
 130 Zsolt·Kira·</dd></dl>
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 115 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>
117 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">template</span>&lt;<span·class="keywordtype">size_t</span>·D,·<span·class="keywordtype">size_t</span>·ZDim&gt;</div>116 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·POSE&gt;</div>
118 <div·class="foldopen"·id="foldopen00029"·data-start="{"·data-end="};">117 <div·class="foldopen"·id="foldopen00019"·data-start="{"·data-end="};">
119 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno"><a·class="line"·href="a04872.html">···29</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04872.html">JacobianFactorSVD</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"[·...·truncated·by·diffoscope;·len:·50,·SHA:·2d79669a53cf276b5b9cbcbbec262fd641ba5222238bdbfdc2952e633109a213·...·]&gt;·{</div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno"><a·class="line"·href="a04888.html">···19</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04888.html">PoseRotationPrior</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class[·...·truncated·by·diffoscope;·len:·50,·SHA:·1deab5b989c30d925b376383c037974809a410af23ec171650629d1781cd282d·...·]&gt;·{</div>
 119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="keyword">public</span>:</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04888.html">PoseRotationPrior&lt;POSE&gt;</a>·This;</div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;POSE&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>··<span·class="keyword">typedef</span>·POSE·Pose;</div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·POSE::Translation·Translation;</div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·POSE::Rotation·Rotation;</div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··GTSAM_CONCEPT_POSE_TYPE(Pose)</div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··GTSAM_CONCEPT_GROUP_TYPE(Pose)</div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··GTSAM_CONCEPT_LIE_TYPE(Rotation)</div>
120 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
121 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04016.html">RegularJacobianFactor&lt;D&gt;</a>·Base;</div> 
122 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">typedef</span>·Eigen::Matrix&lt;double,·ZDim,·D&gt;·MatrixZD;·<span·class="comment">//·e.g·2·x·6·with·Z=Point2</span></div> 
123 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">typedef</span>·std::pair&lt;Key,·Matrix&gt;·KeyMatrix;</div>131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="comment">//·Get·dimensions·of·pose·and·rotation·type·at·compile·time</span></div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·xDim·=·<a·class="code·hl_struct"·href="a02412.html">FixedDimension&lt;POSE&gt;::value</a>;</div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">int</span>·rDim·=·<a·class="code·hl_struct"·href="a02412.html">FixedDimension&lt;typename·POSE::Rotation&gt;::value</a>;</div>
124 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
125 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">public</span>:</div>135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">protected</span>:</div>
126 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··Rotation·measured_;</div>
127 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="}"> 
128 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a04872.html#a551b1c04012573be8cb418c02ed77295">···38</a></span>··<a·class="code·hl_function"·href="a04872.html#a551b1c04012573be8cb418c02ed77295">JacobianFactorSVD</a>()·{</div> 
129 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··}</div>138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
 139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">public</span>:</div>
 140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 141 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04888.html#a7476bd4a82ae48e8841a78f32ea73c0f">···43</a></span>··<a·class="code·hl_function"·href="a04888.html#a7476bd4a82ae48e8841a78f32ea73c0f">PoseRotationPrior</a>()·{}</div>
 142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
 143 <div·class="foldopen"·id="foldopen00046"·data-start="{"·data-end="}">
 144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a04888.html#a33069d1c86da3e6c66d5feccb75c7a1b">···46</a></span>··<a·class="code·hl_function"·href="a04888.html#a33069d1c86da3e6c66d5feccb75c7a1b">PoseRotationPrior</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>,·<span·class="keyword">const</span>·Rotation&amp;·rot_z,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model)</div>
 145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··:·<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>),·measured_(rot_z)·{}</div>
130 </div>146 </div>
131 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
132 <div·class="foldopen"·id="foldopen00042"·data-start="{"·data-end="}">148 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="}">
 149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a04888.html#a400f290b75d021bd4852523fc19e0d06">···50</a></span>··<a·class="code·hl_function"·href="a04888.html#a400f290b75d021bd4852523fc19e0d06">PoseRotationPrior</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>,·<span·class="keyword">const</span>·POSE&amp;·pose_z,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model)</div>
 150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··:·<a·class="code·hl_class"·href="a04536.html">Base</a>(model,·<a·class="code·hl_function"·href="a04536.html#ae48358c2377e5cee3dad557c29b374aa">key</a>),·measured_(pose_z.rotation())·{}</div>
133 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04872.html#a7631acc7207dd75097e22708237f3632">···42</a></span>··<a·class="code·hl_function"·href="a04872.html#a7631acc7207dd75097e22708237f3632">JacobianFactorSVD</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,</div> 
134 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····················<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·SharedDiagonal())</div> 
135 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······:·Base()·{</div> 
136 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····Matrix·zeroMatrix·=·Matrix::Zero(0,·D);</div> 
137 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····Vector·zeroVector·=·Vector::Zero(0);</div> 
138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····std::vector&lt;KeyMatrix&gt;·QF;</div> 
139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····QF.reserve(<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>.size());</div> 
140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·key:·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>)</div> 
141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······QF.push_back(KeyMatrix(key,·zeroMatrix));</div> 
142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<a·class="code·hl_function"·href="a03844.html#a87edd57f5afdc5a429163d6a917b6cec">JacobianFactor::fillTerms</a>(QF,·zeroVector,·model);</div> 
143 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div> 
144 </div>151 </div>
145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<a·class="code·hl_class"·href="a04888.html">~PoseRotationPrior</a>()<span·class="keyword">·override·</span>{}</div>
 154 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
146 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">155 <div·class="foldopen"·id="foldopen00056"·data-start="{"·data-end="}">
 156 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a04888.html#a57ae31b9774b55afea7ec4ec7dce2c90">···56</a></span>··gtsam::NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04888.html#a57ae31b9774b55afea7ec4ec7dce2c90">clone</a>()<span·class="keyword">·const·override·</span>{</div>
 157 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;gtsam::NonlinearFactor&gt;(</div>
 158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>········gtsam::NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·This(*<span·class="keyword">this</span>)));·}</div>
147 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a04872.html#a72d8f9bc4560c97915194f35f8c2025f">···64</a></span>··<a·class="code·hl_function"·href="a04872.html#a72d8f9bc4560c97915194f35f8c2025f">JacobianFactorSVD</a>(</div> 
148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,</div> 
149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<span·class="keyword">const</span>·std::vector&lt;MatrixZD,·Eigen::aligned_allocator&lt;MatrixZD&gt;·&gt;&amp;·Fblocks,</div> 
150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······<span·class="keyword">const</span>·Matrix&amp;·Enull,·<span·class="keyword">const</span>·Vector&amp;·b,</div> 
151 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·SharedDiagonal())</div> 
152 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······:·Base()·{</div> 
153 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordtype">size_t</span>·numKeys·=·Enull.rows()·/·ZDim;</div> 
154 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="keywordtype">size_t</span>·m2·=·ZDim·*·numKeys·-·3;·<span·class="comment">//·TODO:·is·this·not·just·Enull.rows()?</span></div> 
155 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="comment">//·PLAIN·nullptr·SPACE·TRICK</span></div> 
156 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="comment">//·Matrix·Q·=·Enull·*·Enull.transpose();</span></div> 
157 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="comment">//·for(const·KeyMatrixZD&amp;·it:·Fblocks)</span></div> 
158 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="comment">//···QF.push_back(KeyMatrix(it.first,·Q.block(0,·2·*·j++,·m2,·2)·*·it.second));</span></div> 
159 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="comment">//·JacobianFactor·factor(QF,·Q·*·b);</span></div> 
160 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····std::vector&lt;KeyMatrix&gt;·QF;</div> 
161 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····QF.reserve(numKeys);</div> 
162 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·k·=·0;·k·&lt;·Fblocks.size();·++k)·{</div> 
163 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key·=·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>[k];</div> 
164 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>······QF.emplace_back(</div> 
165 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··········key,·(Enull.transpose()).block(0,·ZDim·*·k,·m2,·ZDim)·*·Fblocks[k]);</div> 
166 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····}</div> 
167 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····<a·class="code·hl_function"·href="a03844.html#a87edd57f5afdc5a429163d6a917b6cec">JacobianFactor::fillTerms</a>(QF,·Enull.transpose()·*·b,·model);</div> 
168 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··}</div> 
169 </div>159 </div>
 160 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 161 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="comment">//·access</span></div>
 162 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">const</span>·Rotation&amp;·measured()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·measured_;·}</div>
 163 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a05008.html#details">More...</a><br·/></td></tr>113 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a04976.html#details">More...</a><br·/></td></tr>
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116 Namespaces</h2></td></tr>117 Namespaces</h2></td></tr>
117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>119 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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120 </table>121 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·29,·2013·</dd></dl>123 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Oct·29,·2009·</dd></dl>
123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>124 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
124 <dd>125 <dd>
125 Richard·Roberts·</dd></dl>126 Richard·Roberts·</dd></dl>
126 </div></div><!--·contents·-->127 </div></div><!--·contents·-->
127 </div><!--·doc-content·-->128 </div><!--·doc-content·-->
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">SymbolicEliminationTree.h</div></div>104 ··<div·class="headertitle"><div·class="title">SymbolicBayesNet.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01349.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01349.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
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116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··{</div> 
131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">public</span>:</div>130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>···<span·class="keyword">public</span>:</div>
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133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a05004.html#aafb66dd970ffa3b4fb7d6f49f45fd643">···32</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree</a>·<a·class="code·hl_typedef"·href="a05004.html#aafb66dd970ffa3b4fb7d6f49f45fd643">This</a>;·</div> 
134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a05004.html#a8f2e544d15c932a58dd830641679c715">···33</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a05004.html#a8f2e544d15c9[·...·truncated·by·diffoscope;·len:·38,·SHA:·c26255de1a67fa5bd346bd9b85a6a04dde9bd99fd7d733130f7fa6426091574c·...·]</div>131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03516.html">BayesNet&lt;SymbolicConditional&gt;</a>·<a·class="code·hl_class"·href="a03516.html">Base</a>;</div>
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 133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04996.html">SymbolicConditional</a>·<a·class="code·hl_class"·href="a04996.html">ConditionalType</a>;</div>
 134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
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135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05024.html">SymbolicFactorGraph</a>&amp;·factorGraph,</div> 
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03700.html">VariableIndex</a>&amp;·structure,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div> 
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
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139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05024.html">SymbolicFactorGraph</a>&amp;·factorGraph,</div> 
140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div> 
141 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
142 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05004.html">This</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div> 
143 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
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145 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>141 <div·class="foldopen"·id="foldopen00048"·data-start="{"·data-end="}">
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146 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree</a>()·{}</div>143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(firstConditional,·lastConditional)·{}</div>
147 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div> 
148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keyword">friend</span>·class·::EliminationTreeTester;</div> 
149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
150 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··};</div> 
151 </div>144 </div>
152 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
153 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span><span·class="keyword">template</span>&lt;&gt;</div>146 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CONTAINER&gt;</div>
154 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="};">147 <div·class="foldopen"·id="foldopen00053"·data-start="{"·data-end="}">
155 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a05008.html">···64</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree[·...·truncated·by·diffoscope;·len:·135,·SHA:·94a4d2efc3d59497b0aea38a91f08ff6cb4af983a66df396af30254072639bed·...·]·{</div>148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a04972.html#a34708a62aafcaded4541d3bd4989fc52">···53</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a04972.html#a34708a62aafcaded4541d3bd4989fc52">Symbo[·...·truncated·by·diffoscope;·len:·79,·SHA:·682cca4b89cf3fbb1080f0b8ba4b3d5ee1323dce57b371ebff273381143e6857·...·]·{</div>
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 112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
128 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Oct·29,·2009·</dd></dl>113 <dl·class="section·date"><dt>Date</dt><dd>Oct·17,·2010·</dd></dl>
129 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd> 
130 <dd> 
131 Richard·Roberts·</dd></dl> 
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 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a05008.html#details">More...</a><br·/></td></tr>
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110 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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112 </table><table·class="memberdecls"> 
113 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a> 
114 Functions</h2></td></tr> 
115 <tr·class="memitem:ae394348e1a503834f713405afa9afad8"·id="r_ae394348e1a503834f713405afa9afad8"><td·class="memTemplParams"·colspan="2">template&lt;class·FACTOR·&gt;·</td></tr> 
116 <tr·class="memitem:ae394348e1a503834f713405afa9afad8"><td·class="memTemplItemLeft"·align="right"·valign="top">std::pair&lt;·boost::shared_ptr&lt;·<a·class="el"·href="a04996.html">SymbolicConditional</a>·&gt;,·boost::shared_ptr&lt;·<a·class="el"·href="a05012.html">SymbolicFactor</a>·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01364.html#ae394348e1a503834f713405afa9afad8">gtsam::internal::EliminateSymbolic</a>·(const·<a·class="el"·href="a03524.html">FactorGraph</a>&lt;·FACTOR·&gt;·&amp;factors,·const·<a·class="el"·href="a03680.html">Ordering</a>·&amp;keys)</td></tr> 
117 <tr·class="memdesc:ae394348e1a503834f713405afa9afad8"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Implementation·of·dense·elimination·function·for·symbolic·factors.··<br·/></td></tr> 
118 <tr·class="separator:ae394348e1a503834f713405afa9afad8"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
119 </table>120 </table>
120 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
121 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>122 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·29,·2013·</dd></dl>
 123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 124 <dd>
 125 Richard·Roberts·</dd></dl>
122 <dl·class="section·date"><dt>Date</dt><dd>Oct·17,·2010·</dd></dl> 
123 </div><h2·class="groupheader">Function·Documentation</h2> 
124 <a·id="ae394348e1a503834f713405afa9afad8"·name="ae394348e1a503834f713405afa9afad8"></a> 
125 <h2·class="memtitle"><span·class="permalink"><a·href="#ae394348e1a503834f713405afa9afad8">&#9670;&#160;</a></span>EliminateSymbolic()</h2> 
  
126 <div·class="memitem"> 
127 <div·class="memproto"> 
128 <div·class="memtemplate"> 
129 template&lt;class·FACTOR·&gt;·</div> 
130 ······<table·class="memname"> 
131 ········<tr> 
132 ··········<td·class="memname">std::pair&lt;·boost::shared_ptr&lt;·SymbolicConditional·&gt;,·boost::shared_ptr&lt;·SymbolicFactor·&gt;·&gt;·gtsam::internal::EliminateSymbolic·</td> 
133 ··········<td>(</td> 
134 ··········<td·class="paramtype">const·<a·class="el"·href="a03524.html">FactorGraph</a>&lt;·FACTOR·&gt;·&amp;&#160;</td> 
135 ··········<td·class="paramname"><em>factors</em>,·</td> 
136 ········</tr> 
137 ········<tr> 
138 ··········<td·class="paramkey"></td> 
139 ··········<td></td> 
140 ··········<td·class="paramtype">const·<a·class="el"·href="a03680.html">Ordering</a>·&amp;&#160;</td> 
141 ··········<td·class="paramname"><em>keys</em>&#160;</td> 
142 ········</tr> 
143 ········<tr> 
144 ··········<td></td> 
145 ··········<td>)</td> 
146 ··········<td></td><td></td> 
147 ········</tr> 
148 ······</table> 
149 </div><div·class="memdoc"> 
  
150 <p>Implementation·of·dense·elimination·function·for·symbolic·factors.·</p> 
151 <p>This·is·a·templated·version·for·internally·doing·symbolic·elimination·on·any·factor.·</p> 
  
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106 <div·class="contents">106 <div·class="contents">
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108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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 133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a05004.html#a8f2e544d15c932a58dd830641679c715">···33</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a05004.html#a8f2e544d15c932a58dd830641679c715">shared_ptr</a>;·</div>
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··{</div>134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05024.html">SymbolicFactorGraph</a>&amp;·factorGraph,</div>
 136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03700.html">VariableIndex</a>&amp;·structure,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div>
135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FACTOR&gt;</div> 
136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····std::pair&lt;boost::shared_ptr&lt;SymbolicConditional&gt;,·boost::shared_ptr&lt;SymbolicFactor&gt;·&gt;</div> 
137 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="}"> 
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a01364.html#ae394348e1a503834f713405afa9afad8">···39</a></span>······<a·class="code·hl_function"·href="a01364.html#ae394348e1a503834f713405afa9afad8">EliminateSymbolic</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03524.html">FactorGraph&lt;FACTOR&gt;</a>&amp;·factors,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·keys)</div> 
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····{</div> 
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······gttic(<a·class="code·hl_function"·href="a01364.html#ae394348e1a503834f713405afa9afad8">EliminateSymbolic</a>);</div> 
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05024.html">SymbolicFactorGraph</a>&amp;·factorGraph,</div>
 139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div>
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>······<span·class="comment">//·Gather·all·keys</span></div> 
143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<a·class="code·hl_class"·href="a02320.html">KeySet</a>·allKeys;</div> 
144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·boost::shared_ptr&lt;FACTOR&gt;&amp;·factor:·factors)·{</div> 
145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>········allKeys.insert(factor-&gt;begin(),·factor-&gt;end());</div> 
146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······}</div> 
147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 141 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05004.html">This</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div>
148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······<span·class="comment">//·Check·keys</span></div> 
149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······<span·class="keywordflow">for</span>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key:·keys)·{</div> 
150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>········<span·class="keywordflow">if</span>(allKeys.find(key)·==·allKeys.end())</div> 
151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··········<span·class="keywordflow">throw</span>·std::runtime_error(<span·class="stringliteral">&quot;Requested·to·eliminate·a·key·that·is·not·in·the·factors&quot;</span>);</div> 
152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······}</div>142 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 143 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">private</span>:</div>
153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······<span·class="comment">//·Sort·frontal·keys</span></div> 
155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<a·class="code·hl_class"·href="a02320.html">KeySet</a>·frontals(keys);</div>145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree</a>()·{}</div>
156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·nFrontals·=·keys.size();</div> 
157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>146 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 147 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keyword">friend</span>·class·::EliminationTreeTester;</div>
158 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······<span·class="comment">//·Build·a·key·vector·with·the·frontals·followed·by·the·separator</span></div> 
159 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·orderedKeys(allKeys.size());</div> 
160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······std::copy(keys.begin(),·keys.end(),·orderedKeys.begin());</div> 
161 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······std::set_difference(allKeys.begin(),·allKeys.end(),·frontals.begin(),·frontals.end(),·orderedKeys.begin()·+·nFrontals);</div> 
162 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>148 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
163 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="comment">//·Return·resulting·conditional·and·factor</span></div> 
164 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="keywordflow">return</span>·std::make_pair(</div> 
165 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········<a·class="code·hl_function"·href="a04996.html#ad58aecba408464f68fbd159bb228d917">SymbolicConditional::FromKeysShared</a>(orderedKeys,·nFrontals),</div> 
166 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>········<a·class="code·hl_function"·href="a05012.html#aa7f3add34e99945f8f92632dd54afc6e">SymbolicFactor::FromIteratorsShared</a>(orderedKeys.begin()·+·nFrontals,·orderedKeys.end()));</div> 
167 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····}</div>149 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··};</div>
168 </div>150 </div>
169 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··}</div>151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 152 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span><span·class="keyword">template</span>&lt;&gt;</div>
 153 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="};">
 154 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a05008.html">···64</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;SymbolicEliminationTree&gt;·{</div>
170 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>}</div>155 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>};</div>
171 <div·class="ttc"·id="aa00119_html"><div·class="ttname"><a·href="a00119.html">timing.h</a></div><div·class="ttdoc">Timing·utilities.</div></div> 
172 <div·class="ttc"·id="aa00587_html"><div·class="ttname"><a·href="a00587.html">Factor.h</a></div><div·class="ttdoc">The·base·class·for·all·factors.</div></div>156 </div>
 157 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
 158 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>}·<span·class="comment">//\·namespace·gtsam</span></div>
173 <div·class="ttc"·id="aa00611_html"><div·class="ttname"><a·href="a00611.html">Key.h</a></div></div>159 <div·class="ttc"·id="aa00638_html"><div·class="ttname"><a·href="a00638.html">EliminationTree.h</a></div></div>
174 <div·class="ttc"·id="aa01346_html"><div·class="ttname"><a·href="a01346.html">SymbolicConditional.h</a></div></div>160 <div·class="ttc"·id="aa01349_html"><div·class="ttname"><a·href="a01349.html">SymbolicBayesNet.h</a></div></div>
175 <div·class="ttc"·id="aa01364_html_ae394348e1a503834f713405afa9afad8"><div·class="ttname"><a·href="a01364.html#ae394348e1a503834f713405afa9afad8">gtsam::internal::EliminateSymbolic</a></div><div·class="ttdeci">std::pair&lt;·boost::shared_ptr&lt;·SymbolicConditional·&gt;,·boost::shared_ptr&lt;·SymbolicFactor·&gt;·&gt;·EliminateSymbolic(const·FactorGraph&lt;·FACTOR·&gt;·&amp;factors,·const·Ordering·&amp;keys)</div><div·class="ttdoc">Implementation·of·dense·elimination·function·for·symbolic·factors.</div><div·class="ttdef"><b>Definition</b>·SymbolicFactor-inst.h:39</div></div> 
176 <div·class="ttc"·id="aa01388_html"><div·class="ttname"><a·href="a01388.html">SymbolicFactor.h</a></div></div>161 <div·class="ttc"·id="aa01382_html"><div·class="ttname"><a·href="a01382.html">SymbolicFactorGraph.h</a></div></div>
177 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>162 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
178 <div·class="ttc"·id="aa01428_html_a1c320e42b033352fbbd8266e3bd5faad"><div·class="ttname"><a·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">gtsam::KeyVector</a></div><div·class="ttdeci">FastVector&lt;·Key·&gt;·KeyVector</div><div·class="ttdoc">Define·collection·type·once·and·for·all·-·also·used·in·wrappers.</div><div·class="ttdef"><b>Definition</b>·Key.h:86</div></div> 
179 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div> 
180 <div·class="ttc"·id="aa02320_html"><div·class="ttname"><a·href="a02320.html">gtsam::FastSet&lt;·Key·&gt;</a></div></div> 
181 <div·class="ttc"·id="aa03524_html"><div·class="ttname"><a·href="a03524.html">gtsam::FactorGraph</a></div><div·class="ttdoc">A·factor·graph·is·a·bipartite·graph·with·factor·nodes·connected·to·variable·nodes.</div><div·class="ttdef"><b>Definition</b>·FactorGraph.h:97</div></div>163 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
 164 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div>
 165 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>
 166 <div·class="ttc"·id="aa03584_html"><div·class="ttname"><a·href="a03584.html">gtsam::EliminationTree</a></div><div·class="ttdoc">An·elimination·tree·is·a·data·structure·used·intermediately·during·elimination.</div><div·class="ttdef"><b>Definition</b>·EliminationTree.h:52</div></div>
182 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>167 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>
183 <div·class="ttc"·id="aa04996_html_ad58aecba408464f68fbd159bb228d917"><div·class="ttname"><a·href="a04996.html#ad58aecba408464f68fbd159bb228d917">gtsam::SymbolicConditional::FromKeysShared</a></div><div·class="ttdeci">static·SymbolicConditional::shared_ptr·FromKeysShared(const·CONTAINER·&amp;keys,·size_t·nrFrontals)</div><div·class="ttdoc">Named·constructor·from·an·arbitrary·number·of·keys·and·frontals.</div><div·class="ttdef"><b>Definition</b>·SymbolicConditional.h:94</div></div> 
184 <div·class="ttc"·id="aa05012_html_aa7f3add34e99945f8f92632dd54afc6e"><div·class="ttname"><a·href="a05012.html#aa7f3add34e99945f8f92632dd54afc6e">gtsam::SymbolicFactor::FromIteratorsShared</a></div><div·class="ttdeci">static·SymbolicFactor::shared_ptr·FromIteratorsShared(KEYITERAT[·...·truncated·by·diffoscope;·len:·158,·SHA:·f4172a852e10c57d1fc3501a951d9ebdf08d2439b181fb690565897762fee84e·...·]</div></div>168 <div·class="ttc"·id="aa03700_html"><div·class="ttname"><a·href="a03700.html">gtsam::VariableIndex</a></div><div·class="ttdoc">The·VariableIndex·class·computes·and·stores·the·block·column·structure·of·a·factor·graph.</div><div·class="ttdef"><b>Definition</b>·VariableIndex.h:43</div></div>
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102 ··<div·class="headertitle"><div·class="title">SymbolicBayesNet.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">SymbolicFactor.cpp·File·Reference</div></div>
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 114 Functions</h2></td></tr>
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 116 <tr·class="memitem:ae394348e1a503834f713405afa9afad8"><td·class="memTemplItemLeft"·align="right"·valign="top">std::pair&lt;·boost::shared_ptr&lt;·<a·class="el"·href="a04996.html">SymbolicConditional</a>·&gt;,·boost::shared_ptr&lt;·<a·class="el"·href="a05012.html">SymbolicFactor</a>·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01385.html#ae394348e1a503834f713405afa9afad8">gtsam::internal::EliminateSymbolic</a>·(const·<a·class="el"·href="a03524.html">FactorGraph</a>&lt;·FACTOR·&gt;·&amp;factors,·const·<a·class="el"·href="a03680.html">Ordering</a>·&amp;keys)</td></tr>
 117 <tr·class="memdesc:ae394348e1a503834f713405afa9afad8"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Implementation·of·dense·elimination·function·for·symbolic·factors.··<br·/></td></tr>
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117 </table>119 </table>
118 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>120 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>July·29,·2013·</dd></dl>121 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
120 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd> 
121 <dd> 
122 Richard·Roberts·</dd></dl>122 <dl·class="section·date"><dt>Date</dt><dd>Oct·17,·2010·</dd></dl>
 123 </div><h2·class="groupheader">Function·Documentation</h2>
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 125 <h2·class="memtitle"><span·class="permalink"><a·href="#ae394348e1a503834f713405afa9afad8">&#9670;&#160;</a></span>EliminateSymbolic()</h2>
  
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 128 <div·class="memtemplate">
 129 template&lt;class·FACTOR·&gt;·</div>
 130 ······<table·class="memname">
 131 ········<tr>
 132 ··········<td·class="memname">std::pair&lt;·boost::shared_ptr&lt;·SymbolicConditional·&gt;,·boost::shared_ptr&lt;·SymbolicFactor·&gt;·&gt;·gtsam::internal::EliminateSymbolic·</td>
 133 ··········<td>(</td>
 134 ··········<td·class="paramtype">const·<a·class="el"·href="a03524.html">FactorGraph</a>&lt;·FACTOR·&gt;·&amp;&#160;</td>
 135 ··········<td·class="paramname"><em>factors</em>,·</td>
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 137 ········<tr>
 138 ··········<td·class="paramkey"></td>
 139 ··········<td></td>
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 143 ········<tr>
 144 ··········<td></td>
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 146 ··········<td></td><td></td>
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 149 </div><div·class="memdoc">
  
 150 <p>Implementation·of·dense·elimination·function·for·symbolic·factors.·</p>
 151 <p>This·is·a·templated·version·for·internally·doing·symbolic·elimination·on·any·factor.·</p>
  
 152 </div>
 153 </div>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">SymbolicISAM.h</div></div>104 ··<div·class="headertitle"><div·class="title">SymbolicFactor-inst.h</div></div>
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106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01385.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01385.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01355.html">gtsam/symbolic/SymbolicBayesTree.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01388.html">gtsam/symbolic/SymbolicConditional.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00653.html">gtsam/inference/ISAM.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00632.html">gtsam/inference/Factor.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00113.html">gtsam/base/timing.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
125 <div·class="foldopen"·id="foldopen00026"·data-start="{"·data-end="};"> 
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno"><a·class="line"·href="a05032.html">···26</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05032.html">SymbolicISAM</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03640.html">ISAM</a>&lt;[·...·truncated·by·diffoscope;·len:·21,·SHA:·acbf26df4f2df7ff13938221b1315d912bdadf333b1e466e853b4f123e8e6a01·...·]</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··{</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="keyword">public</span>:</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a></div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03640.html">ISAM&lt;SymbolicBayesTree&gt;</a>·<a·class="code·hl_class"·href="a03640.html">Base</a>;</div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a05032.html">SymbolicISAM</a>·<a·class="code·hl_class"·href="a05032.html">This</a>;</div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>{</div>
 133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">namespace·</span>internal</div>
133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··{</div>
134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<a·class="code·hl_class"·href="a05032.html">SymbolicISAM</a>();</div>135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FACTOR&gt;</div>
 136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····std::pair&lt;boost::shared_ptr&lt;SymbolicConditional&gt;,·boost::shared_ptr&lt;SymbolicFactor&gt;·&gt;</div>
 137 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="}">
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a01385.html#ae394348e1a503834f713405afa9afad8">···39</a></span>······<a·class="code·hl_function"·href="a01385.html#ae394348e1a503834f713405afa9afad8">EliminateSymbolic</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03524.html">FactorGraph&lt;FACTOR&gt;</a>&amp;·factors,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·keys)</div>
135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····{</div>
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<a·class="code·hl_class"·href="a05032.html">SymbolicISAM</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04984.html">SymbolicBayesTree</a>&amp;·bayesTree);</div>140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······gttic(<a·class="code·hl_function"·href="a01385.html#ae394348e1a503834f713405afa9afad8">EliminateSymbolic</a>);</div>
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>······<span·class="comment">//·Gather·all·keys</span></div>
 143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>······<a·class="code·hl_class"·href="a02320.html">KeySet</a>·allKeys;</div>
 144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·boost::shared_ptr&lt;FACTOR&gt;&amp;·factor:·factors)·{</div>
 145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>········allKeys.insert(factor-&gt;begin(),·factor-&gt;end());</div>
 146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······}</div>
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······<span·class="comment">//·Check·keys</span></div>
 149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······<span·class="keywordflow">for</span>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key:·keys)·{</div>
 150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>········<span·class="keywordflow">if</span>(allKeys.find(key)·==·allKeys.end())</div>
 151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··········<span·class="keywordflow">throw</span>·std::runtime_error(<span·class="stringliteral">&quot;Requested·to·eliminate·a·key·that·is·not·in·the·factors&quot;</span>);</div>
 152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······}</div>
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··};</div>153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······<span·class="comment">//·Sort·frontal·keys</span></div>
 155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<a·class="code·hl_class"·href="a02320.html">KeySet</a>·frontals(keys);</div>
 156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·nFrontals·=·keys.size();</div>
 157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 158 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······<span·class="comment">//·Build·a·key·vector·with·the·frontals·followed·by·the·separator</span></div>
 159 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·orderedKeys(allKeys.size());</div>
 160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······std::copy(keys.begin(),·keys.end(),·orderedKeys.begin());</div>
 161 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······std::set_difference(allKeys.begin(),·allKeys.end(),·frontals.begin(),·frontals.end(),·orderedKeys.begin()·+·nFrontals);</div>
 162 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
 163 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="comment">//·Return·resulting·conditional·and·factor</span></div>
 164 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="keywordflow">return</span>·std::make_pair(</div>
 165 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········<a·class="code·hl_function"·href="a04996.html#ad58aecba408464f68fbd159bb228d917">SymbolicConditional::FromKeysShared</a>(orderedKeys,·nFrontals),</div>
 166 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>········<a·class="code·hl_function"·href="a05012.html#aa7f3add34e99945f8f92632dd54afc6e">SymbolicFactor::FromIteratorsShared</a>(orderedKeys.begin()·+·nFrontals,·orderedKeys.end()));</div>
 167 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····}</div>
140 </div>168 </div>
141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div> 
142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>}</div>169 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··}</div>
 170 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>}</div>
143 <div·class="ttc"·id="aa00653_html"><div·class="ttname"><a·href="a00653.html">ISAM.h</a></div><div·class="ttdoc">Incremental·update·functionality·(iSAM)·for·BayesTree.</div></div>171 <div·class="ttc"·id="aa00113_html"><div·class="ttname"><a·href="a00113.html">timing.h</a></div><div·class="ttdoc">Timing·utilities.</div></div>
 172 <div·class="ttc"·id="aa00590_html"><div·class="ttname"><a·href="a00590.html">Key.h</a></div></div>
 173 <div·class="ttc"·id="aa00632_html"><div·class="ttname"><a·href="a00632.html">Factor.h</a></div><div·class="ttdoc">The·base·class·for·all·factors.</div></div>
144 <div·class="ttc"·id="aa01355_html"><div·class="ttname"><a·href="a01355.html">SymbolicBayesTree.h</a></div></div>174 <div·class="ttc"·id="aa01343_html"><div·class="ttname"><a·href="a01343.html">SymbolicFactor.h</a></div></div>
 175 <div·class="ttc"·id="aa01385_html_ae394348e1a503834f713405afa9afad8"><div·class="ttname"><a·href="a01385.html#ae394348e1a503834f713405afa9afad8">gtsam::internal::EliminateSymbolic</a></div><div·class="ttdeci">std::pair&lt;·boost::shared_ptr&lt;·SymbolicConditional·&gt;,·boost::shared_ptr&lt;·SymbolicFactor·&gt;·&gt;·EliminateSymbolic(const·FactorGraph&lt;·FACTOR·&gt;·&amp;factors,·const·Ordering·&amp;keys)</div><div·class="ttdoc">Implementation·of·dense·elimination·function·for·symbolic·factors.</div><div·class="ttdef"><b>Definition</b>·SymbolicFactor-inst.h:39</div></div>
 176 <div·class="ttc"·id="aa01388_html"><div·class="ttname"><a·href="a01388.html">SymbolicConditional.h</a></div></div>
145 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>177 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
146 <div·class="ttc"·id="aa03640_html"><div·class="ttname"><a·href="a03640.html">gtsam::ISAM</a></div><div·class="ttdoc">A·Bayes·tree·with·an·update·methods·that·implements·the·iSAM·algorithm.</div><div·class="ttdef"><b>Definition</b>·ISAM.h:31</div></div> 
147 <div·class="ttc"·id="aa04984_html"><div·class="ttname"><a·href="a04984.html">gtsam::SymbolicBayesTree</a></div><div·class="ttdoc">A·Bayes·tree·that·represents·the·connectivity·between·variables·but·is·not·associated·with·any·probab...</div><div·class="ttdef"><b>Definition</b>·Sym[·...·truncated·by·diffoscope;·len:·19,·SHA:·0ae660bfea4cc0f1492179936102b896be355e7616a0f1b4aeade85448082fcc·...·]</div></div>178 <div·class="ttc"·id="aa01428_html_a1c320e42b033352fbbd8266e3bd5faad"><div·class="ttname"><a·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">gtsam::KeyVector</a></div><div·class="ttdeci">FastVector&lt;·Key·&gt;·KeyVector</div><div·class="ttdoc">Define·collection·type·once·and[·...·truncated·by·diffoscope;·len:·84,·SHA:·e4bdc2df211d092584a0b1f9f91ba30a623115c407cfb5f04ae3e5bafb08dd5e·...·]</div></div>
 179 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
 180 <div·class="ttc"·id="aa02320_html"><div·class="ttname"><a·href="a02320.html">gtsam::FastSet&lt;·Key·&gt;</a></div></div>
 181 <div·class="ttc"·id="aa03524_html"><div·class="ttname"><a·href="a03524.html">gtsam::FactorGraph</a></div><div·class="ttdoc">A·factor·graph·is·a·bipartite·graph·with·factor·nodes·connected·to·variable·nodes.</div><div·class="ttdef"><b>Definition</b>·FactorGraph.h:97</div></div>
148 <div·class="ttc"·id="aa05032_html"><div·class="ttname"><a·href="a05032.html">gtsam::SymbolicISAM</a></div><div·class="ttdef"><b>Definition</b>·SymbolicISAM.h:27</div></div>182 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>
 183 <div·class="ttc"·id="aa04996_html_ad58aecba408464f68fbd159bb228d917"><div·class="ttname"><a·href="a04996.html#ad58aecba408464f68fbd159bb228d917">gtsam::SymbolicConditional::FromKeysShared</a></div><div·class="ttdeci">static·SymbolicConditional::shared_ptr·FromKeysShared(const·CONTAINER·&amp;keys,·size_t·nrFrontals)</div><div·class="ttdoc">Named·constructor·from·an·arbitrary·number·of·keys·and·frontals.</div><div·class="ttdef"><b>Definition</b>·SymbolicConditional.h:94</div></div>
 184 <div·class="ttc"·id="aa05012_html_aa7f3add34e99945f8f92632dd54afc6e"><div·class="ttname"><a·href="a05012.html#aa7f3add34e99945f8f92632dd54afc6e">gtsam::SymbolicFactor::FromIteratorsShared</a></div><div·class="ttdeci">static·SymbolicFactor::shared_ptr·FromIteratorsShared(KEYITERATOR·beginKey,·KEYITERATOR·endKey)</div><div·class="ttdoc">Constructor·from·a·collection·of·keys.</div><div·class="ttdef"><b>Definition</b>·SymbolicFactor.h:121</div></div>
149 </div><!--·fragment·--></div><!--·contents·-->185 </div><!--·fragment·--></div><!--·contents·-->
150 </div><!--·doc-content·-->186 </div><!--·doc-content·-->
151 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
152 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
153 ··<ul>189 ··<ul>
154 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_0e8eb460b7f775f5eda250a12ea9d76a.html">symbolic</a></li><li·class="navelem"><a·class="el"·href="a01385.html">SymbolicISAM.h</a></li>190 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_0e8eb460b7f775f5eda250a12ea9d76a.html">symbolic</a></li><li·class="navelem"><a·class="el"·href="a01385.html">SymbolicFactor-inst.h</a></li>
155 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>191 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
156 ··</ul>192 ··</ul>
157 </div>193 </div>
158 </body>194 </body>
159 </html>195 </html>
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109 Classes</h2></td></tr>108 Classes</h2></td></tr>
110 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a05012.html">gtsam::SymbolicFactor</a></td></tr>109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04996.html">gtsam::SymbolicConditional</a></td></tr>
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112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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114 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a05016.html#details">More...</a><br·/></td></tr>113 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a05000.html#details">More...</a><br·/></td></tr>
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116 </table><table·class="memberdecls">115 </table><table·class="memberdecls">
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118 Namespaces</h2></td></tr>117 Namespaces</h2></td></tr>
119 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
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123 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a> 
124 Functions</h2></td></tr> 
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126 <tr·class="memdesc:a659f20993995258b1405737e375efd10"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Dense·elimination·function·for·symbolic·factors.··<br·/></td></tr> 
127 <tr·class="separator:a659f20993995258b1405737e375efd10"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
128 </table>121 </table>
129 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
130 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>123 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
131 <dl·class="section·date"><dt>Date</dt><dd>Oct·17,·2010·</dd></dl>124 <dl·class="section·date"><dt>Date</dt><dd>Oct·17,·2010·</dd></dl>
132 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
133 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
134 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
135 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
136 ··<ul>129 ··<ul>
137 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_0e8eb460b7f775f5eda250a12ea9d76a.html">symbolic</a></li><li·class="navelem"><a·class="el"·href="a01388.html">SymbolicFactor.h</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_0e8eb460b7f775f5eda250a12ea9d76a.html">symbolic</a></li><li·class="navelem"><a·class="el"·href="a01388.html">SymbolicConditional.h</a></li>
138 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
139 ··</ul>132 ··</ul>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">SymbolicFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">SymbolicConditional.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01388.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01388.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
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116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div> 
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129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div> 
132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="comment">//·Forward·declarations</span></div> 
133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">class·</span>SymbolicConditional;</div> 
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136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
137 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};">128 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a05012.html">···39</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05012.html">SymbolicFactor</a>·:·<span·class="keyword">public</span>·<a·class="co[·...·truncated·by·diffoscope;·len:·44,·SHA:·d713f2bc660f7fafa82d801a6fa017bf87e64c94836cd3d41f7ea46a5ed87563·...·]</div>129 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04996.html">···36</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04996.html">SymbolicConditional</a>·:</div>
 130 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a05012.html">SymbolicFactor</a>,</div>
 131 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03572.html">Conditional</a>&lt;SymbolicFactor,·SymbolicConditional&gt;·{</div>
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>132 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">public</span>:</div>133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">public</span>:</div>
 134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04996.html">SymbolicConditional</a>·<a·class="code·hl_class"·href="a04996.html">This</a>;·</div>
 135 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04996.html#aa2e0cb404e5a4c2b9739a3ac68eead88">···42</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a05012.html">SymbolicFactor</a>·<a·class="code·hl_typedef"·href="a04996.html#aa2e0cb404e5a4c2b9739a3ac68eead88">BaseFactor</a>;·</div>
 136 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04996.html#a56432938db9b4a1f9d8d712f4128cd8d">···43</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03572.html">Conditional&lt;BaseFactor,·This&gt;</a>·<a·class="code·hl_typedef"·href="a04996.html#a56432938db9b4a1f9d8d712f4128cd8d">BaseConditional</a>;·</div>
 137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04996.html#a539228349dc5255cd587044d7106bf44">···44</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a04996.html#a539228349dc5255cd587044d7106bf44">shared_ptr</a>;·</div>
 138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04996.html#a9cf431cc004298a77735cf3d51c04629">···45</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_typedef"·href="a03592.html#acb069f38cc81bea20cecfad4070da59e">BaseFactor::iterator</a>·<a·class="code·hl_typedef"·href="a04996.html#a9cf431cc004298a77735cf3d51c04629">iterator</a>;·</div>
 139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a04996.html#a4bbf077adf4021b966f398f551b0ce5e">···46</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_typedef"·href="a03592.html#a71af7ad9e9474ebbcf2fdffc7f31251b">BaseFactor::const_iterator</a>·<a·class="code·hl_typedef"·href="a04996.html#a4bbf077adf4021b966f398f551b0ce5e">const_iterator</a>;·</div>
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>140 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a05012.html">SymbolicFactor</a>·<a·class="code·hl_class"·href="a05012.html">This</a>;</div> 
143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03592.html">Factor</a>·<a·class="code·hl_class"·href="a03592.html">Base</a>;</div> 
144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04996.html">SymbolicConditional</a>·<a·class="code·hl_class"·href="a04996.html">ConditionalType</a>;</div> 
145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a05012.html#a1a13ba25abc2aaf00cec2fe24449ef4b">···48</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a05012.html#a1a13ba25abc2aaf00cec2fe24449ef4b">shared_ptr</a>;</div> 
147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
148 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
149 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a05012.html#ad5559a2e10e8ae2552ef91f3d8340849">···54</a></span>····<a·class="code·hl_function"·href="a05012.html#ad5559a2e10e8ae2552ef91f3d8340849">SymbolicFactor</a>()·{}</div>142 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a04996.html#a3d5f37af8e07fc3cb93d9df0f611ab29">···52</a></span>····<a·class="code·hl_function"·href="a04996.html#a3d5f37af8e07fc3cb93d9df0f611ab29">SymbolicConditional</a>()·{}</div>
150 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>143 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 144 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04996.html#a811ebc4f9eefbcf25fc2f40f66db8e39">···55</a></span>····<a·class="code·hl_function"·href="a04996.html#a811ebc4f9eefbcf25fc2f40f66db8e39">SymbolicConditional</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j)·:·<a·class="code·hl_class"·href="a05012.html">BaseFactor</a>(j),·<a·class="code·hl_typedef"·href="a04996.html#a56432938db9b4a1f9d8d712f4128cd8d">BaseConditional</a>(1)·{}</div>
 145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
 146 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a04996.html#a77133cf0e119b7e0b0105c49f9677f59">···58</a></span>····<a·class="code·hl_function"·href="a04996.html#a77133cf0e119b7e0b0105c49f9677f59">SymbolicConditional</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent)·:·<a·class="code·hl_class"·href="a05012.html">BaseFactor</a>(j,·parent),·<a·class="code·hl_typedef"·href="a04996.html#a56432938db9b4a1f9d8d712f4128cd8d">BaseConditional</a>(1)·{}</div>
151 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}"> 
152 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a05012.html#a9caf912ac889d5bb06f56e748d9aa71b">···57</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a05012.html#a9caf912ac889d5bb06f56e748d9aa71b">SymbolicFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j)·:</div> 
153 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······<a·class="code·hl_class"·href="a03592.html">Base</a>(<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>{j})·{}</div> 
154 </div> 
155 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>147 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 148 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a04996.html#a8215e2229254269e71210cb4b5d2cd60">···61</a></span>····<a·class="code·hl_function"·href="a04996.html#a8215e2229254269e71210cb4b5d2cd60">SymbolicConditional</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent2)·:·<a·class="code·hl_class"·href="a05012.html">BaseFactor</a>(j,·parent1,·parent2),·<a·class="code·hl_typedef"·href="a04996.html#a56432938db9b4a1f9d8d712f4128cd8d">BaseConditional</a>(1)·{}</div>
 149 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 150 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a04996.html#a0d9e9d5af1a6a10390b923f0cc8efe52">···64</a></span>····<a·class="code·hl_function"·href="a04996.html#a0d9e9d5af1a6a10390b923f0cc8efe52">SymbolicConditional</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent2,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·parent3)·:·<a·class="code·hl_class"·href="a05012.html">BaseFactor</a>(j,·parent1,·parent2,·parent3),·<a·class="code·hl_typedef"·href="a04996.html#a56432938db9b4a1f9d8d712f4128cd8d">BaseConditional</a>(1)·{}</div>
 151 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 152 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·ITERATOR&gt;</div>
156 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}">153 <div·class="foldopen"·id="foldopen00068"·data-start="{"·data-end="}">
 154 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno"><a·class="line"·href="a04996.html#a7614a76d9494f2f856ef7829e6ebc3fa">···68</a></span>····<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04996.html">SymbolicConditional</a>·<a·class="code·hl_function"·href="a04996.html#a7614a76d9494f2f856ef7829e6ebc3fa">FromIterators</a>(ITERATOR·firstKey,·ITERATOR·lastKey,·<span·class="keywordtype">size_t</span>·nrFrontals)</div>
157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a05012.html#a629eccda3484b6e69877e0be2cda1c6a">···61</a></span>····<a·class="code·hl_function"·href="a05012.html#a629eccda3484b6e69877e0be2cda1c6a">SymbolicFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j2)·:</div> 
158 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······<a·class="code·hl_class"·href="a03592.html">Base</a>(<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>{j1,·j2})·{}</div> 
159 </div> 
160 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>155 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····{</div>
161 <div·class="foldopen"·id="foldopen00065"·data-start="{"·data-end="}"> 
162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a05012.html#a99571a93b54a2e6b9659781777f29e80">···65</a></span>····<a·class="code·hl_function"·href="a05012.html#a99571a93b54a2e6b9659781777f29e80">SymbolicFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j2,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j3)·:</div> 
163 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<a·class="code·hl_class"·href="a03592.html">Base</a>(<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>{j1,·j2,·j3})·{}</div> 
164 </div>156 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······<a·class="code·hl_class"·href="a04996.html">SymbolicConditional</a>·result;</div>
 157 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······(<a·class="code·hl_class"·href="a05012.html">BaseFactor</a>&amp;)result·=·BaseFactor::FromIterators(firstKey,·lastKey);</div>
 158 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······result.nrFrontals_·=·nrFrontals;</div>
 159 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······<span·class="keywordflow">return</span>·result;</div>
165 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>160 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····}</div>
166 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}"> 
167 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a05012.html#a4dd708fdef64f6d583d8d428c52d1927">···69</a></span>····<a·class="code·hl_function"·href="a05012.html#a4dd708fdef64f6d583d8d428c52d1927">SymbolicFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j2,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j3,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j4)·:</div> 
168 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······<a·class="code·hl_class"·href="a03592.html">Base</a>(<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>{j1,·j2,·j3,·j4})·{}</div> 
169 </div> 
170 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div> 
171 <div·class="foldopen"·id="foldopen00073"·data-start="{"·data-end="}"> 
172 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a05012.html#a9fe89884fa91b96be1629188d5f14b7e">···73</a></span>····<a·class="code·hl_function"·href="a05012.html#a9fe89884fa91b96be1629188d5f14b7e">SymbolicFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j2,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j3,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j4,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j5)·:</div> 
173 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······<a·class="code·hl_class"·href="a03592.html">Base</a>(<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>{j1,·j2,·j3,·j4,·j5})·{}</div> 
174 </div>161 </div>
175 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>162 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
 163 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·ITERATOR&gt;</div>
176 <div·class="foldopen"·id="foldopen00077"·data-start="{"·data-end="}">164 <div·class="foldopen"·id="foldopen00078"·data-start="{"·data-end="}">
177 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno"><a·class="line"·href="a05012.html#a139996934bf8b51a68bfd9fe2dfca77c">···77</a></span>····<a·class="code·hl_function"·href="a05012.html#a139996934bf8b51a68bfd9fe2dfca77c">SymbolicFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j2,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j3,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j4,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j5,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j6)·:</div> 
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128 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Mar·29,·2013·</dd></dl>119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>July·29,·2013·</dd></dl>
129 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>120 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
130 <dd>121 <dd>
131 Richard·Roberts·</dd></dl>122 Richard·Roberts·</dd></dl>
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124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="comment">//·Forward·declarations</span></div> 
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="keyword">class·</span>SymbolicEliminationTree;</div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div> 
130 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00026"·data-start="{"·data-end="};">
131 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a05036.html">···50</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05036.html">SymbolicJunctionTree</a>·:</div> 
132 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03652.html">JunctionTree</a>&lt;SymbolicBayesTree,·SymbolicFactorGraph&gt;·{</div>127 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno"><a·class="line"·href="a05032.html">···26</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05032.html">SymbolicISAM</a>·:·<span·class="keyword">public</span>·<a·class="cod[·...·truncated·by·diffoscope;·len:·64,·SHA:·6381eba56a7b414c9527d3d7ada9da5593c1ae2e7f50c9fb76e7ae7ea7f2876d·...·]</div>
 128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··{</div>
133 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">public</span>:</div>129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="keyword">public</span>:</div>
134 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a05036.html#a8d788f9f667575595528c4dfb3425ca8">···53</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03652.html">JunctionTree&lt;SymbolicBayesTree,·SymbolicFactorGraph&gt;</a>·<a·class="code·hl_typedef"·href="a05036.html#a8d788f9f667575595528c4dfb3425ca8">Base</a>;·</div> 
135 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a05036.html#ae16a13eef6463ec7c973e40d5874e864">···54</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a05036.html">SymbolicJunctionTree</a>·<a·class="code·hl_typedef"·href="a05036.html#ae16a13eef6463ec7c973e40d5874e864">This</a>;·</div> 
136 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a05036.html#a61ff4d9b29ccdbec88e999136287759c">···55</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a05036.html#a61ff4d9b29c[·...·truncated·by·diffoscope;·len:·39,·SHA:·f04d8693f556b50deffa7b99fd9a430337912ebd66c9d106cdc10b5bb087c23d·...·]</div>130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03640.html">ISAM&lt;SymbolicBayesTree&gt;</a>·<a·class="code·hl_class"·href="a03640.html">Base</a>;</div>
 131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a05032.html">SymbolicISAM</a>·<a·class="code·hl_class"·href="a05032.html">This</a>;</div>
 132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
 133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
137 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
138 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<a·class="code·hl_class"·href="a05036.html">SymbolicJunctionTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree</a>&amp;·eliminationTree);</div>135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<a·class="code·hl_class"·href="a05032.html">SymbolicISAM</a>();</div>
 136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
 137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<a·class="code·hl_class"·href="a05032.html">SymbolicISAM</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04984.html">SymbolicBayesTree</a>&amp;·bayesTree);</div>
 138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
139 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··};</div>140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··};</div>
140 </div>141 </div>
 142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
141 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>}</div>
142 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a01428.html#ad78d0a5ba773ceac7ff253525032a15e">···69</a></span>··<span·class="keyword">using·</span><a·class="code·hl_struct"·href="a03568.html">SymbolicCluster</a>·=·<a·class="code·hl_struct"·href="a03568.html">SymbolicJunctionTree::Cluster</a>;</div> 
143 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>}</div> 
144 <div·class="ttc"·id="aa00692_html"><div·class="ttname"><a·href="a00692.html">JunctionTree.h</a></div><div·class="ttdoc">The·junction·tree.</div></div>144 <div·class="ttc"·id="aa00680_html"><div·class="ttname"><a·href="a00680.html">ISAM.h</a></div><div·class="ttdoc">Incremental·update·functionality·(iSAM)·for·BayesTree.</div></div>
145 <div·class="ttc"·id="aa01355_html"><div·class="ttname"><a·href="a01355.html">SymbolicBayesTree.h</a></div></div>145 <div·class="ttc"·id="aa01373_html"><div·class="ttname"><a·href="a01373.html">SymbolicBayesTree.h</a></div></div>
146 <div·class="ttc"·id="aa01367_html"><div·class="ttname"><a·href="a01367.html">SymbolicFactorGraph.h</a></div></div> 
147 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>146 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
148 <div·class="ttc"·id="aa03568_html"><div·class="ttname"><a·href="a03568.html">gtsam::ClusterTree::Cluster</a></div><div·class="ttdoc">A·Cluster·is·just·a·collection·of·factors.</div><div·class="ttdef"><b>Definition</b>·ClusterTree.h:36</div></div> 
149 <div·class="ttc"·id="aa03652_html"><div·class="ttname"><a·href="a03652.html">gtsam::JunctionTree</a></div><div·class="ttdoc">A·JunctionTree·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·JunctionTree.h:50</div></div>147 <div·class="ttc"·id="aa03640_html"><div·class="ttname"><a·href="a03640.html">gtsam::ISAM</a></div><div·class="ttdoc">A·Bayes·tree·with·an·update·methods·that·implements·the·iSAM·algorithm.</div><div·class="ttdef"><b>Definition</b>·ISAM.h:31</div></div>
 148 <div·class="ttc"·id="aa04984_html"><div·class="ttname"><a·href="a04984.html">gtsam::SymbolicBayesTree</a></div><div·class="ttdoc">A·Bayes·tree·that·represents·the·connectivity·between·variables·but·is·not·associated·with·any·probab...</div><div·class="ttdef"><b>Definition</b>·SymbolicBayesTree.h:51</div></div>
150 <div·class="ttc"·id="aa05004_html"><div·class="ttname"><a·href="a05004.html">gtsam::SymbolicEliminationTree</a></div><div·class="ttdef"><b>Definition</b>·SymbolicEliminationTree.h:29</div></div>149 <div·class="ttc"·id="aa05032_html"><div·class="ttname"><a·href="a05032.html">gtsam::SymbolicISAM</a></div><div·class="ttdef"><b>Definition</b>·SymbolicISAM.h:27</div></div>
151 <div·class="ttc"·id="aa05036_html"><div·class="ttname"><a·href="a05036.html">gtsam::SymbolicJunctionTree</a></div><div·class="ttdoc">A·EliminatableClusterTree,·i.e.,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·SymbolicJunctionTree.h:51</div></div> 
152 <div·class="ttc"·id="aa05036_html_a61ff4d9b29ccdbec88e999136287759c"><div·class="ttname"><a·href="a05036.html#a61ff4d9b29ccdbec88e999136287759c">gtsam::SymbolicJunctionTree::shared_ptr</a></div><div·class="ttdeci">boost::shared_ptr&lt;·This·&gt;·shared_ptr</div><div·class="ttdoc">Shared·pointer·to·this·class.</div><div·class="ttdef"><b>Definition</b>·SymbolicJunctionTree.h:55</div></div> 
153 <div·class="ttc"·id="aa05036_html_a8d788f9f667575595528c4dfb3425ca8"><div·class="ttname"><a·href="a05036.html#a8d788f9f667575595528c4dfb3425ca8">gtsam::SymbolicJunctionTree::Base</a></div><div·class="ttdeci">JunctionTree&lt;·SymbolicBayesTree,·SymbolicFactorGraph·&gt;·Base</div><div·class="ttdoc">Base·class.</div><div·class="ttdef"><b>Definition</b>·SymbolicJunctionTree.h:53</div></div> 
154 <div·class="ttc"·id="aa05036_html_ae16a13eef6463ec7c973e40d5874e864"><div·class="ttname"><a·href="a05036.html#ae16a13eef6463ec7c973e40d5874e864">gtsam::SymbolicJunctionTree::This</a></div><div·class="ttdeci">SymbolicJunctionTree·This</div><div·class="ttdoc">This·class.</div><div·class="ttdef"><b>Definition</b>·SymbolicJunctionTree.h:54</div></div> 
155 </div><!--·fragment·--></div><!--·contents·-->150 </div><!--·fragment·--></div><!--·contents·-->
156 </div><!--·doc-content·-->151 </div><!--·doc-content·-->
157 <!--·start·footer·part·-->152 <!--·start·footer·part·-->
158 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->153 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
159 ··<ul>154 ··<ul>
160 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_0e8eb460b7f775f5eda250a12ea9d76a.html">symbolic</a></li><li·class="navelem"><a·class="el"·href="a01391.html">SymbolicJunctionTree.h</a></li>155 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_0e8eb460b7f775f5eda250a12ea9d76a.html">symbolic</a></li><li·class="navelem"><a·class="el"·href="a01391.html">SymbolicISAM.h</a></li>
161 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>156 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
162 ··</ul>157 ··</ul>
163 </div>158 </div>
164 </body>159 </body>
165 </html>160 </html>
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1 <!DOCTYPE·html·PUBLIC·"-//W3C//DTD·XHTML·1.0·Transitional//EN"·"https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">1 <!DOCTYPE·html·PUBLIC·"-//W3C//DTD·XHTML·1.0·Transitional//EN"·"https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">
3 <head>3 <head>
4 <meta·http-equiv="Content-Type"·content="text/xhtml;charset=UTF-8"/>4 <meta·http-equiv="Content-Type"·content="text/xhtml;charset=UTF-8"/>
5 <meta·http-equiv="X-UA-Compatible"·content="IE=11"/>5 <meta·http-equiv="X-UA-Compatible"·content="IE=11"/>
6 <meta·name="generator"·content="Doxygen·1.9.8"/>6 <meta·name="generator"·content="Doxygen·1.9.8"/>
7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/global_includes.h·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/precompiled_header.cpp·File·Reference</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
14 <script·type="text/javascript"·src="navtreedata.js"></script>14 <script·type="text/javascript"·src="navtreedata.js"></script>
15 <script·type="text/javascript"·src="navtree.js"></script>15 <script·type="text/javascript"·src="navtree.js"></script>
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93 <div·class="SRStatus"·id="NoMatches">No·Matches</div>93 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
94 </div>94 </div>
95 </div>95 </div>
96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="headertitle"><div·class="title">global_includes.h·File·Reference<div·class="ingroups"><a·class="el"·href="a01413.html">Base</a></div></div></div>99 ··<div·class="headertitle"><div·class="title">precompiled_header.cpp·File·Reference</div></div>
100 </div><!--header-->100 </div><!--header-->
101 <div·class="contents">101 <div·class="contents">
  
102 <p>Included·from·all·GTSAM·files.··102 <p>We·need·exactly·one·compilation·unit·that·includes·the·precompiled·headers.··
103 <a·href="#details">More...</a></p>103 <a·href="#details">More...</a></p>
  
104 <p><a·href="a01397_source.html">Go·to·the·source·code·of·this·file.</a></p> 
105 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>104 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
106 <div·class="textblock"><p>Included·from·all·GTSAM·files.·</p>105 <div·class="textblock"><p>We·need·exactly·one·compilation·unit·that·includes·the·precompiled·headers.·</p>
107 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>106 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
 107 <dl·class="section·date"><dt>Date</dt><dd>November·2018·</dd></dl>
108 </div></div><!--·contents·-->108 </div></div><!--·contents·-->
109 </div><!--·doc-content·-->109 </div><!--·doc-content·-->
110 <!--·start·footer·part·-->110 <!--·start·footer·part·-->
111 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->111 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
112 ··<ul>112 ··<ul>
113 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01397.html">global_includes.h</a></li>113 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01397.html">precompiled_header.cpp</a></li>
114 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>114 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
115 ··</ul>115 ··</ul>
116 </div>116 </div>
117 </body>117 </body>
118 </html>118 </html>
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118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="comment">//·All·headers·in·base,·except:</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="comment">//·All·headers·in·base,·except:</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="comment">//·treeTraversal-inst.h:·very·specific·to·only·a·few·compilation·units</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="comment">//·treeTraversal-inst.h:·very·specific·to·only·a·few·compilation·units</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="comment">//·numericalDerivative.h·:·includes·things·in·linear,·nonlinear·:-(</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="comment">//·numericalDerivative.h·:·includes·things·in·linear,·nonlinear·:-(</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="comment">//·testLie.h:·includes·numericalDerivative</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="comment">//·testLie.h:·includes·numericalDerivative</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00128.html">gtsam/base/Lie.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00002.html">gtsam/base/Lie.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;gtsam/base/chartTesting.h&gt;</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;gtsam/base/chartTesting.h&gt;</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00104.html">gtsam/base/cholesky.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00086.html">gtsam/base/cholesky.h</a>&gt;</span></div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;gtsam/base/concepts.h&gt;</span></div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;gtsam/base/concepts.h&gt;</span></div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;gtsam/base/ConcurrentMap.h&gt;</span></div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;gtsam/base/ConcurrentMap.h&gt;</span></div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00026.html">gtsam/base/debug.h</a>&gt;</span></div>130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00122.html">gtsam/base/debug.h</a>&gt;</span></div>
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00137.html">gtsam/base/DSFVector.h</a>&gt;</span></div>131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00149.html">gtsam/base/DSFVector.h</a>&gt;</span></div>
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00008.html">gtsam/base/FastDefaultAllocator.h</a>&gt;</span></div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00005.html">gtsam/base/FastDefaultAllocator.h</a>&gt;</span></div>
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00047.html">gtsam/base/FastList.h</a>&gt;</span></div>133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00038.html">gtsam/base/FastList.h</a>&gt;</span></div>
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00038.html">gtsam/base/FastMap.h</a>&gt;</span></div>134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00137.html">gtsam/base/FastMap.h</a>&gt;</span></div>
135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/FastSet.h</a>&gt;</span></div>135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00065.html">gtsam/base/FastSet.h</a>&gt;</span></div>
136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00074.html">gtsam/base/FastVector.h</a>&gt;</span></div>136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00134.html">gtsam/base/FastVector.h</a>&gt;</span></div>
137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#include·&lt;gtsam/base/GenericValue.h&gt;</span></div>137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#include·&lt;gtsam/base/GenericValue.h&gt;</span></div>
138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00080.html">gtsam/base/Group.h</a>&gt;</span></div>138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Group.h</a>&gt;</span></div>
139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00128.html">gtsam/base/Lie.h</a>&gt;</span></div>139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00002.html">gtsam/base/Lie.h</a>&gt;</span></div>
140 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00149.html">gtsam/base/lieProxies.h</a>&gt;</span></div>140 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00017.html">gtsam/base/lieProxies.h</a>&gt;</span></div>
141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Manifold.h</a>&gt;</span></div>141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/Manifold.h</a>&gt;</span></div>
142 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div>142 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
143 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00083.html">gtsam/base/OptionalJacobian.h</a>&gt;</span></div>143 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00035.html">gtsam/base/OptionalJacobian.h</a>&gt;</span></div>
144 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00110.html">gtsam/base/ProductLieGroup.h</a>&gt;</span></div>144 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00083.html">gtsam/base/ProductLieGroup.h</a>&gt;</span></div>
145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00023.html">gtsam/base/serialization.h</a>&gt;</span></div>145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00041.html">gtsam/base/serialization.h</a>&gt;</span></div>
146 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00029.html">gtsam/base/serializationTestHelpers.h</a>&gt;</span></div>146 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00098.html">gtsam/base/serializationTestHelpers.h</a>&gt;</span></div>
147 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00113.html">gtsam/base/SymmetricBlockMatrix.h</a>&gt;</span></div>147 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00089.html">gtsam/base/SymmetricBlockMatrix.h</a>&gt;</span></div>
148 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>148 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
149 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00146.html">gtsam/base/TestableAssertions.h</a>&gt;</span></div>149 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00125.html">gtsam/base/TestableAssertions.h</a>&gt;</span></div>
150 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00089.html">gtsam/base/ThreadsafeException.h</a>&gt;</span></div>150 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/ThreadsafeException.h</a>&gt;</span></div>
151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/timing.h</a>&gt;</span></div>151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00113.html">gtsam/base/timing.h</a>&gt;</span></div>
152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00125.html">gtsam/base/types.h</a>&gt;</span></div>152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00146.html">gtsam/base/types.h</a>&gt;</span></div>
153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00068.html">gtsam/base/Value.h</a>&gt;</span></div>153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00110.html">gtsam/base/Value.h</a>&gt;</span></div>
154 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Vector.h</a>&gt;</span></div>154 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00104.html">gtsam/base/Vector.h</a>&gt;</span></div>
155 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="preprocessor">#include·&lt;gtsam/base/VectorSpace.h&gt;</span></div>155 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="preprocessor">#include·&lt;gtsam/base/VectorSpace.h&gt;</span></div>
156 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00143.html">gtsam/base/VerticalBlockMatrix.h</a>&gt;</span></div>156 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00116.html">gtsam/base/VerticalBlockMatrix.h</a>&gt;</span></div>
157 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>157 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 159 <div·class="ttc"·id="aa00002_html"><div·class="ttname"><a·href="a00002.html">Lie.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Lie·types.</div></div>
159 <div·class="ttc"·id="aa00008_html"><div·class="ttname"><a·href="a00008.html">FastDefaultAllocator.h</a></div><div·class="ttdoc">An·easy·way·to·control·which·allocator·is·used·for·Fast*·collections.</div></div>160 <div·class="ttc"·id="aa00005_html"><div·class="ttname"><a·href="a00005.html">FastDefaultAllocator.h</a></div><div·class="ttdoc">An·easy·way·to·control·which·allocator·is·used·for·Fast*·collections.</div></div>
160 <div·class="ttc"·id="aa00014_html"><div·class="ttname"><a·href="a00014.html">Vector.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·VectorXd</div></div> 
161 <div·class="ttc"·id="aa00023_html"><div·class="ttname"><a·href="a00023.html">serialization.h</a></div><div·class="ttdoc">Convenience·functions·for·serializing·data·structures·via·boost.serialization.</div></div> 
162 <div·class="ttc"·id="aa00026_html"><div·class="ttname"><a·href="a00026.html">debug.h</a></div><div·class="ttdoc">Global·debugging·flags.</div></div> 
163 <div·class="ttc"·id="aa00029_html"><div·class="ttname"><a·href="a00029.html">serializationTestHelpers.h</a></div></div> 
164 <div·class="ttc"·id="aa00038_html"><div·class="ttname"><a·href="a00038.html">FastMap.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::map·that·uses·boost's·fast_pool_allocator.</div></div> 
165 <div·class="ttc"·id="aa00044_html"><div·class="ttname"><a·href="a00044.html">FastSet.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::set·that·uses·boost's·fast_pool_allocator.</div></div> 
166 <div·class="ttc"·id="aa00047_html"><div·class="ttname"><a·href="a00047.html">FastList.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::list·that·uses·boost's·fast_pool_allocator.</div></div> 
167 <div·class="ttc"·id="aa00068_html"><div·class="ttname"><a·href="a00068.html">Value.h</a></div><div·class="ttdoc">The·base·class·for·any·variable·that·can·be·optimized·or·used·in·a·factor.</div></div> 
168 <div·class="ttc"·id="aa00071_html"><div·class="ttname"><a·href="a00071.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div> 
169 <div·class="ttc"·id="aa00074_html"><div·class="ttname"><a·href="a00074.html">FastVector.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::vector·that·uses·a·custom·allocator.</div></div> 
170 <div·class="ttc"·id="aa00080_html"><div·class="ttname"><a·href="a00080.html">Group.h</a></div><div·class="ttdoc">Concept·check·class·for·variable·types·with·Group·properties.</div></div>161 <div·class="ttc"·id="aa00014_html"><div·class="ttname"><a·href="a00014.html">Group.h</a></div><div·class="ttdoc">Concept·check·class·for·variable·types·with·Group·properties.</div></div>
 162 <div·class="ttc"·id="aa00017_html"><div·class="ttname"><a·href="a00017.html">lieProxies.h</a></div><div·class="ttdoc">Provides·convenient·mappings·of·common·member·functions·for·testing.</div></div>
171 <div·class="ttc"·id="aa00083_html"><div·class="ttname"><a·href="a00083.html">OptionalJacobian.h</a></div><div·class="ttdoc">Special·class·for·optional·Jacobian·arguments.</div></div>163 <div·class="ttc"·id="aa00035_html"><div·class="ttname"><a·href="a00035.html">OptionalJacobian.h</a></div><div·class="ttdoc">Special·class·for·optional·Jacobian·arguments.</div></div>
 164 <div·class="ttc"·id="aa00038_html"><div·class="ttname"><a·href="a00038.html">FastList.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::list·that·uses·boost's·fast_pool_allocator.</div></div>
 165 <div·class="ttc"·id="aa00041_html"><div·class="ttname"><a·href="a00041.html">serialization.h</a></div><div·class="ttdoc">Convenience·functions·for·serializing·data·structures·via·boost.serialization.</div></div>
 166 <div·class="ttc"·id="aa00044_html"><div·class="ttname"><a·href="a00044.html">Matrix.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·MatrixXd</div></div>
 167 <div·class="ttc"·id="aa00065_html"><div·class="ttname"><a·href="a00065.html">FastSet.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::set·that·uses·boost's·fast_pool_allocator.</div></div>
 168 <div·class="ttc"·id="aa00083_html"><div·class="ttname"><a·href="a00083.html">ProductLieGroup.h</a></div><div·class="ttdoc">Group·product·of·two·Lie·Groups.</div></div>
 169 <div·class="ttc"·id="aa00086_html"><div·class="ttname"><a·href="a00086.html">cholesky.h</a></div><div·class="ttdoc">Efficient·incomplete·Cholesky·on·rank-deficient·matrices,·todo:·constrained·Cholesky.</div></div>
 170 <div·class="ttc"·id="aa00089_html"><div·class="ttname"><a·href="a00089.html">SymmetricBlockMatrix.h</a></div><div·class="ttdoc">Access·to·matrices·via·blocks·of·pre-defined·sizes.</div></div>
172 <div·class="ttc"·id="aa00089_html"><div·class="ttname"><a·href="a00089.html">ThreadsafeException.h</a></div><div·class="ttdoc">Base·exception·type·that·uses·tbb_allocator·if·GTSAM·is·compiled·with·TBB.</div></div>171 <div·class="ttc"·id="aa00095_html"><div·class="ttname"><a·href="a00095.html">ThreadsafeException.h</a></div><div·class="ttdoc">Base·exception·type·that·uses·tbb_allocator·if·GTSAM·is·compiled·with·TBB.</div></div>
 172 <div·class="ttc"·id="aa00098_html"><div·class="ttname"><a·href="a00098.html">serializationTestHelpers.h</a></div></div>
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178 <div·class="ttc"·id="aa00119_html"><div·class="ttname"><a·href="a00119.html">timing.h</a></div><div·class="ttdoc">Timing·utilities.</div></div>176 <div·class="ttc"·id="aa00113_html"><div·class="ttname"><a·href="a00113.html">timing.h</a></div><div·class="ttdoc">Timing·utilities.</div></div>
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181 <div·class="ttc"·id="aa00137_html"><div·class="ttname"><a·href="a00137.html">DSFVector.h</a></div><div·class="ttdoc">A·faster·implementation·for·DSF,·which·uses·vector·rather·than·btree.</div></div> 
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2803 <tr·class="memitem:ad80249acf12bbea741e755cd8fc73042"><td·class="memTemplItemLeft"·align="right"·valign="top">double&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>dot</b>·(const·V1·&amp;a,·const·V2·&amp;b)</td></tr>2803 <tr·class="memitem:ad80249acf12bbea741e755cd8fc73042"><td·class="memTemplItemLeft"·align="right"·valign="top">double&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>dot</b>·(const·V1·&amp;a,·const·V2·&amp;b)</td></tr>
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2980 std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator&lt;&lt;</b>·(std::ostream·&amp;os,·const·<a·class="el"·href="a03156.html">Pose2</a>·&amp;pose)</td></tr>2980 std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator&lt;&lt;</b>·(std::ostream·&amp;os,·const·<a·class="el"·href="a03156.html">Pose2</a>·&amp;pose)</td></tr>
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2983 template&lt;&gt;·</td></tr>2983 template&lt;&gt;·</td></tr>
2984 <tr·class="memitem:a4b78f4db0e05f3ca838ee4da6187710e"><td·class="memTemplItemLeft"·align="right"·valign="top">Matrix&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>wedge&lt;·Pose2·&gt;</b>·(const·Vector·&amp;xi)</td></tr>2984 <tr·class="memitem:a4b78f4db0e05f3ca838ee4da6187710e"><td·class="memTemplItemLeft"·align="right"·valign="top">Matrix&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>wedge&lt;·Pose2·&gt;</b>·(const·Vector·&amp;xi)</td></tr>
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2988 std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator&lt;&lt;</b>·(std::ostream·&amp;os,·const·<a·class="el"·href="a03180.html">Pose3</a>·&amp;pose)</td></tr>2988 std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator&lt;&lt;</b>·(std::ostream·&amp;os,·const·<a·class="el"·href="a03180.html">Pose3</a>·&amp;pose)</td></tr>
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2991 <tr·class="memitem:aefb606eb24889c0f418acf1515a2c723"><td·class="memTemplItemLeft"·align="right"·valign="top">Matrix&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#aefb606eb24889c0f418acf1515a2c723">wedge&lt;·Pose3·&gt;</a>·(const·Vector·&amp;xi)</td></tr>2991 <tr·class="memitem:aefb606eb24889c0f418acf1515a2c723"><td·class="memTemplItemLeft"·align="right"·valign="top">Matrix&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#aefb606eb24889c0f418acf1515a2c723">wedge&lt;·Pose3·&gt;</a>·(const·Vector·&amp;xi)</td></tr>
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3881 <tr·class="memitem:ad5602eb85d05df6cba60e47eebbd3636"·id="r_ad5602eb85d05df6cba60e47eebbd3636"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ad5602eb85d05df6cba60e47eebbd3636"·name="ad5602eb85d05df6cba60e47eebbd3636"></a>3881 <tr·class="memitem:ad5602eb85d05df6cba60e47eebbd3636"·id="r_ad5602eb85d05df6cba60e47eebbd3636"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ad5602eb85d05df6cba60e47eebbd3636"·name="ad5602eb85d05df6cba60e47eebbd3636"></a>
3882 const·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>logSqrt2PI</b>·=·log(std::sqrt(2.0·*·M_PI))</td></tr>3882 const·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>logSqrt2PI</b>·=·log(std::sqrt(2.0·*·M_PI))</td></tr>
3883 <tr·class="memdesc:ad5602eb85d05df6cba60e47eebbd3636"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">constant·needed·below·<br·/></td></tr>3883 <tr·class="memdesc:ad5602eb85d05df6cba60e47eebbd3636"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">constant·needed·below·<br·/></td></tr>
3884 <tr·class="separator:ad5602eb85d05df6cba60e47eebbd3636"><td·class="memSeparator"·colspan="2">&#160;</td></tr>3884 <tr·class="separator:ad5602eb85d05df6cba60e47eebbd3636"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
3885 </table>3885 </table>
3886 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>3886 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
3887 <div·class="textblock"><p>Global·functions·in·a·separate·testing·namespace.·</p>3887 <div·class="textblock"><p>Global·functions·in·a·separate·testing·namespace.·</p>
3888 <p><a·class="el"·href="a01286_source.html">triangulationFactor.h</a></p>3888 <p><a·class="el"·href="a01274_source.html">triangulationFactor.h</a></p>
3889 <p>This·file·supports·creating·continuous·functions·<code>f(x;p)</code>·as·a·linear·combination·of·<code>basis·functions</code>·such·as·the·Fourier·basis·on·SO(2)·or·a·set·of·Chebyshev·polynomials·on·[-1,1].</p>3889 <p>This·file·supports·creating·continuous·functions·<code>f(x;p)</code>·as·a·linear·combination·of·<code>basis·functions</code>·such·as·the·Fourier·basis·on·SO(2)·or·a·set·of·Chebyshev·polynomials·on·[-1,1].</p>
3890 <p>Matrix·is·a·typedef·in·the·gtsam·namespace·TODO:·make·a·version·to·work·with·matlab·wrapping·we·use·the·default·&lt;·double,col_major,unbounded_array&lt;double&gt;·&gt;</p>3890 <p>Matrix·is·a·typedef·in·the·gtsam·namespace·TODO:·make·a·version·to·work·with·matlab·wrapping·we·use·the·default·&lt;·double,col_major,unbounded_array&lt;double&gt;·&gt;</p>
3891 <p>These·should·not·be·used·outside·of·tests,·as·they·are·just·remappings·of·the·original·functions.·We·use·these·to·avoid·needing·to·do·too·much·std::bind·magic·or·writing·a·bunch·of·separate·proxy·functions.</p>3891 <p>These·should·not·be·used·outside·of·tests,·as·they·are·just·remappings·of·the·original·functions.·We·use·these·to·avoid·needing·to·do·too·much·std::bind·magic·or·writing·a·bunch·of·separate·proxy·functions.</p>
3892 <p>Don't·expect·all·classes·to·work·for·all·of·these·functions.</p>3892 <p>Don't·expect·all·classes·to·work·for·all·of·these·functions.</p>
3893 <p>In·the·expression·<code>f(x;p)</code>·the·variable·<code>x</code>·is·the·continuous·argument·at·which·the·function·is·evaluated,·and·<code>p</code>·are·the·parameters·which·are·coefficients·of·the·different·basis·functions,·e.g.·p·=·[4;·3;·2]·=&gt;·4·+·3x·+·2x^2·for·a·polynomial.·However,·different·parameterizations·are·also·possible.</p>3893 <p>In·the·expression·<code>f(x;p)</code>·the·variable·<code>x</code>·is·the·continuous·argument·at·which·the·function·is·evaluated,·and·<code>p</code>·are·the·parameters·which·are·coefficients·of·the·different·basis·functions,·e.g.·p·=·[4;·3;·2]·=&gt;·4·+·3x·+·2x^2·for·a·polynomial.·However,·different·parameterizations·are·also·possible.</p>
3894 <p>The·<code><a·class="el"·href="a02668.html"·title="CRTP·Base·class·for·function·bases.">Basis</a></code>·class·below·defines·a·number·of·functors·that·can·be·used·to·evaluate·<code>f(x;p)</code>·at·a·given·<code>x</code>,·and·these·functors·also·calculate·the·Jacobian·of·<code>f(x;p)</code>·with·respect·to·the·parameters·<code>p</code>.·This·is·actually·the·most·important·calculation,·as·it·will·allow·GTSAM·to·optimize·over·the·parameters·<code>p</code>.</p>3894 <p>The·<code><a·class="el"·href="a02668.html"·title="CRTP·Base·class·for·function·bases.">Basis</a></code>·class·below·defines·a·number·of·functors·that·can·be·used·to·evaluate·<code>f(x;p)</code>·at·a·given·<code>x</code>,·and·these·functors·also·calculate·the·Jacobian·of·<code>f(x;p)</code>·with·respect·to·the·parameters·<code>p</code>.·This·is·actually·the·most·important·calculation,·as·it·will·allow·GTSAM·to·optimize·over·the·parameters·<code>p</code>.</p>
3895 <p>This·functionality·is·implemented·using·the·<code>CRTP</code>·or·"Curiously·recurring3895 <p>This·functionality·is·implemented·using·the·<code>CRTP</code>·or·"Curiously·recurring
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198 Friends</h2></td></tr>198 Friends</h2></td></tr>
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185 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00128_source.html">Lie.h</a></li>185 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00002_source.html">Lie.h</a></li>
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149 typedef·<a·class="el"·href="a02276.html">traits</a>&lt;·T·&gt;::structure_category&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category_tag</b></td></tr>149 typedef·<a·class="el"·href="a02276.html">traits</a>&lt;·T·&gt;::structure_category&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category_tag</b></td></tr>
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155 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>155 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
156 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00128_source.html">Lie.h</a></li>156 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00002_source.html">Lie.h</a></li>
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127 ··<ul>127 ··<ul>
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118 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00107_source.html">Manifold.h</a></li>118 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00119_source.html">Manifold.h</a></li>
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122 <!--·start·footer·part·-->122 <!--·start·footer·part·-->
123 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->123 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
124 ··<ul>124 ··<ul>
125 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02388.html">manifold_tag</a></li>125 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02388.html">manifold_tag</a></li>
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139 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>139 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>
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146 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00107_source.html">Manifold.h</a></li>146 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00119_source.html">Manifold.h</a></li>
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150 <!--·start·footer·part·-->150 <!--·start·footer·part·-->
151 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->151 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
152 ··<ul>152 ··<ul>
153 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><b>internal</b></li><li·class="navelem"><a·class="el"·href="a02392.html">HasManifoldPrereqs</a></li>153 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><b>internal</b></li><li·class="navelem"><a·class="el"·href="a02392.html">HasManifoldPrereqs</a></li>
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146 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-static-methods"·name="pub-static-methods"></a>146 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-static-methods"·name="pub-static-methods"></a>
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153 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00107_source.html">Manifold.h</a></li>153 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00119_source.html">Manifold.h</a></li>
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157 <!--·start·footer·part·-->157 <!--·start·footer·part·-->
158 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->158 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
159 ··<ul>159 ··<ul>
160 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><b>internal</b></li><li·class="navelem"><a·class="el"·href="a02396.html">GetDimensionImpl</a></li>160 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><b>internal</b></li><li·class="navelem"><a·class="el"·href="a02396.html">GetDimensionImpl</a></li>
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124 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00095_source.html">Matrix.h</a></li>124 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00044_source.html">Matrix.h</a></li>
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130 ··<ul>130 ··<ul>
131 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02428.html">Reshape&lt;·N,·M,·InOptions,·M,·N,·InOptions·&gt;</a></li>131 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02428.html">Reshape&lt;·N,·M,·InOptions,·M,·N,·InOptions·&gt;</a></li>
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124 typedef·Eigen::Matrix&lt;·double,·N,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>VectorN</b></td></tr>124 typedef·Eigen::Matrix&lt;·double,·N,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>VectorN</b></td></tr>
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130 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>130 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
131 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00095_source.html">Matrix.h</a></li>131 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00044_source.html">Matrix.h</a></li>
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135 <!--·start·footer·part·-->135 <!--·start·footer·part·-->
136 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->136 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
137 ··<ul>137 ··<ul>
138 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02432.html">MultiplyWithInverse</a></li>138 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02432.html">MultiplyWithInverse</a></li>
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132 typedef·Eigen::Matrix&lt;·double,·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>MatrixN</b></td></tr>132 typedef·Eigen::Matrix&lt;·double,·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>MatrixN</b></td></tr>
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135 typedef·std::function&lt;·VectorN(const·T·&amp;,·const·VectorN·&amp;,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·M·&gt;,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;)&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Operator</b></td></tr>135 typedef·std::function&lt;·VectorN(const·T·&amp;,·const·VectorN·&amp;,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·M·&gt;,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;)&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Operator</b></td></tr>
136 <tr·class="separator:ad18328125d5ee3f44f667f70966a69b8"><td·class="memSeparator"·colspan="2">&#160;</td></tr>136 <tr·class="separator:ad18328125d5ee3f44f667f70966a69b8"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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138 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>138 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
139 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00095_source.html">Matrix.h</a></li>139 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00044_source.html">Matrix.h</a></li>
140 </ul>140 </ul>
141 </div><!--·contents·-->141 </div><!--·contents·-->
142 </div><!--·doc-content·-->142 </div><!--·doc-content·-->
143 <!--·start·footer·part·-->143 <!--·start·footer·part·-->
144 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->144 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
145 ··<ul>145 ··<ul>
146 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02436.html">MultiplyWithInverseFunction</a></li>146 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02436.html">MultiplyWithInverseFunction</a></li>
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./usr/share/doc/libgtsam-dev/html/a02440.html
    
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107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>
108 Public·Types</h2></td></tr>108 Public·Types</h2></td></tr>
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110 typedef·Eigen::Matrix&lt;·double,·<a·class="el"·href="a02276.html">traits</a>&lt;·Y·&gt;::dimension,·<a·class="el"·href="a02276.html">traits</a>&lt;·X·&gt;::dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>type</b></td></tr>110 typedef·Eigen::Matrix&lt;·double,·<a·class="el"·href="a02276.html">traits</a>&lt;·Y·&gt;::dimension,·<a·class="el"·href="a02276.html">traits</a>&lt;·X·&gt;::dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>type</b></td></tr>
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113 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>113 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
114 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00017_source.html">numericalDerivative.h</a></li>114 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00140_source.html">numericalDerivative.h</a></li>
115 </ul>115 </ul>
116 </div><!--·contents·-->116 </div><!--·contents·-->
117 </div><!--·doc-content·-->117 </div><!--·doc-content·-->
118 <!--·start·footer·part·-->118 <!--·start·footer·part·-->
119 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->119 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
120 ··<ul>120 ··<ul>
121 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><b>internal</b></li><li·class="navelem"><a·class="el"·href="a02440.html">FixedSizeMatrix</a></li>121 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><b>internal</b></li><li·class="navelem"><a·class="el"·href="a02440.html">FixedSizeMatrix</a></li>
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./usr/share/doc/libgtsam-dev/html/a02444.html
    
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121 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>121 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>
122 Public·Types</h2></td></tr>122 Public·Types</h2></td></tr>
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124 typedef·<a·class="el"·href="a02440.html">internal::FixedSizeMatrix</a>&lt;·X1·&gt;::type&#160;</td><td·class="memItemRight"·valign="bottom"><b>Vector</b></td></tr>124 typedef·<a·class="el"·href="a02440.html">internal::FixedSizeMatrix</a>&lt;·X1·&gt;::type&#160;</td><td·class="memItemRight"·valign="bottom"><b>Vector</b></td></tr>
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127 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>127 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
128 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00017_source.html">numericalDerivative.h</a></li>128 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00140_source.html">numericalDerivative.h</a></li>
129 </ul>129 </ul>
130 </div><!--·contents·-->130 </div><!--·contents·-->
131 </div><!--·doc-content·-->131 </div><!--·doc-content·-->
132 <!--·start·footer·part·-->132 <!--·start·footer·part·-->
133 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->133 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
134 ··<ul>134 ··<ul>
135 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02444.html">G_x1</a></li>135 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02444.html">G_x1</a></li>
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./usr/share/doc/libgtsam-dev/html/a02448.html
    
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262 <p>Return·true·if·allocated,·false·if·default·constructor·was·used·</p>262 <p>Return·true·if·allocated,·false·if·default·constructor·was·used·</p>
  
263 </div>263 </div>
264 </div>264 </div>
265 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>265 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
266 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00083_source.html">OptionalJacobian.h</a></li>266 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00035_source.html">OptionalJacobian.h</a></li>
267 </ul>267 </ul>
268 </div><!--·contents·-->268 </div><!--·contents·-->
269 </div><!--·doc-content·-->269 </div><!--·doc-content·-->
270 <!--·start·footer·part·-->270 <!--·start·footer·part·-->
271 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->271 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
272 ··<ul>272 ··<ul>
273 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02448.html">OptionalJacobian</a></li>273 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02448.html">OptionalJacobian</a></li>
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934 B
./usr/share/doc/libgtsam-dev/html/a02452.html
    
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172 <p>View·on·constructor·argument,·if·given.·</p>172 <p>View·on·constructor·argument,·if·given.·</p>
173 <p>Default·constructor·acts·like·boost::none·</p>173 <p>Default·constructor·acts·like·boost::none·</p>
  
174 </div>174 </div>
175 </div>175 </div>
176 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>176 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
177 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00083_source.html">OptionalJacobian.h</a></li>177 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00035_source.html">OptionalJacobian.h</a></li>
178 </ul>178 </ul>
179 </div><!--·contents·-->179 </div><!--·contents·-->
180 </div><!--·doc-content·-->180 </div><!--·doc-content·-->
181 <!--·start·footer·part·-->181 <!--·start·footer·part·-->
182 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->182 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
183 ··<ul>183 ··<ul>
184 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02452.html">OptionalJacobian&lt;·Eigen::Dynamic,·Eigen::Dynamic·&gt;</a></li>184 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02452.html">OptionalJacobian&lt;·Eigen::Dynamic,·Eigen::Dynamic·&gt;</a></li>
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1.47 KB
./usr/share/doc/libgtsam-dev/html/a02456.html
    
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117 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>117 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>
118 Public·Types</h2></td></tr>118 Public·Types</h2></td></tr>
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123 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>123 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
124 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00083_source.html">OptionalJacobian.h</a></li>124 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00035_source.html">OptionalJacobian.h</a></li>
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128 <!--·start·footer·part·-->128 <!--·start·footer·part·-->
129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
130 ··<ul>130 ··<ul>
131 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02456.html">MakeJacobian</a></li>131 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02456.html">MakeJacobian</a></li>
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123 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>123 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
124 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00083_source.html">OptionalJacobian.h</a></li>124 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00035_source.html">OptionalJacobian.h</a></li>
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128 <!--·start·footer·part·-->128 <!--·start·footer·part·-->
129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
130 ··<ul>130 ··<ul>
131 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02460.html">MakeOptionalJacobian</a></li>131 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02460.html">MakeOptionalJacobian</a></li>
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213 ·}</td></tr>213 ·}</td></tr>
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218 </table>218 </table>
219 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>219 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
220 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00110_source.html">ProductLieGroup.h</a></li>220 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00083_source.html">ProductLieGroup.h</a></li>
221 </ul>221 </ul>
222 </div><!--·contents·-->222 </div><!--·contents·-->
223 </div><!--·doc-content·-->223 </div><!--·doc-content·-->
224 <!--·start·footer·part·-->224 <!--·start·footer·part·-->
225 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->225 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
226 ··<ul>226 ··<ul>
227 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02464.html">ProductLieGroup</a></li>227 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02464.html">ProductLieGroup</a></li>
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162 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>162 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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164 <tr·class="memitem:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"·id="r_ac851cf8141809789f7e205a86c1b8302"><td·class="memItemLeft"·align="right"·valign="top">164 <tr·class="memitem:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"·id="r_ac851cf8141809789f7e205a86c1b8302"><td·class="memItemLeft"·align="right"·valign="top">
165 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>165 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
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167 </table>167 </table>
168 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>168 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
169 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00110_source.html">ProductLieGroup.h</a></li>169 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00083_source.html">ProductLieGroup.h</a></li>
170 </ul>170 </ul>
171 </div><!--·contents·-->171 </div><!--·contents·-->
172 </div><!--·doc-content·-->172 </div><!--·doc-content·-->
173 <!--·start·footer·part·-->173 <!--·start·footer·part·-->
174 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->174 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
175 ··<ul>175 ··<ul>
176 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02468.html">traits&lt;·ProductLieGroup&lt;·G,·H·&gt;·&gt;</a></li>176 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02468.html">traits&lt;·ProductLieGroup&lt;·G,·H·&gt;·&gt;</a></li>
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550 <p>Update·an·off·diagonal·block.·</p>550 <p>Update·an·off·diagonal·block.·</p>
551 <p>NOTE(emmett):·This·assumes·noalias().·</p>551 <p>NOTE(emmett):·This·assumes·noalias().·</p>
  
552 </div>552 </div>
553 </div>553 </div>
554 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>554 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
555 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00113_source.html">SymmetricBlockMatrix.h</a></li>555 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00089_source.html">SymmetricBlockMatrix.h</a></li>
556 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00077.html">SymmetricBlockMatrix.cpp</a></li>556 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00029.html">SymmetricBlockMatrix.cpp</a></li>
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560 <!--·start·footer·part·-->560 <!--·start·footer·part·-->
561 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->561 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
562 ··<ul>562 ··<ul>
563 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02472.html">SymmetricBlockMatrix</a></li>563 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02472.html">SymmetricBlockMatrix</a></li>
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117 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-methods"·name="pub-methods"></a>117 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-methods"·name="pub-methods"></a>
118 Public·Member·Functions</h2></td></tr>118 Public·Member·Functions</h2></td></tr>
119 <tr·class="memitem:afe5ace04da8841b1c6af7ac3b3e474a5"·id="r_afe5ace04da8841b1c6af7ac3b3e474a5"><td·class="memItemLeft"·align="right"·valign="top"><a·id="afe5ace04da8841b1c6af7ac3b3e474a5"·name="afe5ace04da8841b1c6af7ac3b3e474a5"></a>119 <tr·class="memitem:afe5ace04da8841b1c6af7ac3b3e474a5"·id="r_afe5ace04da8841b1c6af7ac3b3e474a5"><td·class="memItemLeft"·align="right"·valign="top"><a·id="afe5ace04da8841b1c6af7ac3b3e474a5"·name="afe5ace04da8841b1c6af7ac3b3e474a5"></a>
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121 <tr·class="separator:afe5ace04da8841b1c6af7ac3b3e474a5"><td·class="memSeparator"·colspan="2">&#160;</td></tr>121 <tr·class="separator:afe5ace04da8841b1c6af7ac3b3e474a5"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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123 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>123 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
124 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00071_source.html">Testable.h</a></li>124 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00107_source.html">Testable.h</a></li>
125 </ul>125 </ul>
126 </div><!--·contents·-->126 </div><!--·contents·-->
127 </div><!--·doc-content·-->127 </div><!--·doc-content·-->
128 <!--·start·footer·part·-->128 <!--·start·footer·part·-->
129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
130 ··<ul>130 ··<ul>
131 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02476.html">IsTestable</a></li>131 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02476.html">IsTestable</a></li>
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128 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-attribs"·name="pub-attribs"></a>128 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-attribs"·name="pub-attribs"></a>
129 Public·Attributes</h2></td></tr>129 Public·Attributes</h2></td></tr>
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131 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>tol_</b></td></tr>131 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>tol_</b></td></tr>
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134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00071_source.html">Testable.h</a></li>135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00107_source.html">Testable.h</a></li>
136 </ul>136 </ul>
137 </div><!--·contents·-->137 </div><!--·contents·-->
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139 <!--·start·footer·part·-->139 <!--·start·footer·part·-->
140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
141 ··<ul>141 ··<ul>
142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02480.html">equals</a></li>142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02480.html">equals</a></li>
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128 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-attribs"·name="pub-attribs"></a>128 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-attribs"·name="pub-attribs"></a>
129 Public·Attributes</h2></td></tr>129 Public·Attributes</h2></td></tr>
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138 typedef·const·T·*&#160;</td><td·class="memItemRight"·valign="bottom"><b>const_iterator</b></td></tr>138 typedef·const·T·*&#160;</td><td·class="memItemRight"·valign="bottom"><b>const_iterator</b></td></tr>
139 <tr·class="separator:a43b268020b05628f93c18d4739a15291"><td·class="memSeparator"·colspan="2">&#160;</td></tr>139 <tr·class="separator:a43b268020b05628f93c18d4739a15291"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
140 <tr·class="memitem:ae2354036bc9ad92fd4e5663143397544"·id="r_ae2354036bc9ad92fd4e5663143397544"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ae2354036bc9ad92fd4e5663143397544"·name="ae2354036bc9ad92fd4e5663143397544"></a>140 <tr·class="memitem:ae2354036bc9ad92fd4e5663143397544"·id="r_ae2354036bc9ad92fd4e5663143397544"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ae2354036bc9ad92fd4e5663143397544"·name="ae2354036bc9ad92fd4e5663143397544"></a>
141 typedef·T·*&#160;</td><td·class="memItemRight"·valign="bottom"><b>iterator</b></td></tr>141 typedef·T·*&#160;</td><td·class="memItemRight"·valign="bottom"><b>iterator</b></td></tr>
142 <tr·class="separator:ae2354036bc9ad92fd4e5663143397544"><td·class="memSeparator"·colspan="2">&#160;</td></tr>142 <tr·class="separator:ae2354036bc9ad92fd4e5663143397544"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
143 </table>143 </table>
144 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>144 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
145 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00125_source.html">types.h</a></li>145 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00146_source.html">types.h</a></li>
146 </ul>146 </ul>
147 </div><!--·contents·-->147 </div><!--·contents·-->
148 </div><!--·doc-content·-->148 </div><!--·doc-content·-->
149 <!--·start·footer·part·-->149 <!--·start·footer·part·-->
150 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->150 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
151 ··<ul>151 ··<ul>
152 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02552.html">ListOfOneContainer</a></li>152 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02552.html">ListOfOneContainer</a></li>
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102 ··<div·class="headertitle"><div·class="title">gtsam::TbbOpenMPMixedScope·Class·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">gtsam::TbbOpenMPMixedScope·Class·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
105 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>105 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
106 <div·class="textblock"><p>An·object·whose·scope·defines·a·block·where·TBB·and·OpenMP·parallelism·are·mixed.·</p>106 <div·class="textblock"><p>An·object·whose·scope·defines·a·block·where·TBB·and·OpenMP·parallelism·are·mixed.·</p>
107 <p>In·such·a·block,·we·use·default·threads·for·TBB,·and·p/2·threads·for·OpenMP.·If·GTSAM·is·not·compiled·to·use·both·TBB·and·OpenMP,·this·has·no·effect.·</p>107 <p>In·such·a·block,·we·use·default·threads·for·TBB,·and·p/2·threads·for·OpenMP.·If·GTSAM·is·not·compiled·to·use·both·TBB·and·OpenMP,·this·has·no·effect.·</p>
108 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>108 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
109 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00125_source.html">types.h</a></li>109 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00146_source.html">types.h</a></li>
110 </ul>110 </ul>
111 </div><!--·contents·-->111 </div><!--·contents·-->
112 </div><!--·doc-content·-->112 </div><!--·doc-content·-->
113 <!--·start·footer·part·-->113 <!--·start·footer·part·-->
114 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->114 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
115 ··<ul>115 ··<ul>
116 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02556.html">TbbOpenMPMixedScope</a></li>116 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02556.html">TbbOpenMPMixedScope</a></li>
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104 <div·class="textblock"><div·class="compoundTemplParams">template&lt;typename,·typename·=·void_t&lt;&gt;&gt;<br·/>104 <div·class="textblock"><div·class="compoundTemplParams">template&lt;typename,·typename·=·void_t&lt;&gt;&gt;<br·/>
105 struct·gtsam::needs_eigen_aligned_allocator&lt;·typename,·typename·&gt;</div><p>A·SFINAE·trait·to·mark·classes·that·need·special·alignment.·</p>105 struct·gtsam::needs_eigen_aligned_allocator&lt;·typename,·typename·&gt;</div><p>A·SFINAE·trait·to·mark·classes·that·need·special·alignment.·</p>
106 <p>This·is·required·to·make·boost::make_shared·and·etc·respect·alignment,·which·is·essential·for·the·Python·wrappers·to·work·properly.</p>106 <p>This·is·required·to·make·boost::make_shared·and·etc·respect·alignment,·which·is·essential·for·the·Python·wrappers·to·work·properly.</p>
107 <h1><a·class="anchor"·id="autotoc_md1"></a>107 <h1><a·class="anchor"·id="autotoc_md1"></a>
108 Explanation</h1>108 Explanation</h1>
109 <p>When·a·GTSAM·type·is·not·declared·with·the·type·alias·<code>_eigen_aligned_allocator_trait·=·void</code>,·the·first·template·will·be·taken·so·<code><a·class="el"·href="a02560.html"·title="A·SFINAE·trait·to·mark·classes·that·need·special·alignment.">needs_eigen_aligned_allocator</a></code>·will·be·resolved·to·<code>std::false_type</code>.</p>109 <p>When·a·GTSAM·type·is·not·declared·with·the·type·alias·<code>_eigen_aligned_allocator_trait·=·void</code>,·the·first·template·will·be·taken·so·<code><a·class="el"·href="a02560.html"·title="A·SFINAE·trait·to·mark·classes·that·need·special·alignment.">needs_eigen_aligned_allocator</a></code>·will·be·resolved·to·<code>std::false_type</code>.</p>
110 <p>Otherwise,·it·will·resolve·to·the·second·template,·which·will·be·resolved·to·<code>std::true_type</code>.</p>110 <p>Otherwise,·it·will·resolve·to·the·second·template,·which·will·be·resolved·to·<code>std::true_type</code>.</p>
111 <p>Please·refer·to·<code><a·class="el"·href="a00056.html"·title="make_shared·trampoline·function·to·ensure·proper·alignment">gtsam/base/make_shared.h</a></code>·for·an·example.·</p>111 <p>Please·refer·to·<code><a·class="el"·href="a00062.html"·title="make_shared·trampoline·function·to·ensure·proper·alignment">gtsam/base/make_shared.h</a></code>·for·an·example.·</p>
112 </div><div·id="dynsection-0"·onclick="return·toggleVisibility(this)"·class="dynheader·closed"·style="cursor:pointer;">112 </div><div·id="dynsection-0"·onclick="return·toggleVisibility(this)"·class="dynheader·closed"·style="cursor:pointer;">
113 ··<img·id="dynsection-0-trigger"·src="closed.png"·alt="+"/>·Inheritance·diagram·for·gtsam::needs_eigen_aligned_allocator&lt;·typename,·typename·&gt;:</div>113 ··<img·id="dynsection-0-trigger"·src="closed.png"·alt="+"/>·Inheritance·diagram·for·gtsam::needs_eigen_aligned_allocator&lt;·typename,·typename·&gt;:</div>
114 <div·id="dynsection-0-summary"·class="dynsummary"·style="display:block;">114 <div·id="dynsection-0-summary"·class="dynsummary"·style="display:block;">
115 </div>115 </div>
116 <div·id="dynsection-0-content"·class="dyncontent"·style="display:none;">116 <div·id="dynsection-0-content"·class="dyncontent"·style="display:none;">
117 ·<div·class="center">117 ·<div·class="center">
118 ··<img·src="a02560.png"·alt=""/>118 ··<img·src="a02560.png"·alt=""/>
119 ·</div></div>119 ·</div></div>
120 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>120 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
121 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00125_source.html">types.h</a></li>121 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00146_source.html">types.h</a></li>
122 </ul>122 </ul>
123 </div><!--·contents·-->123 </div><!--·contents·-->
124 </div><!--·doc-content·-->124 </div><!--·doc-content·-->
125 <!--·start·footer·part·-->125 <!--·start·footer·part·-->
126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
127 ··<ul>127 ··<ul>
128 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02560.html">needs_eigen_aligned_allocator</a></li>128 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02560.html">needs_eigen_aligned_allocator</a></li>
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105 <div·id="dynsection-0-summary"·class="dynsummary"·style="display:block;">105 <div·id="dynsection-0-summary"·class="dynsummary"·style="display:block;">
106 </div>106 </div>
107 <div·id="dynsection-0-content"·class="dyncontent"·style="display:none;">107 <div·id="dynsection-0-content"·class="dyncontent"·style="display:none;">
108 ·<div·class="center">108 ·<div·class="center">
109 ··<img·src="a02564.png"·alt=""/>109 ··<img·src="a02564.png"·alt=""/>
110 ·</div></div>110 ·</div></div>
111 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>111 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
112 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00125_source.html">types.h</a></li>112 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00146_source.html">types.h</a></li>
113 </ul>113 </ul>
114 </div><!--·contents·-->114 </div><!--·contents·-->
115 </div><!--·doc-content·-->115 </div><!--·doc-content·-->
116 <!--·start·footer·part·-->116 <!--·start·footer·part·-->
117 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->117 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
118 ··<ul>118 ··<ul>
119 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02564.html">needs_eigen_aligned_allocator&lt;·T,·void_t&lt;·typename·T::_eigen_aligned_allocator_trait·&gt;·&gt;</a></li>119 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02564.html">needs_eigen_aligned_allocator&lt;·T,·void_t&lt;·typename·T::_eigen_aligned_allocator_trait·&gt;·&gt;</a></li>
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501 ········http://www.boost.org/doc/libs/release/libs/serialization/doc/traits.html#export501 ········http://www.boost.org/doc/libs/release/libs/serialization/doc/traits.html#export
502 ··The·last·two·links·explain·why·these·export·lines·have·to·be·in·the·same·source·module·that·includes502 ··The·last·two·links·explain·why·these·export·lines·have·to·be·in·the·same·source·module·that·includes
503 ··any·of·the·archive·class·headers.503 ··any·of·the·archive·class·headers.
504 </pre>·504 </pre>·
505 </div>505 </div>
506 </div>506 </div>
507 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>507 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
508 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00068_source.html">Value.h</a></li>508 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00110_source.html">Value.h</a></li>
509 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00086_source.html">GenericValue.h</a></li>509 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00011_source.html">GenericValue.h</a></li>
510 </ul>510 </ul>
511 </div><!--·contents·-->511 </div><!--·contents·-->
512 </div><!--·doc-content·-->512 </div><!--·doc-content·-->
513 <!--·start·footer·part·-->513 <!--·start·footer·part·-->
514 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->514 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
515 ··<ul>515 ··<ul>
516 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02596.html">Value</a></li>516 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02596.html">Value</a></li>
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112 ··<map·id="gtsam::vector_5Fspace_5Ftag_map"·name="gtsam::vector_5Fspace_5Ftag_map">112 ··<map·id="gtsam::vector_5Fspace_5Ftag_map"·name="gtsam::vector_5Fspace_5Ftag_map">
113 <area·href="a02368.html"·title="tag·to·assert·a·type·is·a·Lie·group"·alt="gtsam::lie_group_tag"·shape="rect"·coords="80,56,231,80"/>113 <area·href="a02368.html"·title="tag·to·assert·a·type·is·a·Lie·group"·alt="gtsam::lie_group_tag"·shape="rect"·coords="80,56,231,80"/>
114 <area·href="a02388.html"·title="tag·to·assert·a·type·is·a·manifold"·alt="gtsam::manifold_tag"·shape="rect"·coords="0,0,151,24"/>114 <area·href="a02388.html"·title="tag·to·assert·a·type·is·a·manifold"·alt="gtsam::manifold_tag"·shape="rect"·coords="0,0,151,24"/>
115 <area·href="a02332.html"·title="tag·to·assert·a·type·is·a·group"·alt="gtsam::group_tag"·shape="rect"·coords="161,0,312,24"/>115 <area·href="a02332.html"·title="tag·to·assert·a·type·is·a·group"·alt="gtsam::group_tag"·shape="rect"·coords="161,0,312,24"/>
116 ··</map>116 ··</map>
117 </div></div>117 </div></div>
118 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>118 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
119 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00041_source.html">VectorSpace.h</a></li>119 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00080_source.html">VectorSpace.h</a></li>
120 </ul>120 </ul>
121 </div><!--·contents·-->121 </div><!--·contents·-->
122 </div><!--·doc-content·-->122 </div><!--·doc-content·-->
123 <!--·start·footer·part·-->123 <!--·start·footer·part·-->
124 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->124 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
125 ··<ul>125 ··<ul>
126 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02600.html">vector_space_tag</a></li>126 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02600.html">vector_space_tag</a></li>
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159 static·Class&#160;</td><td·class="memItemRight"·valign="bottom"><b>Between</b>·(const·Class·&amp;v1,·const·Class·&amp;v2,·ChartJacobian·H1=boost::none,·ChartJacobian·H2=boost::none)</td></tr>159 static·Class&#160;</td><td·class="memItemRight"·valign="bottom"><b>Between</b>·(const·Class·&amp;v1,·const·Class·&amp;v2,·ChartJacobian·H1=boost::none,·ChartJacobian·H2=boost::none)</td></tr>
160 <tr·class="separator:abc406a29d2318d71a4f0e958f821ae8b"><td·class="memSeparator"·colspan="2">&#160;</td></tr>160 <tr·class="separator:abc406a29d2318d71a4f0e958f821ae8b"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
161 <tr·class="memitem:af83be522c5faac805c95c3c338f747ae"·id="r_af83be522c5faac805c95c3c338f747ae"><td·class="memItemLeft"·align="right"·valign="top"><a·id="af83be522c5faac805c95c3c338f747ae"·name="af83be522c5faac805c95c3c338f747ae"></a>161 <tr·class="memitem:af83be522c5faac805c95c3c338f747ae"·id="r_af83be522c5faac805c95c3c338f747ae"><td·class="memItemLeft"·align="right"·valign="top"><a·id="af83be522c5faac805c95c3c338f747ae"·name="af83be522c5faac805c95c3c338f747ae"></a>
162 static·Class&#160;</td><td·class="memItemRight"·valign="bottom"><b>Inverse</b>·(const·Class·&amp;v,·ChartJacobian·H=boost::none)</td></tr>162 static·Class&#160;</td><td·class="memItemRight"·valign="bottom"><b>Inverse</b>·(const·Class·&amp;v,·ChartJacobian·H=boost::none)</td></tr>
163 <tr·class="separator:af83be522c5faac805c95c3c338f747ae"><td·class="memSeparator"·colspan="2">&#160;</td></tr>163 <tr·class="separator:af83be522c5faac805c95c3c338f747ae"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
164 </table>164 </table>
165 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>165 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
166 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00041_source.html">VectorSpace.h</a></li>166 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00080_source.html">VectorSpace.h</a></li>
167 </ul>167 </ul>
168 </div><!--·contents·-->168 </div><!--·contents·-->
169 </div><!--·doc-content·-->169 </div><!--·doc-content·-->
170 <!--·start·footer·part·-->170 <!--·start·footer·part·-->
171 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->171 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
172 ··<ul>172 ··<ul>
173 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><b>internal</b></li><li·class="navelem"><a·class="el"·href="a02604.html">VectorSpaceImpl</a></li>173 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><b>internal</b></li><li·class="navelem"><a·class="el"·href="a02604.html">VectorSpaceImpl</a></li>
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186 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>186 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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202 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>202 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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198 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>198 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
199 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00041_source.html">VectorSpace.h</a></li>199 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00080_source.html">VectorSpace.h</a></li>
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203 <!--·start·footer·part·-->203 <!--·start·footer·part·-->
204 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->204 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
205 ··<ul>205 ··<ul>
206 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02632.html">traits&lt;·float·&gt;</a></li>206 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02632.html">traits&lt;·float·&gt;</a></li>
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./usr/share/doc/libgtsam-dev/html/a02636.html
    
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204 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>204 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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210 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>210 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
211 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00041_source.html">VectorSpace.h</a></li>211 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00080_source.html">VectorSpace.h</a></li>
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215 <!--·start·footer·part·-->215 <!--·start·footer·part·-->
216 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->216 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
217 ··<ul>217 ··<ul>
218 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02636.html">traits&lt;·Eigen::Matrix&lt;·double,·M,·N,·Options,·MaxRows,·MaxCols·&gt;·&gt;</a></li>218 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02636.html">traits&lt;·Eigen::Matrix&lt;·double,·M,·N,·Options,·MaxRows,·MaxCols·&gt;·&gt;</a></li>
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173 typedef·<a·class="el"·href="a02600.html">vector_space_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>173 typedef·<a·class="el"·href="a02600.html">vector_space_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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179 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>179 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
180 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00041_source.html">VectorSpace.h</a></li>180 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00080_source.html">VectorSpace.h</a></li>
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184 <!--·start·footer·part·-->184 <!--·start·footer·part·-->
185 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->185 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
186 ··<ul>186 ··<ul>
187 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><b>internal</b></li><li·class="navelem"><a·class="el"·href="a02640.html">DynamicTraits</a></li>187 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><b>internal</b></li><li·class="navelem"><a·class="el"·href="a02640.html">DynamicTraits</a></li>
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./usr/share/doc/libgtsam-dev/html/a02644.html
    
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175 typedef·Dynamic&#160;</td><td·class="memItemRight"·valign="bottom"><b>ManifoldType</b></td></tr>175 typedef·Dynamic&#160;</td><td·class="memItemRight"·valign="bottom"><b>ManifoldType</b></td></tr>
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177 <tr·class="memitem:a4311be8118d47ac06a213b47ab4d74c1·inherit·pub_types_a02640"·id="r_a4311be8118d47ac06a213b47ab4d74c1"><td·class="memItemLeft"·align="right"·valign="top">177 <tr·class="memitem:a4311be8118d47ac06a213b47ab4d74c1·inherit·pub_types_a02640"·id="r_a4311be8118d47ac06a213b47ab4d74c1"><td·class="memItemLeft"·align="right"·valign="top">
178 typedef·<a·class="el"·href="a02340.html">additive_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>178 typedef·<a·class="el"·href="a02340.html">additive_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
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181 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>181 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
182 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00041_source.html">VectorSpace.h</a></li>182 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00080_source.html">VectorSpace.h</a></li>
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185 </div><!--·doc-content·-->185 </div><!--·doc-content·-->
186 <!--·start·footer·part·-->186 <!--·start·footer·part·-->
187 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->187 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
188 ··<ul>188 ··<ul>
189 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02644.html">traits&lt;·Eigen::Matrix&lt;·double,·-1,·-1,·Options,·MaxRows,·MaxCols·&gt;·&gt;</a></li>189 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02644.html">traits&lt;·Eigen::Matrix&lt;·double,·-1,·-1,·Options,·MaxRows,·MaxCols·&gt;·&gt;</a></li>
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175 typedef·Dynamic&#160;</td><td·class="memItemRight"·valign="bottom"><b>ManifoldType</b></td></tr>175 typedef·Dynamic&#160;</td><td·class="memItemRight"·valign="bottom"><b>ManifoldType</b></td></tr>
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181 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>181 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
182 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00041_source.html">VectorSpace.h</a></li>182 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00080_source.html">VectorSpace.h</a></li>
183 </ul>183 </ul>
184 </div><!--·contents·-->184 </div><!--·contents·-->
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186 <!--·start·footer·part·-->186 <!--·start·footer·part·-->
187 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->187 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
188 ··<ul>188 ··<ul>
189 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02648.html">traits&lt;·Eigen::Matrix&lt;·double,·-1,·1,·Options,·MaxRows,·MaxCols·&gt;·&gt;</a></li>189 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02648.html">traits&lt;·Eigen::Matrix&lt;·double,·-1,·1,·Options,·MaxRows,·MaxCols·&gt;·&gt;</a></li>
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175 typedef·Dynamic&#160;</td><td·class="memItemRight"·valign="bottom"><b>ManifoldType</b></td></tr>175 typedef·Dynamic&#160;</td><td·class="memItemRight"·valign="bottom"><b>ManifoldType</b></td></tr>
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178 typedef·<a·class="el"·href="a02340.html">additive_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>178 typedef·<a·class="el"·href="a02340.html">additive_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
179 <tr·class="separator:a4311be8118d47ac06a213b47ab4d74c1·inherit·pub_types_a02640"><td·class="memSeparator"·colspan="2">&#160;</td></tr>179 <tr·class="separator:a4311be8118d47ac06a213b47ab4d74c1·inherit·pub_types_a02640"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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181 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>181 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
182 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00041_source.html">VectorSpace.h</a></li>182 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00080_source.html">VectorSpace.h</a></li>
183 </ul>183 </ul>
184 </div><!--·contents·-->184 </div><!--·contents·-->
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186 <!--·start·footer·part·-->186 <!--·start·footer·part·-->
187 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->187 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
188 ··<ul>188 ··<ul>
189 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02652.html">traits&lt;·Eigen::Matrix&lt;·double,·1,·-1,·Options,·MaxRows,·MaxCols·&gt;·&gt;</a></li>189 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02652.html">traits&lt;·Eigen::Matrix&lt;·double,·1,·-1,·Options,·MaxRows,·MaxCols·&gt;·&gt;</a></li>
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157 typedef·<a·class="el"·href="a02276.html">traits</a>&lt;·T·&gt;::structure_category&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category_tag</b></td></tr>157 typedef·<a·class="el"·href="a02276.html">traits</a>&lt;·T·&gt;::structure_category&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category_tag</b></td></tr>
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159 <tr·class="memitem:aa51556bb471cf5917720c139c44cc2b5·inherit·pub_types_a02344"·id="r_aa51556bb471cf5917720c139c44cc2b5"><td·class="memItemLeft"·align="right"·valign="top">159 <tr·class="memitem:aa51556bb471cf5917720c139c44cc2b5·inherit·pub_types_a02344"·id="r_aa51556bb471cf5917720c139c44cc2b5"><td·class="memItemLeft"·align="right"·valign="top">
160 typedef·<a·class="el"·href="a02276.html">traits</a>&lt;·T·&gt;::group_flavor&#160;</td><td·class="memItemRight"·valign="bottom"><b>flavor_tag</b></td></tr>160 typedef·<a·class="el"·href="a02276.html">traits</a>&lt;·T·&gt;::group_flavor&#160;</td><td·class="memItemRight"·valign="bottom"><b>flavor_tag</b></td></tr>
161 <tr·class="separator:aa51556bb471cf5917720c139c44cc2b5·inherit·pub_types_a02344"><td·class="memSeparator"·colspan="2">&#160;</td></tr>161 <tr·class="separator:aa51556bb471cf5917720c139c44cc2b5·inherit·pub_types_a02344"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
162 </table>162 </table>
163 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>163 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
164 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00041_source.html">VectorSpace.h</a></li>164 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/<a·class="el"·href="a00080_source.html">VectorSpace.h</a></li>
165 </ul>165 </ul>
166 </div><!--·contents·-->166 </div><!--·contents·-->
167 </div><!--·doc-content·-->167 </div><!--·doc-content·-->
168 <!--·start·footer·part·-->168 <!--·start·footer·part·-->
169 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->169 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
170 ··<ul>170 ··<ul>
171 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02656.html">IsVectorSpace</a></li>171 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02656.html">IsVectorSpace</a></li>
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393 <p>Get·the·apparent·last·row·(exclusive,·i.e.·</p>393 <p>Get·the·apparent·last·row·(exclusive,·i.e.·</p>
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./usr/share/doc/libgtsam-dev/html/a02692.html
    
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164 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00164_source.html">Basis.h</a></li>164 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00158_source.html">Basis.h</a></li>
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170 ··<ul>170 ··<ul>
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1.14 KB
./usr/share/doc/libgtsam-dev/html/a02696.html
    
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214 <p>Calculate·the·<code>M*(M*N)</code>·Jacobian·of·this·functor·with·respect·to·the·M*N·parameter·matrix·<code>P</code>.·</p>214 <p>Calculate·the·<code>M*(M*N)</code>·Jacobian·of·this·functor·with·respect·to·the·M*N·parameter·matrix·<code>P</code>.·</p>
215 <p>We·flatten·assuming·column-major·order,·e.g.,·if·N=3·and·M=2,·we·have·H·=[·w(0)·0·w(1)·0·w(2)·0·0·w(0)·0·w(1)·0·w(2)·]·i.e.,·the·Kronecker·product·of·weights_·with·the·MxM·identity·matrix.·</p>215 <p>We·flatten·assuming·column-major·order,·e.g.,·if·N=3·and·M=2,·we·have·H·=[·w(0)·0·w(1)·0·w(2)·0·0·w(0)·0·w(1)·0·w(2)·]·i.e.,·the·Kronecker·product·of·weights_·with·the·MxM·identity·matrix.·</p>
  
216 </div>216 </div>
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219 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00164_source.html">Basis.h</a></li>219 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00158_source.html">Basis.h</a></li>
220 </ul>220 </ul>
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223 <!--·start·footer·part·-->223 <!--·start·footer·part·-->
224 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->224 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
225 ··<ul>225 ··<ul>
226 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02668.html">Basis</a></li><li·class="navelem"><a·class="el"·href="a02696.html">VectorDerivativeFunctor</a></li>226 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02668.html">Basis</a></li><li·class="navelem"><a·class="el"·href="a02696.html">VectorDerivativeFunctor</a></li>
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1.61 KB
./usr/share/doc/libgtsam-dev/html/a02700.html
    
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184 <tr·class="memitem:a8189d1e0071821552141e5e1689b69c5·inherit·pro_attribs_a02688"·id="r_a8189d1e0071821552141e5e1689b69c5"><td·class="memItemLeft"·align="right"·valign="top">184 <tr·class="memitem:a8189d1e0071821552141e5e1689b69c5·inherit·pro_attribs_a02688"·id="r_a8189d1e0071821552141e5e1689b69c5"><td·class="memItemLeft"·align="right"·valign="top">
185 Weights&#160;</td><td·class="memItemRight"·valign="bottom"><b>weights_</b></td></tr>185 Weights&#160;</td><td·class="memItemRight"·valign="bottom"><b>weights_</b></td></tr>
186 <tr·class="separator:a8189d1e0071821552141e5e1689b69c5·inherit·pro_attribs_a02688"><td·class="memSeparator"·colspan="2">&#160;</td></tr>186 <tr·class="separator:a8189d1e0071821552141e5e1689b69c5·inherit·pro_attribs_a02688"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
187 </table>187 </table>
188 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>188 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
189 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00164_source.html">Basis.h</a></li>189 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00158_source.html">Basis.h</a></li>
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194 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->194 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
195 ··<ul>195 ··<ul>
196 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02668.html">Basis</a></li><li·class="navelem"><a·class="el"·href="a02700.html">ComponentDerivativeFunctor</a></li>196 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02668.html">Basis</a></li><li·class="navelem"><a·class="el"·href="a02700.html">ComponentDerivativeFunctor</a></li>
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814 B
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600 ··</table>600 ··</table>
601 ··</dd>601 ··</dd>
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604 </div>604 </div>
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606 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00170_source.html">BasisFactors.h</a></li>606 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00161_source.html">BasisFactors.h</a></li>
607 </ul>607 </ul>
608 </div><!--·contents·-->608 </div><!--·contents·-->
609 </div><!--·doc-content·-->609 </div><!--·doc-content·-->
610 <!--·start·footer·part·-->610 <!--·start·footer·part·-->
611 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->611 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
612 ··<ul>612 ··<ul>
613 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02704.html">EvaluationFactor</a></li>613 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02704.html">EvaluationFactor</a></li>
⊟
820 B
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601 ··</table>601 ··</table>
602 ··</dd>602 ··</dd>
603 </dl>603 </dl>
  
604 </div>604 </div>
605 </div>605 </div>
606 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>606 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
607 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00170_source.html">BasisFactors.h</a></li>607 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00161_source.html">BasisFactors.h</a></li>
608 </ul>608 </ul>
609 </div><!--·contents·-->609 </div><!--·contents·-->
610 </div><!--·doc-content·-->610 </div><!--·doc-content·-->
611 <!--·start·footer·part·-->611 <!--·start·footer·part·-->
612 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->612 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
613 ··<ul>613 ··<ul>
614 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02708.html">VectorEvaluationFactor</a></li>614 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02708.html">VectorEvaluationFactor</a></li>
⊟
819 B
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617 ··</table>617 ··</table>
618 ··</dd>618 ··</dd>
619 </dl>619 </dl>
  
620 </div>620 </div>
621 </div>621 </div>
622 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>622 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
623 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00170_source.html">BasisFactors.h</a></li>623 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00161_source.html">BasisFactors.h</a></li>
624 </ul>624 </ul>
625 </div><!--·contents·-->625 </div><!--·contents·-->
626 </div><!--·doc-content·-->626 </div><!--·doc-content·-->
627 <!--·start·footer·part·-->627 <!--·start·footer·part·-->
628 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->628 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
629 ··<ul>629 ··<ul>
630 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02712.html">VectorComponentFactor</a></li>630 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02712.html">VectorComponentFactor</a></li>
⊟
822 B
./usr/share/doc/libgtsam-dev/html/a02716.html
    
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605 ··</table>605 ··</table>
606 ··</dd>606 ··</dd>
607 </dl>607 </dl>
  
608 </div>608 </div>
609 </div>609 </div>
610 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>610 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
611 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00170_source.html">BasisFactors.h</a></li>611 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00161_source.html">BasisFactors.h</a></li>
612 </ul>612 </ul>
613 </div><!--·contents·-->613 </div><!--·contents·-->
614 </div><!--·doc-content·-->614 </div><!--·doc-content·-->
615 <!--·start·footer·part·-->615 <!--·start·footer·part·-->
616 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->616 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
617 ··<ul>617 ··<ul>
618 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02716.html">ManifoldEvaluationFactor</a></li>618 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02716.html">ManifoldEvaluationFactor</a></li>
⊟
814 B
./usr/share/doc/libgtsam-dev/html/a02720.html
    
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599 ··</table>599 ··</table>
600 ··</dd>600 ··</dd>
601 </dl>601 </dl>
  
602 </div>602 </div>
603 </div>603 </div>
604 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>604 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
605 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00170_source.html">BasisFactors.h</a></li>605 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00161_source.html">BasisFactors.h</a></li>
606 </ul>606 </ul>
607 </div><!--·contents·-->607 </div><!--·contents·-->
608 </div><!--·doc-content·-->608 </div><!--·doc-content·-->
609 <!--·start·footer·part·-->609 <!--·start·footer·part·-->
610 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->610 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
611 ··<ul>611 ··<ul>
612 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02720.html">DerivativeFactor</a></li>612 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02720.html">DerivativeFactor</a></li>
⊟
820 B
./usr/share/doc/libgtsam-dev/html/a02724.html
    
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600 ··</table>600 ··</table>
601 ··</dd>601 ··</dd>
602 </dl>602 </dl>
  
603 </div>603 </div>
604 </div>604 </div>
605 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>605 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
606 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00170_source.html">BasisFactors.h</a></li>606 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00161_source.html">BasisFactors.h</a></li>
607 </ul>607 </ul>
608 </div><!--·contents·-->608 </div><!--·contents·-->
609 </div><!--·doc-content·-->609 </div><!--·doc-content·-->
610 <!--·start·footer·part·-->610 <!--·start·footer·part·-->
611 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->611 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
612 ··<ul>612 ··<ul>
613 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02724.html">VectorDerivativeFactor</a></li>613 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02724.html">VectorDerivativeFactor</a></li>
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614 ··</table>614 ··</table>
615 ··</dd>615 ··</dd>
616 </dl>616 </dl>
  
617 </div>617 </div>
618 </div>618 </div>
619 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>619 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
620 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00170_source.html">BasisFactors.h</a></li>620 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00161_source.html">BasisFactors.h</a></li>
621 </ul>621 </ul>
622 </div><!--·contents·-->622 </div><!--·contents·-->
623 </div><!--·doc-content·-->623 </div><!--·doc-content·-->
624 <!--·start·footer·part·-->624 <!--·start·footer·part·-->
625 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->625 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
626 ··<ul>626 ··<ul>
627 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02728.html">ComponentDerivativeFactor</a></li>627 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02728.html">ComponentDerivativeFactor</a></li>
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./usr/share/doc/libgtsam-dev/html/a02732.html
    
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268 ··</dd>268 ··</dd>
269 </dl>269 </dl>
270 <dl·class="section·return"><dt>Returns</dt><dd>Weights·</dd></dl>270 <dl·class="section·return"><dt>Returns</dt><dd>Weights·</dd></dl>
  
271 </div>271 </div>
272 </div>272 </div>
273 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>273 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
274 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00155_source.html">Chebyshev.h</a></li>274 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00167_source.html">Chebyshev.h</a></li>
275 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00176.html">Chebyshev.cpp</a></li>275 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00173.html">Chebyshev.cpp</a></li>
276 </ul>276 </ul>
277 </div><!--·contents·-->277 </div><!--·contents·-->
278 </div><!--·doc-content·-->278 </div><!--·doc-content·-->
279 <!--·start·footer·part·-->279 <!--·start·footer·part·-->
280 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->280 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
281 ··<ul>281 ··<ul>
282 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02732.html">Chebyshev1Basis</a></li>282 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02732.html">Chebyshev1Basis</a></li>
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./usr/share/doc/libgtsam-dev/html/a02736.html
    
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258 ··</dd>258 ··</dd>
259 </dl>259 </dl>
260 <dl·class="section·return"><dt>Returns</dt><dd>Weights·</dd></dl>260 <dl·class="section·return"><dt>Returns</dt><dd>Weights·</dd></dl>
  
261 </div>261 </div>
262 </div>262 </div>
263 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>263 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
264 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00155_source.html">Chebyshev.h</a></li>264 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00167_source.html">Chebyshev.h</a></li>
265 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00176.html">Chebyshev.cpp</a></li>265 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00173.html">Chebyshev.cpp</a></li>
266 </ul>266 </ul>
267 </div><!--·contents·-->267 </div><!--·contents·-->
268 </div><!--·doc-content·-->268 </div><!--·doc-content·-->
269 <!--·start·footer·part·-->269 <!--·start·footer·part·-->
270 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->270 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
271 ··<ul>271 ··<ul>
272 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02736.html">Chebyshev2Basis</a></li>272 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02736.html">Chebyshev2Basis</a></li>
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1.44 KB
./usr/share/doc/libgtsam-dev/html/a02740.html
    
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364 <p>Evaluate·Clenshaw-Curtis·integration·weights.·</p>364 <p>Evaluate·Clenshaw-Curtis·integration·weights.·</p>
365 <p>Trefethen00book,·pg·128,·clencurt.m·Note·that·N·in·clencurt.m·is·1·less·than·our·N·K·=·N-1;·theta·=·pi*(0:K)'/K;·w·=·zeros(1,N);·ii·=·2:K;·v·=·ones(K-1,·1);·if·mod(K,2)·==·0·w(1)·=·1/(K^2-1);·w(N)·=·w(1);·for·k=1:K/2-1,·v·=·v-2*cos(2*k*theta(ii))/(4*k^2-1);·end·v·=·v·-·cos(K*theta(ii))/(K^2-1);·else·w(1)·=·1/K^2;·w(N)·=·w(1);·for·k=1:K/2,·v·=·v-2*cos(2*k*theta(ii))/(4*k^2-1);·end·end·w(ii)·=·2*v/K;·</p>365 <p>Trefethen00book,·pg·128,·clencurt.m·Note·that·N·in·clencurt.m·is·1·less·than·our·N·K·=·N-1;·theta·=·pi*(0:K)'/K;·w·=·zeros(1,N);·ii·=·2:K;·v·=·ones(K-1,·1);·if·mod(K,2)·==·0·w(1)·=·1/(K^2-1);·w(N)·=·w(1);·for·k=1:K/2-1,·v·=·v-2*cos(2*k*theta(ii))/(4*k^2-1);·end·v·=·v·-·cos(K*theta(ii))/(K^2-1);·else·w(1)·=·1/K^2;·w(N)·=·w(1);·for·k=1:K/2,·v·=·v-2*cos(2*k*theta(ii))/(4*k^2-1);·end·end·w(ii)·=·2*v/K;·</p>
  
366 </div>366 </div>
367 </div>367 </div>
368 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>368 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
369 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00173_source.html">Chebyshev2.h</a></li>369 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00164_source.html">Chebyshev2.h</a></li>
370 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00152.html">Chebyshev2.cpp</a></li>370 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00170.html">Chebyshev2.cpp</a></li>
371 </ul>371 </ul>
372 </div><!--·contents·-->372 </div><!--·contents·-->
373 </div><!--·doc-content·-->373 </div><!--·doc-content·-->
374 <!--·start·footer·part·-->374 <!--·start·footer·part·-->
375 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->375 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
376 ··<ul>376 ··<ul>
377 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02740.html">Chebyshev2</a></li>377 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02740.html">Chebyshev2</a></li>
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189 ··</table>189 ··</table>
190 ··</dd>190 ··</dd>
191 </dl>191 </dl>
  
192 </div>192 </div>
193 </div>193 </div>
194 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>194 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
195 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00161_source.html">FitBasis.h</a></li>195 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00152_source.html">FitBasis.h</a></li>
196 </ul>196 </ul>
197 </div><!--·contents·-->197 </div><!--·contents·-->
198 </div><!--·doc-content·-->198 </div><!--·doc-content·-->
199 <!--·start·footer·part·-->199 <!--·start·footer·part·-->
200 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->200 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
201 ··<ul>201 ··<ul>
202 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02744.html">FitBasis</a></li>202 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02744.html">FitBasis</a></li>
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898 B
./usr/share/doc/libgtsam-dev/html/a02748.html
    
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393 <p>Compute·D·=·differentiation·matrix.·</p>393 <p>Compute·D·=·differentiation·matrix.·</p>
394 <p>Given·coefficients·c·of·a·Fourier·series·c,·D*c·are·the·values·of·c'.·</p>394 <p>Given·coefficients·c·of·a·Fourier·series·c,·D*c·are·the·values·of·c'.·</p>
  
395 </div>395 </div>
396 </div>396 </div>
397 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>397 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
398 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00167_source.html">Fourier.h</a></li>398 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00155_source.html">Fourier.h</a></li>
399 </ul>399 </ul>
400 </div><!--·contents·-->400 </div><!--·contents·-->
401 </div><!--·doc-content·-->401 </div><!--·doc-content·-->
402 <!--·start·footer·part·-->402 <!--·start·footer·part·-->
403 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->403 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
404 ··<ul>404 ··<ul>
405 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02748.html">FourierBasis</a></li>405 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02748.html">FourierBasis</a></li>
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819 B
./usr/share/doc/libgtsam-dev/html/a02752.html
    
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709 ··</table>709 ··</table>
710 ··</dd>710 ··</dd>
711 </dl>711 </dl>
  
712 </div>712 </div>
713 </div>713 </div>
714 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>714 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
715 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00158_source.html">ParameterMatrix.h</a></li>715 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00176_source.html">ParameterMatrix.h</a></li>
716 </ul>716 </ul>
717 </div><!--·contents·-->717 </div><!--·contents·-->
718 </div><!--·doc-content·-->718 </div><!--·doc-content·-->
719 <!--·start·footer·part·-->719 <!--·start·footer·part·-->
720 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->720 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
721 ··<ul>721 ··<ul>
722 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02752.html">ParameterMatrix</a></li>722 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02752.html">ParameterMatrix</a></li>
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./usr/share/doc/libgtsam-dev/html/a02756.html
    
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184 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>184 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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186 <tr·class="memitem:ab2461a41d72cb29e2fd6ffd05be40b42·inherit·pub_types_a02604"·id="r_ab2461a41d72cb29e2fd6ffd05be40b42"><td·class="memItemLeft"·align="right"·valign="top">186 <tr·class="memitem:ab2461a41d72cb29e2fd6ffd05be40b42·inherit·pub_types_a02604"·id="r_ab2461a41d72cb29e2fd6ffd05be40b42"><td·class="memItemLeft"·align="right"·valign="top">
187 typedef·Eigen::Matrix&lt;·double,·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Jacobian</b></td></tr>187 typedef·Eigen::Matrix&lt;·double,·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Jacobian</b></td></tr>
188 <tr·class="separator:ab2461a41d72cb29e2fd6ffd05be40b42·inherit·pub_types_a02604"><td·class="memSeparator"·colspan="2">&#160;</td></tr>188 <tr·class="separator:ab2461a41d72cb29e2fd6ffd05be40b42·inherit·pub_types_a02604"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
189 </table>189 </table>
190 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>190 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
191 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00158_source.html">ParameterMatrix.h</a></li>191 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/basis/<a·class="el"·href="a00176_source.html">ParameterMatrix.h</a></li>
192 </ul>192 </ul>
193 </div><!--·contents·-->193 </div><!--·contents·-->
194 </div><!--·doc-content·-->194 </div><!--·doc-content·-->
195 <!--·start·footer·part·-->195 <!--·start·footer·part·-->
196 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->196 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
197 ··<ul>197 ··<ul>
198 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02756.html">traits&lt;·ParameterMatrix&lt;·M·&gt;·&gt;</a></li>198 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02756.html">traits&lt;·ParameterMatrix&lt;·M·&gt;·&gt;</a></li>
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843 B
./usr/share/doc/libgtsam-dev/html/a02760.html
    
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621 ··</table>621 ··</table>
622 ··</dd>622 ··</dd>
623 </dl>623 </dl>
  
624 </div>624 </div>
625 </div>625 </div>
626 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>626 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
627 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00242_source.html">AlgebraicDecisionTree.h</a></li>627 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00257_source.html">AlgebraicDecisionTree.h</a></li>
628 </ul>628 </ul>
629 </div><!--·contents·-->629 </div><!--·contents·-->
630 </div><!--·doc-content·-->630 </div><!--·doc-content·-->
631 <!--·start·footer·part·-->631 <!--·start·footer·part·-->
632 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->632 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
633 ··<ul>633 ··<ul>
634 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02760.html">AlgebraicDecisionTree</a></li>634 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02760.html">AlgebraicDecisionTree</a></li>
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128 static·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>div</b>·(const·double·&amp;a,·const·double·&amp;b)</td></tr>128 static·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>div</b>·(const·double·&amp;a,·const·double·&amp;b)</td></tr>
129 <tr·class="separator:a10fa184151db65affd92123a3fdbf29f"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a10fa184151db65affd92123a3fdbf29f"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 <tr·class="memitem:af3433903d2928fc9809119b2b44d5ad2"·id="r_af3433903d2928fc9809119b2b44d5ad2"><td·class="memItemLeft"·align="right"·valign="top"><a·id="af3433903d2928fc9809119b2b44d5ad2"·name="af3433903d2928fc9809119b2b44d5ad2"></a>130 <tr·class="memitem:af3433903d2928fc9809119b2b44d5ad2"·id="r_af3433903d2928fc9809119b2b44d5ad2"><td·class="memItemLeft"·align="right"·valign="top"><a·id="af3433903d2928fc9809119b2b44d5ad2"·name="af3433903d2928fc9809119b2b44d5ad2"></a>
131 static·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>id</b>·(const·double·&amp;x)</td></tr>131 static·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>id</b>·(const·double·&amp;x)</td></tr>
132 <tr·class="separator:af3433903d2928fc9809119b2b44d5ad2"><td·class="memSeparator"·colspan="2">&#160;</td></tr>132 <tr·class="separator:af3433903d2928fc9809119b2b44d5ad2"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
133 </table>133 </table>
134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00242_source.html">AlgebraicDecisionTree.h</a></li>135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00257_source.html">AlgebraicDecisionTree.h</a></li>
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829 <dl·class="section·note"><dt>Note</dt><dd>Due·to·pruning,·the·number·of·leaves·may·not·be·the·same·as·the·number·of·assignments.·E.g.·if·we·have·a·tree·on·2·binary·variables·with·all·values·being·1,·then·there·are·2^2=4·assignments,·but·only·1·leaf.</dd></dl>829 <dl·class="section·note"><dt>Note</dt><dd>Due·to·pruning,·the·number·of·leaves·may·not·be·the·same·as·the·number·of·assignments.·E.g.·if·we·have·a·tree·on·2·binary·variables·with·all·values·being·1,·then·there·are·2^2=4·assignments,·but·only·1·leaf.</dd></dl>
830 <p>Example:·int·sum·=·0;·auto·visitor·=·[&amp;](const·Assignment&lt;L&gt;&amp;·assignment,·int·y)·{·sum·+=·y;·};·tree.visitWith(visitor);·</p>830 <p>Example:·int·sum·=·0;·auto·visitor·=·[&amp;](const·Assignment&lt;L&gt;&amp;·assignment,·int·y)·{·sum·+=·y;·};·tree.visitWith(visitor);·</p>
  
831 </div>831 </div>
832 </div>832 </div>
833 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>833 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
834 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00257_source.html">DecisionTree.h</a></li>834 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00194_source.html">DecisionTree.h</a></li>
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506 </div><div·class="memdoc">506 </div><div·class="memdoc">
  
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508 </div>508 </div>
509 </div>509 </div>
510 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>510 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
511 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00257_source.html">DecisionTree.h</a></li>511 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00194_source.html">DecisionTree.h</a></li>
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132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00257_source.html">DecisionTree.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00194_source.html">DecisionTree.h</a></li>
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129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00212_source.html">DecisionTreeFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00224_source.html">DecisionTreeFactor.h</a></li>
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138 ··<ul>138 ··<ul>
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514 <p>do·ancestral·sampling,·given·certain·variables.·</p>514 <p>do·ancestral·sampling,·given·certain·variables.·</p>
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516 <dl·class="section·return"><dt>Returns</dt><dd>given·values·extended·with·sampled·value·for·all·other·variables.·</dd></dl>516 <dl·class="section·return"><dt>Returns</dt><dd>given·values·extended·with·sampled·value·for·all·other·variables.·</dd></dl>
  
517 </div>517 </div>
518 </div>518 </div>
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520 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00248_source.html">DiscreteBayesNet.h</a></li>520 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00227_source.html">DiscreteBayesNet.h</a></li>
521 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00227.html">DiscreteBayesNet.cpp</a></li>521 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00197.html">DiscreteBayesNet.cpp</a></li>
522 </ul>522 </ul>
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527 ··<ul>527 ··<ul>
528 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02816.html">DiscreteBayesNet</a></li>528 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02816.html">DiscreteBayesNet</a></li>
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329 </dl>329 </dl>
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166 Friends</h2></td></tr>166 Friends</h2></td></tr>
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174 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<b>DiscreteKey.cpp</b></li>174 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<b>DiscreteKey.cpp</b></li>
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131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00260_source.html">DiscreteKey.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00230_source.html">DiscreteKey.h</a></li>
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452 <p>argmax·by·back-substitution,·optionally·given·certain·variables.·</p>452 <p>argmax·by·back-substitution,·optionally·given·certain·variables.·</p>
453 <p>Assumes·the·DAG·is·reverse·topologically·sorted,·i.e.·last·conditional·will·be·optimized·first·<em>and</em>·that·the·DAG·does·not·contain·any·conditionals·for·the·given·variables.·If·the·DAG·resulted·from·eliminating·a·factor·graph,·this·is·true·for·the·elimination·ordering.</p>453 <p>Assumes·the·DAG·is·reverse·topologically·sorted,·i.e.·last·conditional·will·be·optimized·first·<em>and</em>·that·the·DAG·does·not·contain·any·conditionals·for·the·given·variables.·If·the·DAG·resulted·from·eliminating·a·factor·graph,·this·is·true·for·the·elimination·ordering.</p>
454 <dl·class="section·return"><dt>Returns</dt><dd>given·assignment·extended·w.·optimal·assignment·for·all·variables.·</dd></dl>454 <dl·class="section·return"><dt>Returns</dt><dd>given·assignment·extended·w.·optimal·assignment·for·all·variables.·</dd></dl>
  
455 </div>455 </div>
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194 ··</dd>194 ··</dd>
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312 <p>For·all·key/value·pairs·in·<code>values</code>,·replace·values·with·corresponding·keys·in·this·object·with·those·in·<code>values</code>.·</p>312 <p>For·all·key/value·pairs·in·<code>values</code>,·replace·values·with·corresponding·keys·in·this·object·with·those·in·<code>values</code>.·</p>
313 <p>Throws·std::out_of_range·if·any·keys·in·<code>values</code>·are·not·present·in·this·object.·</p>313 <p>Throws·std::out_of_range·if·any·keys·in·<code>values</code>·are·not·present·in·this·object.·</p>
  
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a02900.html">DiscreteValues</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a02900.html">DiscreteValues</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00233_source.html">DiscreteValues.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/<a·class="el"·href="a00248_source.html">DiscreteValues.h</a></li>
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136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02904.html">traits&lt;·DiscreteValues·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a02904.html">traits&lt;·DiscreteValues·&gt;</a></li>
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274 <p>Construct·from·a·single·DiscreteKey.·</p>274 <p>Construct·from·a·single·DiscreteKey.·</p>
275 <p>The·resulting·signature·has·no·parents·or·CPT·table.·Typical·use·then·either·adds·parents·with·|·and·,·operators·below,·or·assigns·a·table·with·<a·class="el"·href="a02912.html#a7f92248d9f002bbc34942db22580ed76"·title="Add·the·CPT·spec.">operator=()</a>.·</p>275 <p>The·resulting·signature·has·no·parents·or·CPT·table.·Typical·use·then·either·adds·parents·with·|·and·,·operators·below,·or·assigns·a·table·with·<a·class="el"·href="a02912.html#a7f92248d9f002bbc34942db22580ed76"·title="Add·the·CPT·spec.">operator=()</a>.·</p>
  
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286 ··<ul>286 ··<ul>
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109 ··<ul>109 ··<ul>
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109 ··<ul>109 ··<ul>
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154 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>154 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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./usr/share/doc/libgtsam-dev/html/a02940.html
    
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616 ··</dd>616 ··</dd>
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./usr/share/doc/libgtsam-dev/html/a02976.html
    
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156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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./usr/share/doc/libgtsam-dev/html/a02980.html
    
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458 <p>print·with·optional·string·</p>458 <p>print·with·optional·string·</p>
  
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./usr/share/doc/libgtsam-dev/html/a02984.html
    
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156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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169 ··<ul>169 ··<ul>
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156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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660 <p>Return·the·start·and·end·indices·(inclusive)·of·the·translation·component·of·the·exponential·map·parameterization.·</p>660 <p>Return·the·start·and·end·indices·(inclusive)·of·the·translation·component·of·the·exponential·map·parameterization.·</p>
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653 ··</dd>653 ··</dd>
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384 <p>N·=·2·or·3·(point·dimension),·ND·is·the·Jacobian·block·dimension,·NDD·is·the·Hessian·block·dimension·</p>384 <p>N·=·2·or·3·(point·dimension),·ND·is·the·Jacobian·block·dimension,·NDD·is·the·Hessian·block·dimension·</p>
  
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903 ··</dd>903 ··</dd>
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156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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159 typedef·Eigen::Matrix&lt;·double,·dimension,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>TangentVector</b></td></tr>159 typedef·Eigen::Matrix&lt;·double,·dimension,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>TangentVector</b></td></tr>
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162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00422_source.html">PinholeCamera.h</a></li>163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00440_source.html">PinholeCamera.h</a></li>
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169 ··<ul>169 ··<ul>
170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03112.html">traits&lt;·const·PinholeCamera&lt;·Calibration·&gt;·&gt;</a></li>170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03112.html">traits&lt;·const·PinholeCamera&lt;·Calibration·&gt;·&gt;</a></li>
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./usr/share/doc/libgtsam-dev/html/a03116.html
    
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128 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>128 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00422_source.html">PinholeCamera.h</a></li>129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00440_source.html">PinholeCamera.h</a></li>
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133 <!--·start·footer·part·-->133 <!--·start·footer·part·-->
134 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->134 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
135 ··<ul>135 ··<ul>
136 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03116.html">Range&lt;·PinholeCamera&lt;·Calibration·&gt;,·T·&gt;</a></li>136 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03116.html">Range&lt;·PinholeCamera&lt;·Calibration·&gt;,·T·&gt;</a></li>
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./usr/share/doc/libgtsam-dev/html/a03120.html
    
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592 ··</dd>592 ··</dd>
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595 </div>595 </div>
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598 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00404_source.html">PinholePose.h</a></li>598 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00362_source.html">PinholePose.h</a></li>
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602 <!--·start·footer·part·-->602 <!--·start·footer·part·-->
603 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->603 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
604 ··<ul>604 ··<ul>
605 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03120.html">PinholeBaseK</a></li>605 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03120.html">PinholeBaseK</a></li>
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813 B
./usr/share/doc/libgtsam-dev/html/a03124.html
    
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662 ··</table>662 ··</table>
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668 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00404_source.html">PinholePose.h</a></li>668 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00362_source.html">PinholePose.h</a></li>
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672 <!--·start·footer·part·-->672 <!--·start·footer·part·-->
673 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->673 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
674 ··<ul>674 ··<ul>
675 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03124.html">PinholePose</a></li>675 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03124.html">PinholePose</a></li>
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1.5 KB
./usr/share/doc/libgtsam-dev/html/a03128.html
    
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156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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159 typedef·Eigen::Matrix&lt;·double,·dimension,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>TangentVector</b></td></tr>159 typedef·Eigen::Matrix&lt;·double,·dimension,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>TangentVector</b></td></tr>
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162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00404_source.html">PinholePose.h</a></li>163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00362_source.html">PinholePose.h</a></li>
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167 <!--·start·footer·part·-->167 <!--·start·footer·part·-->
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169 ··<ul>169 ··<ul>
170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03128.html">traits&lt;·PinholePose&lt;·CALIBRATION·&gt;·&gt;</a></li>170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03128.html">traits&lt;·PinholePose&lt;·CALIBRATION·&gt;·&gt;</a></li>
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1.51 KB
./usr/share/doc/libgtsam-dev/html/a03132.html
    
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156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00404_source.html">PinholePose.h</a></li>163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00362_source.html">PinholePose.h</a></li>
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167 <!--·start·footer·part·-->167 <!--·start·footer·part·-->
168 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->168 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
169 ··<ul>169 ··<ul>
170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03132.html">traits&lt;·const·PinholePose&lt;·CALIBRATION·&gt;·&gt;</a></li>170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03132.html">traits&lt;·const·PinholePose&lt;·CALIBRATION·&gt;·&gt;</a></li>
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931 B
./usr/share/doc/libgtsam-dev/html/a03136.html
    
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262 <p>print·</p>262 <p>print·</p>
  
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264 </div>264 </div>
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267 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00290_source.html">PinholeSet.h</a></li>267 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00452_source.html">PinholeSet.h</a></li>
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271 <!--·start·footer·part·-->271 <!--·start·footer·part·-->
272 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->272 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
273 ··<ul>273 ··<ul>
274 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03136.html">PinholeSet</a></li>274 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03136.html">PinholeSet</a></li>
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1.71 KB
./usr/share/doc/libgtsam-dev/html/a03140.html
    
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03136.html">PinholeSet</a>&lt;·CAMERA·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03136.html">PinholeSet</a>&lt;·CAMERA·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00290_source.html">PinholeSet.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00452_source.html">PinholeSet.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03140.html">traits&lt;·PinholeSet&lt;·CAMERA·&gt;·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03140.html">traits&lt;·PinholeSet&lt;·CAMERA·&gt;·&gt;</a></li>
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132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00290_source.html">PinholeSet.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00452_source.html">PinholeSet.h</a></li>
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136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
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138 ··<ul>138 ··<ul>
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120 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>120 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
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125 <!--·start·footer·part·-->125 <!--·start·footer·part·-->
126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
127 ··<ul>127 ··<ul>
128 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03148.html">Range&lt;·Point2,·Point2·&gt;</a></li>128 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03148.html">Range&lt;·Point2,·Point2·&gt;</a></li>
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117 typedef·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>result_type</b></td></tr>117 typedef·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>result_type</b></td></tr>
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120 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>120 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
121 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00332_source.html">Point3.h</a></li>121 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00455_source.html">Point3.h</a></li>
122 </ul>122 </ul>
123 </div><!--·contents·-->123 </div><!--·contents·-->
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125 <!--·start·footer·part·-->125 <!--·start·footer·part·-->
126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
127 ··<ul>127 ··<ul>
128 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03152.html">Range&lt;·Point3,·Point3·&gt;</a></li>128 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03152.html">Range&lt;·Point3,·Point3·&gt;</a></li>
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805 ··</dd>805 ··</dd>
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807 <dl·class="section·return"><dt>Returns</dt><dd>xihat,·3*3·element·of·Lie·algebra·that·can·be·exponentiated·</dd></dl>807 <dl·class="section·return"><dt>Returns</dt><dd>xihat,·3*3·element·of·Lie·algebra·that·can·be·exponentiated·</dd></dl>
  
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809 </div>809 </div>
810 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>810 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
811 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00329_source.html">Pose2.h</a></li>811 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00413_source.html">Pose2.h</a></li>
812 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00320.html">Pose2.cpp</a></li>812 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00431.html">Pose2.cpp</a></li>
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816 <!--·start·footer·part·-->816 <!--·start·footer·part·-->
817 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->817 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
818 ··<ul>818 ··<ul>
819 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03156.html">Pose2</a></li>819 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03156.html">Pose2</a></li>
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110 static·GTSAM_EXPORT·<a·class="el"·href="a03156.html">Pose2</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Retract</b>·(const·Vector3·&amp;v,·ChartJacobian·H=boost::none)</td></tr>110 static·GTSAM_EXPORT·<a·class="el"·href="a03156.html">Pose2</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Retract</b>·(const·Vector3·&amp;v,·ChartJacobian·H=boost::none)</td></tr>
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117 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00329_source.html">Pose2.h</a></li>117 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00413_source.html">Pose2.h</a></li>
118 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00320.html">Pose2.cpp</a></li>118 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00431.html">Pose2.cpp</a></li>
119 </ul>119 </ul>
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122 <!--·start·footer·part·-->122 <!--·start·footer·part·-->
123 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->123 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
124 ··<ul>124 ··<ul>
125 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03156.html">Pose2</a></li><li·class="navelem"><a·class="el"·href="a03160.html">ChartAtOrigin</a></li>125 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03156.html">Pose2</a></li><li·class="navelem"><a·class="el"·href="a03160.html">ChartAtOrigin</a></li>
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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178 <tr·class="memitem:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"·id="r_ac851cf8141809789f7e205a86c1b8302"><td·class="memItemLeft"·align="right"·valign="top">178 <tr·class="memitem:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"·id="r_ac851cf8141809789f7e205a86c1b8302"><td·class="memItemLeft"·align="right"·valign="top">
179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
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183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00329_source.html">Pose2.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00413_source.html">Pose2.h</a></li>
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187 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
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189 ··<ul>189 ··<ul>
190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03164.html">traits&lt;·Pose2·&gt;</a></li>190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03164.html">traits&lt;·Pose2·&gt;</a></li>
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1.52 KB
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
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128 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>128 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00329_source.html">Pose2.h</a></li>129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00413_source.html">Pose2.h</a></li>
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133 <!--·start·footer·part·-->133 <!--·start·footer·part·-->
134 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->134 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
135 ··<ul>135 ··<ul>
136 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03172.html">Bearing&lt;·Pose2,·T·&gt;</a></li>136 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03172.html">Bearing&lt;·Pose2,·T·&gt;</a></li>
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124 <tr·class="memitem:aef42dee92183e12ed308977a64df7858·inherit·pub_types_a02936"·id="r_aef42dee92183e12ed308977a64df7858"><td·class="memItemLeft"·align="right"·valign="top">124 <tr·class="memitem:aef42dee92183e12ed308977a64df7858·inherit·pub_types_a02936"·id="r_aef42dee92183e12ed308977a64df7858"><td·class="memItemLeft"·align="right"·valign="top">
125 typedef·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>result_type</b></td></tr>125 typedef·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>result_type</b></td></tr>
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128 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>128 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00329_source.html">Pose2.h</a></li>129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00413_source.html">Pose2.h</a></li>
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132 </div><!--·doc-content·-->132 </div><!--·doc-content·-->
133 <!--·start·footer·part·-->133 <!--·start·footer·part·-->
134 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->134 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
135 ··<ul>135 ··<ul>
136 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03176.html">Range&lt;·Pose2,·T·&gt;</a></li>136 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03176.html">Range&lt;·Pose2,·T·&gt;</a></li>
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./usr/share/doc/libgtsam-dev/html/a03180.html
    
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705 ··········<td>)</td>705 ··········<td>)</td>
706 ··········<td></td><td>·const</td>706 ··········<td></td><td>·const</td>
707 ········</tr>707 ········</tr>
708 ······</table>708 ······</table>
709 </div><div·class="memdoc">709 </div><div·class="memdoc">
  
710 <p>Interpolate·between·two·poses·via·individual·rotation·and·translation·interpolation.·</p>710 <p>Interpolate·between·two·poses·via·individual·rotation·and·translation·interpolation.·</p>
711 <p>The·default·"interpolate"·method·defined·in·<a·class="el"·href="a00128.html"·title="Base·class·and·basic·functions·for·Lie·types.">Lie.h</a>·minimizes·the·geodesic·distance·on·the·manifold,·leading·to·a·screw·motion·interpolation·in·Cartesian·space,·which·might·not·be·what·is·expected.·In·contrast,·this·method·executes·a·straight·line·interpolation·for·the·translation,·while·still·using·interpolate·(aka·"slerp")·for·the·rotational·component.·This·might·be·more·intuitive·in·many·applications.</p>711 <p>The·default·"interpolate"·method·defined·in·<a·class="el"·href="a00002.html"·title="Base·class·and·basic·functions·for·Lie·types.">Lie.h</a>·minimizes·the·geodesic·distance·on·the·manifold,·leading·to·a·screw·motion·interpolation·in·Cartesian·space,·which·might·not·be·what·is·expected.·In·contrast,·this·method·executes·a·straight·line·interpolation·for·the·translation,·while·still·using·interpolate·(aka·"slerp")·for·the·rotational·component.·This·might·be·more·intuitive·in·many·applications.</p>
712 <dl·class="params"><dt>Parameters</dt><dd>712 <dl·class="params"><dt>Parameters</dt><dd>
713 ··<table·class="params">713 ··<table·class="params">
714 ····<tr><td·class="paramname">T</td><td>End·point·of·interpolation.·</td></tr>714 ····<tr><td·class="paramname">T</td><td>End·point·of·interpolation.·</td></tr>
715 ····<tr><td·class="paramname">t</td><td>A·value·in·[0,·1].·</td></tr>715 ····<tr><td·class="paramname">t</td><td>A·value·in·[0,·1].·</td></tr>
716 ··</table>716 ··</table>
717 ··</dd>717 ··</dd>
718 </dl>718 </dl>
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1158 ··</dd>1158 ··</dd>
1159 </dl>1159 </dl>
1160 <dl·class="section·return"><dt>Returns</dt><dd>xihat,·4*4·element·of·Lie·algebra·that·can·be·exponentiated·</dd></dl>1160 <dl·class="section·return"><dt>Returns</dt><dd>xihat,·4*4·element·of·Lie·algebra·that·can·be·exponentiated·</dd></dl>
  
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1164 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00296_source.html">Pose3.h</a></li>1164 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00437_source.html">Pose3.h</a></li>
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1169 <!--·start·footer·part·-->1169 <!--·start·footer·part·-->
1170 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->1170 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
1171 ··<ul>1171 ··<ul>
1172 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03180.html">Pose3</a></li>1172 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03180.html">Pose3</a></li>
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114 <tr·class="separator:a6fa6fae5e1b8aa070064ce76f3d2da15"><td·class="memSeparator"·colspan="2">&#160;</td></tr>114 <tr·class="separator:a6fa6fae5e1b8aa070064ce76f3d2da15"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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118 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00419.html">Pose3.cpp</a></li>118 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00464.html">Pose3.cpp</a></li>
119 </ul>119 </ul>
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122 <!--·start·footer·part·-->122 <!--·start·footer·part·-->
123 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->123 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
124 ··<ul>124 ··<ul>
125 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03180.html">Pose3</a></li><li·class="navelem"><a·class="el"·href="a03184.html">ChartAtOrigin</a></li>125 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03180.html">Pose3</a></li><li·class="navelem"><a·class="el"·href="a03184.html">ChartAtOrigin</a></li>
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1.51 KB
./usr/share/doc/libgtsam-dev/html/a03188.html
    
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
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183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00296_source.html">Pose3.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00437_source.html">Pose3.h</a></li>
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187 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
189 ··<ul>189 ··<ul>
190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03188.html">traits&lt;·Pose3·&gt;</a></li>190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03188.html">traits&lt;·Pose3·&gt;</a></li>
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1.52 KB
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00296_source.html">Pose3.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00437_source.html">Pose3.h</a></li>
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128 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>128 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00296_source.html">Pose3.h</a></li>129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00437_source.html">Pose3.h</a></li>
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129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00296_source.html">Pose3.h</a></li>129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00437_source.html">Pose3.h</a></li>
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135 ··<ul>135 ··<ul>
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128 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>128 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00296_source.html">Pose3.h</a></li>129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00437_source.html">Pose3.h</a></li>
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135 ··<ul>135 ··<ul>
136 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03204.html">Range&lt;·Pose3,·T·&gt;</a></li>136 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03204.html">Range&lt;·Pose3,·T·&gt;</a></li>
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1.52 KB
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165 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·3,·3·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>165 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·3,·3·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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168 typedef·Eigen::Matrix&lt;·_Scalar,·3,·1,·_Options,·3,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>TangentVector</b></td></tr>168 typedef·Eigen::Matrix&lt;·_Scalar,·3,·1,·_Options,·3,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>TangentVector</b></td></tr>
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171 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>171 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
172 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00449_source.html">Quaternion.h</a></li>172 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00353_source.html">Quaternion.h</a></li>
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178 ··<ul>178 ··<ul>
179 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03208.html">traits&lt;·QUATERNION_TYPE·&gt;</a></li>179 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03208.html">traits&lt;·QUATERNION_TYPE·&gt;</a></li>
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1.07 KB
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397 ··</dd>397 ··</dd>
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399 <dl·class="section·return"><dt>Returns</dt><dd>2D·rotation·\(·\in·SO(2)·\)·</dd></dl>399 <dl·class="section·return"><dt>Returns</dt><dd>2D·rotation·\(·\in·SO(2)·\)·</dd></dl>
  
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403 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00371_source.html">Rot2.h</a></li>403 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00419_source.html">Rot2.h</a></li>
404 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00428.html">Rot2.cpp</a></li>404 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00359.html">Rot2.cpp</a></li>
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408 <!--·start·footer·part·-->408 <!--·start·footer·part·-->
409 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->409 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
410 ··<ul>410 ··<ul>
411 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03212.html">Rot2</a></li>411 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03212.html">Rot2</a></li>
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1.6 KB
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110 static·<a·class="el"·href="a03212.html">Rot2</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Retract</b>·(const·Vector1·&amp;v,·ChartJacobian·H=boost::none)</td></tr>110 static·<a·class="el"·href="a03212.html">Rot2</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Retract</b>·(const·Vector1·&amp;v,·ChartJacobian·H=boost::none)</td></tr>
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117 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00371_source.html">Rot2.h</a></li>117 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00419_source.html">Rot2.h</a></li>
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183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00371_source.html">Rot2.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00419_source.html">Rot2.h</a></li>
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123 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->123 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
124 ··<ul>124 ··<ul>
125 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03228.html">Rot3</a></li><li·class="navelem"><a·class="el"·href="a03236.html">ChartAtOrigin</a></li>125 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03228.html">Rot3</a></li><li·class="navelem"><a·class="el"·href="a03236.html">ChartAtOrigin</a></li>
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
177 <tr·class="separator:aeeca78cf1ef276a9cb72ff05b9e7ece8·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>177 <tr·class="separator:aeeca78cf1ef276a9cb72ff05b9e7ece8·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
178 <tr·class="memitem:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"·id="r_ac851cf8141809789f7e205a86c1b8302"><td·class="memItemLeft"·align="right"·valign="top">178 <tr·class="memitem:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"·id="r_ac851cf8141809789f7e205a86c1b8302"><td·class="memItemLeft"·align="right"·valign="top">
179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
180 <tr·class="separator:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>180 <tr·class="separator:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
181 </table>181 </table>
182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00278_source.html">Rot3.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00332_source.html">Rot3.h</a></li>
184 </ul>184 </ul>
185 </div><!--·contents·-->185 </div><!--·contents·-->
186 </div><!--·doc-content·-->186 </div><!--·doc-content·-->
187 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
189 ··<ul>189 ··<ul>
190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03240.html">traits&lt;·Rot3·&gt;</a></li>190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03240.html">traits&lt;·Rot3·&gt;</a></li>
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
180 <tr·class="separator:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>180 <tr·class="separator:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
181 </table>181 </table>
182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00278_source.html">Rot3.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00332_source.html">Rot3.h</a></li>
184 </ul>184 </ul>
185 </div><!--·contents·-->185 </div><!--·contents·-->
186 </div><!--·doc-content·-->186 </div><!--·doc-content·-->
187 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
189 ··<ul>189 ··<ul>
190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03244.html">traits&lt;·const·Rot3·&gt;</a></li>190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03244.html">traits&lt;·const·Rot3·&gt;</a></li>
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381 <p>Action·on·a·pose·T.·</p>381 <p>Action·on·a·pose·T.·</p>
382 <p>|Rs·ts|·|R·t|·|Rs*R·Rs*t+ts|·|0·1/s|·*·|0·1|·=·|·0·1/s·|,·the·result·is·still·a·Sim2·object.·To·retrieve·a·<a·class="el"·href="a03156.html"·title="A·2D·pose·(Point2,Rot2)">Pose2</a>,·we·normalized·the·scale·value·into·1.·|Rs*R·Rs*t+ts|·|Rs*R·s(Rs*t+ts)|·|·0·1/s·|·=·|·0·1·|</p>382 <p>|Rs·ts|·|R·t|·|Rs*R·Rs*t+ts|·|0·1/s|·*·|0·1|·=·|·0·1/s·|,·the·result·is·still·a·Sim2·object.·To·retrieve·a·<a·class="el"·href="a03156.html"·title="A·2D·pose·(Point2,Rot2)">Pose2</a>,·we·normalized·the·scale·value·into·1.·|Rs*R·Rs*t+ts|·|Rs*R·s(Rs*t+ts)|·|·0·1/s·|·=·|·0·1·|</p>
383 <p>This·group·action·satisfies·the·compatibility·condition.·For·more·details,·refer·to:·<a·href="https://en.wikipedia.org/wiki/Group_action">https://en.wikipedia.org/wiki/Group_action</a>·</p>383 <p>This·group·action·satisfies·the·compatibility·condition.·For·more·details,·refer·to:·<a·href="https://en.wikipedia.org/wiki/Group_action">https://en.wikipedia.org/wiki/Group_action</a>·</p>
  
384 </div>384 </div>
385 </div>385 </div>
386 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>386 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
387 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00431_source.html">Similarity2.h</a></li>387 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00329_source.html">Similarity2.h</a></li>
388 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00377.html">Similarity2.cpp</a></li>388 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00428.html">Similarity2.cpp</a></li>
389 </ul>389 </ul>
390 </div><!--·contents·-->390 </div><!--·contents·-->
391 </div><!--·doc-content·-->391 </div><!--·doc-content·-->
392 <!--·start·footer·part·-->392 <!--·start·footer·part·-->
393 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->393 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
394 ··<ul>394 ··<ul>
395 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03248.html">Similarity2</a></li>395 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03248.html">Similarity2</a></li>
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112 static·<a·class="el"·href="a03248.html">Similarity2</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Retract</b>·(const·Vector4·&amp;v,·ChartJacobian·H=boost::none)</td></tr>112 static·<a·class="el"·href="a03248.html">Similarity2</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Retract</b>·(const·Vector4·&amp;v,·ChartJacobian·H=boost::none)</td></tr>
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114 <tr·class="memitem:a6338e6df7cf0e29824c06fe158c2721c"·id="r_a6338e6df7cf0e29824c06fe158c2721c"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a6338e6df7cf0e29824c06fe158c2721c"·name="a6338e6df7cf0e29824c06fe158c2721c"></a>114 <tr·class="memitem:a6338e6df7cf0e29824c06fe158c2721c"·id="r_a6338e6df7cf0e29824c06fe158c2721c"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a6338e6df7cf0e29824c06fe158c2721c"·name="a6338e6df7cf0e29824c06fe158c2721c"></a>
115 static·Vector4&#160;</td><td·class="memItemRight"·valign="bottom"><b>Local</b>·(const·<a·class="el"·href="a03248.html">Similarity2</a>·&amp;other,·ChartJacobian·H=boost::none)</td></tr>115 static·Vector4&#160;</td><td·class="memItemRight"·valign="bottom"><b>Local</b>·(const·<a·class="el"·href="a03248.html">Similarity2</a>·&amp;other,·ChartJacobian·H=boost::none)</td></tr>
116 <tr·class="separator:a6338e6df7cf0e29824c06fe158c2721c"><td·class="memSeparator"·colspan="2">&#160;</td></tr>116 <tr·class="separator:a6338e6df7cf0e29824c06fe158c2721c"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
117 </table>117 </table>
118 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>118 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
119 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00431_source.html">Similarity2.h</a></li>119 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00329_source.html">Similarity2.h</a></li>
120 </ul>120 </ul>
121 </div><!--·contents·-->121 </div><!--·contents·-->
122 </div><!--·doc-content·-->122 </div><!--·doc-content·-->
123 <!--·start·footer·part·-->123 <!--·start·footer·part·-->
124 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->124 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
125 ··<ul>125 ··<ul>
126 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03248.html">Similarity2</a></li><li·class="navelem"><a·class="el"·href="a03252.html">ChartAtOrigin</a></li>126 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03248.html">Similarity2</a></li><li·class="navelem"><a·class="el"·href="a03252.html">ChartAtOrigin</a></li>
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1.53 KB
./usr/share/doc/libgtsam-dev/html/a03256.html
    
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
177 <tr·class="separator:aeeca78cf1ef276a9cb72ff05b9e7ece8·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>177 <tr·class="separator:aeeca78cf1ef276a9cb72ff05b9e7ece8·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
178 <tr·class="memitem:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"·id="r_ac851cf8141809789f7e205a86c1b8302"><td·class="memItemLeft"·align="right"·valign="top">178 <tr·class="memitem:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"·id="r_ac851cf8141809789f7e205a86c1b8302"><td·class="memItemLeft"·align="right"·valign="top">
179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
180 <tr·class="separator:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>180 <tr·class="separator:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
181 </table>181 </table>
182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00431_source.html">Similarity2.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00329_source.html">Similarity2.h</a></li>
184 </ul>184 </ul>
185 </div><!--·contents·-->185 </div><!--·contents·-->
186 </div><!--·doc-content·-->186 </div><!--·doc-content·-->
187 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
189 ··<ul>189 ··<ul>
190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03256.html">traits&lt;·Similarity2·&gt;</a></li>190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03256.html">traits&lt;·Similarity2·&gt;</a></li>
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1.54 KB
./usr/share/doc/libgtsam-dev/html/a03260.html
    
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
177 <tr·class="separator:aeeca78cf1ef276a9cb72ff05b9e7ece8·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>177 <tr·class="separator:aeeca78cf1ef276a9cb72ff05b9e7ece8·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
178 <tr·class="memitem:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"·id="r_ac851cf8141809789f7e205a86c1b8302"><td·class="memItemLeft"·align="right"·valign="top">178 <tr·class="memitem:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"·id="r_ac851cf8141809789f7e205a86c1b8302"><td·class="memItemLeft"·align="right"·valign="top">
179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
180 <tr·class="separator:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>180 <tr·class="separator:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
181 </table>181 </table>
182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00431_source.html">Similarity2.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00329_source.html">Similarity2.h</a></li>
184 </ul>184 </ul>
185 </div><!--·contents·-->185 </div><!--·contents·-->
186 </div><!--·doc-content·-->186 </div><!--·doc-content·-->
187 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
189 ··<ul>189 ··<ul>
190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03260.html">traits&lt;·const·Similarity2·&gt;</a></li>190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03260.html">traits&lt;·const·Similarity2·&gt;</a></li>
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1.17 KB
./usr/share/doc/libgtsam-dev/html/a03264.html
    
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420 ··</dd>420 ··</dd>
421 </dl>421 </dl>
422 <dl·class="section·return"><dt>Returns</dt><dd>4*4·element·of·Lie·algebra·that·can·be·exponentiated·TODO(frank):·rename·to·Hat,·make·part·of·traits·</dd></dl>422 <dl·class="section·return"><dt>Returns</dt><dd>4*4·element·of·Lie·algebra·that·can·be·exponentiated·TODO(frank):·rename·to·Hat,·make·part·of·traits·</dd></dl>
  
423 </div>423 </div>
424 </div>424 </div>
425 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>425 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
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119 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00311_source.html">Similarity3.h</a></li>119 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00479_source.html">Similarity3.h</a></li>
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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178 ··<ul>178 ··<ul>
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00317_source.html">SO4.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00371_source.html">SO4.h</a></li>
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189 ··<ul>189 ··<ul>
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00317_source.html">SO4.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00371_source.html">SO4.h</a></li>
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506 <p>Return·vectorized·rotation·matrix·in·column·order.·</p>506 <p>Return·vectorized·rotation·matrix·in·column·order.·</p>
507 <p>Will·use·dynamic·matrices·as·intermediate·results,·but·returns·a·fixed·size·X·and·fixed-size·Jacobian·if·dimension·is·known·at·compile·time.·</p>507 <p>Will·use·dynamic·matrices·as·intermediate·results,·but·returns·a·fixed·size·X·and·fixed-size·Jacobian·if·dimension·is·known·at·compile·time.·</p>
  
508 </div>508 </div>
509 </div>509 </div>
510 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>510 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
511 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00338_source.html">SOn.h</a></li>511 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00323_source.html">SOn.h</a></li>
512 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00305.html">SO4.cpp</a></li>512 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00290.html">SO4.cpp</a></li>
513 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00317_source.html">SO4.h</a></li>513 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00371_source.html">SO4.h</a></li>
514 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00386_source.html">SOn-inl.h</a></li>514 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00302_source.html">SOn-inl.h</a></li>
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516 </div><!--·contents·-->516 </div><!--·contents·-->
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518 <!--·start·footer·part·-->518 <!--·start·footer·part·-->
519 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->519 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
520 ··<ul>520 ··<ul>
521 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03304.html">SO</a></li>521 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03304.html">SO</a></li>
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193 <p>Retract·uses·Cayley·map.·</p>193 <p>Retract·uses·Cayley·map.·</p>
194 <p>See·note·about·xi·element·order·in·Hat.·Deafault·implementation·has·no·Jacobian·implemented·</p>194 <p>See·note·about·xi·element·order·in·Hat.·Deafault·implementation·has·no·Jacobian·implemented·</p>
  
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198 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00338_source.html">SOn.h</a></li>198 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00323_source.html">SOn.h</a></li>
199 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00386_source.html">SOn-inl.h</a></li>199 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00302_source.html">SOn-inl.h</a></li>
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203 <!--·start·footer·part·-->203 <!--·start·footer·part·-->
204 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->204 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
205 ··<ul>205 ··<ul>
206 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03304.html">SO</a></li><li·class="navelem"><a·class="el"·href="a03308.html">ChartAtOrigin</a></li>206 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03304.html">SO</a></li><li·class="navelem"><a·class="el"·href="a03308.html">ChartAtOrigin</a></li>
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00338_source.html">SOn.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00323_source.html">SOn.h</a></li>
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187 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
189 ··<ul>189 ··<ul>
190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03312.html">traits&lt;·SO&lt;·N·&gt;·&gt;</a></li>190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03312.html">traits&lt;·SO&lt;·N·&gt;·&gt;</a></li>
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./usr/share/doc/libgtsam-dev/html/a03316.html
    
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
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182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00338_source.html">SOn.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00323_source.html">SOn.h</a></li>
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187 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
189 ··<ul>189 ··<ul>
190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03316.html">traits&lt;·const·SO&lt;·N·&gt;·&gt;</a></li>190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03316.html">traits&lt;·const·SO&lt;·N·&gt;·&gt;</a></li>
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./usr/share/doc/libgtsam-dev/html/a03320.html
    
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136 Friends</h2></td></tr>136 Friends</h2></td></tr>
137 <tr·class="memitem:ac98d07dd8f7b70e16ccb9a01abf56b9c"·id="r_ac98d07dd8f7b70e16ccb9a01abf56b9c"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac98d07dd8f7b70e16ccb9a01abf56b9c"·name="ac98d07dd8f7b70e16ccb9a01abf56b9c"></a>137 <tr·class="memitem:ac98d07dd8f7b70e16ccb9a01abf56b9c"·id="r_ac98d07dd8f7b70e16ccb9a01abf56b9c"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac98d07dd8f7b70e16ccb9a01abf56b9c"·name="ac98d07dd8f7b70e16ccb9a01abf56b9c"></a>
138 class&#160;</td><td·class="memItemRight"·valign="bottom"><b>boost::serialization::access</b></td></tr>138 class&#160;</td><td·class="memItemRight"·valign="bottom"><b>boost::serialization::access</b></td></tr>
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141 </table>141 </table>
142 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>142 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
143 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00302_source.html">SphericalCamera.h</a></li>143 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00392_source.html">SphericalCamera.h</a></li>
144 </ul>144 </ul>
145 </div><!--·contents·-->145 </div><!--·contents·-->
146 </div><!--·doc-content·-->146 </div><!--·doc-content·-->
147 <!--·start·footer·part·-->147 <!--·start·footer·part·-->
148 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->148 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
149 ··<ul>149 ··<ul>
150 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03320.html">EmptyCal</a></li>150 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03320.html">EmptyCal</a></li>
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./usr/share/doc/libgtsam-dev/html/a03324.html
    
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478 ··</dd>478 ··</dd>
479 </dl>479 </dl>
480 <dl·class="section·return"><dt>Returns</dt><dd>the·tangent·space·error·between·the·projection·and·the·measurement·</dd></dl>480 <dl·class="section·return"><dt>Returns</dt><dd>the·tangent·space·error·between·the·projection·and·the·measurement·</dd></dl>
  
481 </div>481 </div>
482 </div>482 </div>
483 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>483 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
484 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00302_source.html">SphericalCamera.h</a></li>484 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00392_source.html">SphericalCamera.h</a></li>
485 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<b>SphericalCamera.cpp</b></li>485 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<b>SphericalCamera.cpp</b></li>
486 </ul>486 </ul>
487 </div><!--·contents·-->487 </div><!--·contents·-->
488 </div><!--·doc-content·-->488 </div><!--·doc-content·-->
489 <!--·start·footer·part·-->489 <!--·start·footer·part·-->
490 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->490 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
491 ··<ul>491 ··<ul>
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./usr/share/doc/libgtsam-dev/html/a03328.html
    
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
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182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00302_source.html">SphericalCamera.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00392_source.html">SphericalCamera.h</a></li>
184 </ul>184 </ul>
185 </div><!--·contents·-->185 </div><!--·contents·-->
186 </div><!--·doc-content·-->186 </div><!--·doc-content·-->
187 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
189 ··<ul>189 ··<ul>
190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03328.html">traits&lt;·SphericalCamera·&gt;</a></li>190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03328.html">traits&lt;·SphericalCamera·&gt;</a></li>
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1.55 KB
./usr/share/doc/libgtsam-dev/html/a03332.html
    
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176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>176 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·dimension,·dimension·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>179 typedef·<a·class="el"·href="a02336.html">multiplicative_group_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>group_flavor</b></td></tr>
180 <tr·class="separator:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>180 <tr·class="separator:ac851cf8141809789f7e205a86c1b8302·inherit·pub_types_a02372"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>182 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00302_source.html">SphericalCamera.h</a></li>183 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00392_source.html">SphericalCamera.h</a></li>
184 </ul>184 </ul>
185 </div><!--·contents·-->185 </div><!--·contents·-->
186 </div><!--·doc-content·-->186 </div><!--·doc-content·-->
187 <!--·start·footer·part·-->187 <!--·start·footer·part·-->
188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->188 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
189 ··<ul>189 ··<ul>
190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03332.html">traits&lt;·const·SphericalCamera·&gt;</a></li>190 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03332.html">traits&lt;·const·SphericalCamera·&gt;</a></li>
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1.56 KB
./usr/share/doc/libgtsam-dev/html/a03336.html
    
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118 &#160;</td><td·class="memItemRight"·valign="bottom"><b>StereoCheiralityException</b>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j)</td></tr>118 &#160;</td><td·class="memItemRight"·valign="bottom"><b>StereoCheiralityException</b>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j)</td></tr>
119 <tr·class="separator:a21c81aee77bbd030e00c75e1cb6271e1"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:a21c81aee77bbd030e00c75e1cb6271e1"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 <tr·class="memitem:a1a035e010166550782a8313ec616c325"·id="r_a1a035e010166550782a8313ec616c325"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a1a035e010166550782a8313ec616c325"·name="a1a035e010166550782a8313ec616c325"></a>120 <tr·class="memitem:a1a035e010166550782a8313ec616c325"·id="r_a1a035e010166550782a8313ec616c325"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a1a035e010166550782a8313ec616c325"·name="a1a035e010166550782a8313ec616c325"></a>
121 <a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>nearbyVariable</b>·()·const</td></tr>121 <a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>nearbyVariable</b>·()·const</td></tr>
122 <tr·class="separator:a1a035e010166550782a8313ec616c325"><td·class="memSeparator"·colspan="2">&#160;</td></tr>122 <tr·class="separator:a1a035e010166550782a8313ec616c325"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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124 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>124 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
125 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00359_source.html">StereoCamera.h</a></li>125 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00335_source.html">StereoCamera.h</a></li>
126 </ul>126 </ul>
127 </div><!--·contents·-->127 </div><!--·contents·-->
128 </div><!--·doc-content·-->128 </div><!--·doc-content·-->
129 <!--·start·footer·part·-->129 <!--·start·footer·part·-->
130 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->130 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
131 ··<ul>131 ··<ul>
132 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03336.html">StereoCheiralityException</a></li>132 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03336.html">StereoCheiralityException</a></li>
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761 B
./usr/share/doc/libgtsam-dev/html/a03340.html
    
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335 ··</table>335 ··</table>
336 ··</dd>336 ··</dd>
337 </dl>337 </dl>
  
338 </div>338 </div>
339 </div>339 </div>
340 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>340 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
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184 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>184 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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197 ··<ul>197 ··<ul>
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184 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>184 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
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197 ··<ul>197 ··<ul>
198 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03360.html">traits&lt;·const·StereoPoint2·&gt;</a></li>198 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03360.html">traits&lt;·const·StereoPoint2·&gt;</a></li>
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120 <!--·start·footer·part·-->120 <!--·start·footer·part·-->
121 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->121 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
122 ··<ul>122 ··<ul>
123 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03364.html">TriangulationUnderconstrainedException</a></li>123 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03364.html">TriangulationUnderconstrainedException</a></li>
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122 ··<ul>122 ··<ul>
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226 <p>threshold·to·decide·whether·triangulation·is·result.degenerate·</p>226 <p>threshold·to·decide·whether·triangulation·is·result.degenerate·</p>
227 <p>(the·rank·is·the·number·of·singular·values·of·the·triangulation·matrix·which·are·larger·than·rankTolerance)·</p>227 <p>(the·rank·is·the·number·of·singular·values·of·the·triangulation·matrix·which·are·larger·than·rankTolerance)·</p>
  
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235 <!--·start·footer·part·-->235 <!--·start·footer·part·-->
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237 ··<ul>237 ··<ul>
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185 <tr·class="memdesc:ac98d07dd8f7b70e16ccb9a01abf56b9c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Serialization·function.·<br·/></td></tr>185 <tr·class="memdesc:ac98d07dd8f7b70e16ccb9a01abf56b9c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Serialization·function.·<br·/></td></tr>
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188 std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator&lt;&lt;</b>·(std::ostream·&amp;os,·const·<a·class="el"·href="a03376.html">TriangulationResult</a>·&amp;result)</td></tr>188 std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator&lt;&lt;</b>·(std::ostream·&amp;os,·const·<a·class="el"·href="a03376.html">TriangulationResult</a>·&amp;result)</td></tr>
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191 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>191 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
192 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00407_source.html">triangulation.h</a></li>192 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00317_source.html">triangulation.h</a></li>
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196 <!--·start·footer·part·-->196 <!--·start·footer·part·-->
197 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->197 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
198 ··<ul>198 ··<ul>
199 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03376.html">TriangulationResult</a></li>199 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03376.html">TriangulationResult</a></li>
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302 <p>Signed,·vector-valued·error·between·two·directions.·</p>302 <p>Signed,·vector-valued·error·between·two·directions.·</p>
303 <dl·class="deprecated"><dt><b><a·class="el"·href="a01409.html#_deprecated000016">Deprecated:</a></b></dt><dd>,·errorVector·has·the·proper·derivatives,·this·confusingly·has·only·the·second.·</dd></dl>303 <dl·class="deprecated"><dt><b><a·class="el"·href="a01409.html#_deprecated000016">Deprecated:</a></b></dt><dd>,·errorVector·has·the·proper·derivatives,·this·confusingly·has·only·the·second.·</dd></dl>
  
304 </div>304 </div>
305 </div>305 </div>
306 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>306 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
307 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00470_source.html">Unit3.h</a></li>307 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00287_source.html">Unit3.h</a></li>
308 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<b>Unit3.cpp</b></li>308 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<b>Unit3.cpp</b></li>
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312 <!--·start·footer·part·-->312 <!--·start·footer·part·-->
313 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->313 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
314 ··<ul>314 ··<ul>
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156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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159 typedef·Eigen::Matrix&lt;·double,·dimension,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>TangentVector</b></td></tr>159 typedef·Eigen::Matrix&lt;·double,·dimension,·1·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>TangentVector</b></td></tr>
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162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00470_source.html">Unit3.h</a></li>163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00287_source.html">Unit3.h</a></li>
164 </ul>164 </ul>
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167 <!--·start·footer·part·-->167 <!--·start·footer·part·-->
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169 ··<ul>169 ··<ul>
170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03384.html">traits&lt;·Unit3·&gt;</a></li>170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03384.html">traits&lt;·Unit3·&gt;</a></li>
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156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00470_source.html">Unit3.h</a></li>163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/<a·class="el"·href="a00287_source.html">Unit3.h</a></li>
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169 ··<ul>169 ··<ul>
170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03388.html">traits&lt;·const·Unit3·&gt;</a></li>170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03388.html">traits&lt;·const·Unit3·&gt;</a></li>
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728 ··</tr>728 ··</tr>
729 </table>729 </table>
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731 <p>Compute·the·error·of·this·Gaussian·Mixture.·</p>731 <p>Compute·the·error·of·this·Gaussian·Mixture.·</p>
732 <p>This·requires·some·care,·as·different·mixture·components·may·have·different·normalization·constants.·Let's·consider·p(x|y,m),·where·m·is·discrete.·We·need·the·error·to·satisfy·the·invariant:</p>732 <p>This·requires·some·care,·as·different·mixture·components·may·have·different·normalization·constants.·Let's·consider·p(x|y,m),·where·m·is·discrete.·We·need·the·error·to·satisfy·the·invariant:</p>
733 <p>error(x;y,m)·=·K·-·log(probability(x;y,m))</p>733 <p>error(x;y,m)·=·K·-·log(probability(x;y,m))</p>
734 <p>For·all·x,y,m.·But·note·that·K,·the·(log)·normalization·constant·defined·in·<a·class="el"·href="a00605.html"·title="Base·class·for·conditional·densities.">Conditional.h</a>,·should·not·depend·on·x,·y,·or·m,·only·on·the·parameters·of·the·density.·Hence,·we·delegate·to·the·underlying·Gaussian·conditionals,·indexed·by·m,·which·do·satisfy:</p>734 <p>For·all·x,y,m.·But·note·that·K,·the·(log)·normalization·constant·defined·in·<a·class="el"·href="a00686.html"·title="Base·class·for·conditional·densities.">Conditional.h</a>,·should·not·depend·on·x,·y,·or·m,·only·on·the·parameters·of·the·density.·Hence,·we·delegate·to·the·underlying·Gaussian·conditionals,·indexed·by·m,·which·do·satisfy:</p>
735 <p>log(probability_m(x;y))·=·K_m·-·error_m(x;y)</p>735 <p>log(probability_m(x;y))·=·K_m·-·error_m(x;y)</p>
736 <p>We·resolve·by·having·K·==·max(K_m)·and</p>736 <p>We·resolve·by·having·K·==·max(K_m)·and</p>
737 <p>error(x;y,m)·=·error_m(x;y)·+·K·-·K_m</p>737 <p>error(x;y,m)·=·error_m(x;y)·+·K·-·K_m</p>
738 <p>which·also·makes·error(x;y,m)·&gt;=·0·for·all·x,y,m.</p>738 <p>which·also·makes·error(x;y,m)·&gt;=·0·for·all·x,y,m.</p>
739 <dl·class="params"><dt>Parameters</dt><dd>739 <dl·class="params"><dt>Parameters</dt><dd>
740 ··<table·class="params">740 ··<table·class="params">
741 ····<tr><td·class="paramname">values</td><td>Continuous·values·and·discrete·assignment.·</td></tr>741 ····<tr><td·class="paramname">values</td><td>Continuous·values·and·discrete·assignment.·</td></tr>
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962 ··</table>962 ··</table>
963 ··</dd>963 ··</dd>
964 </dl>964 </dl>
  
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969 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00515.html">GaussianMixture.cpp</a></li>969 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00545.html">GaussianMixture.cpp</a></li>
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975 ··<ul>975 ··<ul>
976 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03392.html">GaussianMixture</a></li>976 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03392.html">GaussianMixture</a></li>
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132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00536_source.html">GaussianMixture.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00494_source.html">GaussianMixture.h</a></li>
133 </ul>133 </ul>
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136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03396.html">traits&lt;·GaussianMixture·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03396.html">traits&lt;·GaussianMixture·&gt;</a></li>
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604 <p>print·</p>604 <p>print·</p>
  
605 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>605 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
606 </div>606 </div>
607 </div>607 </div>
608 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>608 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
609 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00533_source.html">GaussianMixtureFactor.h</a></li>609 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00497_source.html">GaussianMixtureFactor.h</a></li>
610 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00524.html">GaussianMixtureFactor.cpp</a></li>610 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00515.html">GaussianMixtureFactor.cpp</a></li>
611 </ul>611 </ul>
612 </div><!--·contents·-->612 </div><!--·contents·-->
613 </div><!--·doc-content·-->613 </div><!--·doc-content·-->
614 <!--·start·footer·part·-->614 <!--·start·footer·part·-->
615 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->615 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
616 ··<ul>616 ··<ul>
617 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03400.html">GaussianMixtureFactor</a></li>617 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03400.html">GaussianMixtureFactor</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03400.html">GaussianMixtureFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03400.html">GaussianMixtureFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a03400.html">GaussianMixtureFactor</a>·&amp;m1,·const·<a·class="el"·href="a03400.html">GaussianMixtureFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a03400.html">GaussianMixtureFactor</a>·&amp;m1,·const·<a·class="el"·href="a03400.html">GaussianMixtureFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00533_source.html">GaussianMixtureFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00497_source.html">GaussianMixtureFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03404.html">traits&lt;·GaussianMixtureFactor·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03404.html">traits&lt;·GaussianMixtureFactor·&gt;</a></li>
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871 ··</dd>871 ··</dd>
872 </dl>872 </dl>
873 <dl·class="section·return"><dt>Returns</dt><dd><a·class="el"·href="a03504.html"·title="HybridValues·represents·a·collection·of·DiscreteValues·and·VectorValues.">HybridValues</a>·</dd></dl>873 <dl·class="section·return"><dt>Returns</dt><dd><a·class="el"·href="a03504.html"·title="HybridValues·represents·a·collection·of·DiscreteValues·and·VectorValues.">HybridValues</a>·</dd></dl>
  
874 </div>874 </div>
875 </div>875 </div>
876 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>876 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
877 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00569_source.html">HybridBayesNet.h</a></li>877 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00548_source.html">HybridBayesNet.h</a></li>
878 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00518.html">HybridBayesNet.cpp</a></li>878 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00509.html">HybridBayesNet.cpp</a></li>
879 </ul>879 </ul>
880 </div><!--·contents·-->880 </div><!--·contents·-->
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882 <!--·start·footer·part·-->882 <!--·start·footer·part·-->
883 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->883 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
884 ··<ul>884 ··<ul>
885 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03408.html">HybridBayesNet</a></li>885 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03408.html">HybridBayesNet</a></li>
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03408.html">HybridBayesNet</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03408.html">HybridBayesNet</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00569_source.html">HybridBayesNet.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00548_source.html">HybridBayesNet.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03412.html">traits&lt;·HybridBayesNet·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03412.html">traits&lt;·HybridBayesNet·&gt;</a></li>
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276 <tr·class="memdesc:af3d82f22471162aafc735e1413d9e428·inherit·pro_attribs_a03552"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·stores·the·Cached·separator·marginal·P(S)·<br·/></td></tr>276 <tr·class="memdesc:af3d82f22471162aafc735e1413d9e428·inherit·pro_attribs_a03552"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·stores·the·Cached·separator·marginal·P(S)·<br·/></td></tr>
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278 <tr·class="memitem:a75ce5160f65fe820a6abb154f01ff86a·inherit·pro_attribs_a03552"·id="r_a75ce5160f65fe820a6abb154f01ff86a"><td·class="memItemLeft"·align="right"·valign="top">std::mutex&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03552.html#a75ce5160f65fe820a6abb154f01ff86a">cachedSeparatorMarginalMutex_</a></td></tr>278 <tr·class="memitem:a75ce5160f65fe820a6abb154f01ff86a·inherit·pro_attribs_a03552"·id="r_a75ce5160f65fe820a6abb154f01ff86a"><td·class="memItemLeft"·align="right"·valign="top">std::mutex&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03552.html#a75ce5160f65fe820a6abb154f01ff86a">cachedSeparatorMarginalMutex_</a></td></tr>
279 <tr·class="memdesc:a75ce5160f65fe820a6abb154f01ff86a·inherit·pro_attribs_a03552"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·protects·Cached·seperator·marginal·P(S)·from·concurrent·read/writes·as·many·the·functions·which·access·it·are·const·(hence·the·mutable)·leading·to·the·false·impression·that·these·const·functions·are·thread-safe·which·is·not·true·due·to·these·mutable·values.··<br·/></td></tr>279 <tr·class="memdesc:a75ce5160f65fe820a6abb154f01ff86a·inherit·pro_attribs_a03552"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">This·protects·Cached·seperator·marginal·P(S)·from·concurrent·read/writes·as·many·the·functions·which·access·it·are·const·(hence·the·mutable)·leading·to·the·false·impression·that·these·const·functions·are·thread-safe·which·is·not·true·due·to·these·mutable·values.··<br·/></td></tr>
280 <tr·class="separator:a75ce5160f65fe820a6abb154f01ff86a·inherit·pro_attribs_a03552"><td·class="memSeparator"·colspan="2">&#160;</td></tr>280 <tr·class="separator:a75ce5160f65fe820a6abb154f01ff86a·inherit·pro_attribs_a03552"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
281 </table>281 </table>
282 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>282 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
283 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00497_source.html">HybridBayesTree.h</a></li>283 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00539_source.html">HybridBayesTree.h</a></li>
284 </ul>284 </ul>
285 </div><!--·contents·-->285 </div><!--·contents·-->
286 </div><!--·doc-content·-->286 </div><!--·doc-content·-->
287 <!--·start·footer·part·-->287 <!--·start·footer·part·-->
288 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->288 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
289 ··<ul>289 ··<ul>
290 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03420.html">HybridBayesTreeClique</a></li>290 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03420.html">HybridBayesTreeClique</a></li>
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1.13 KB
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471 ··</dd>471 ··</dd>
472 </dl>472 </dl>
473 <dl·class="section·return"><dt>Returns</dt><dd>HybridPrunerData·which·is·passed·to·the·children.</dd></dl>473 <dl·class="section·return"><dt>Returns</dt><dd>HybridPrunerData·which·is·passed·to·the·children.</dd></dl>
  
474 </div>474 </div>
475 </div>475 </div>
476 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>476 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
477 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00497_source.html">HybridBayesTree.h</a></li>477 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00539_source.html">HybridBayesTree.h</a></li>
478 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00485.html">HybridBayesTree.cpp</a></li>478 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00524.html">HybridBayesTree.cpp</a></li>
479 </ul>479 </ul>
480 </div><!--·contents·-->480 </div><!--·contents·-->
481 </div><!--·doc-content·-->481 </div><!--·doc-content·-->
482 <!--·start·footer·part·-->482 <!--·start·footer·part·-->
483 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->483 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
484 ··<ul>484 ··<ul>
485 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03424.html">HybridBayesTree</a></li>485 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03424.html">HybridBayesTree</a></li>
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1.67 KB
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03424.html">HybridBayesTree</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03424.html">HybridBayesTree</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a03424.html">HybridBayesTree</a>·&amp;m1,·const·<a·class="el"·href="a03424.html">HybridBayesTree</a>·&amp;m2,·double·tol=1e-8)</td></tr>130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a03424.html">HybridBayesTree</a>·&amp;m1,·const·<a·class="el"·href="a03424.html">HybridBayesTree</a>·&amp;m2,·double·tol=1e-8)</td></tr>
131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00497_source.html">HybridBayesTree.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00539_source.html">HybridBayesTree.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03428.html">traits&lt;·HybridBayesTree·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03428.html">traits&lt;·HybridBayesTree·&gt;</a></li>
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555 <p>print·utility·</p>555 <p>print·utility·</p>
  
556 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>556 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
557 </div>557 </div>
558 </div>558 </div>
559 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>559 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
560 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00497_source.html">HybridBayesTree.h</a></li>560 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00539_source.html">HybridBayesTree.h</a></li>
561 </ul>561 </ul>
562 </div><!--·contents·-->562 </div><!--·contents·-->
563 </div><!--·doc-content·-->563 </div><!--·doc-content·-->
564 <!--·start·footer·part·-->564 <!--·start·footer·part·-->
565 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->565 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
566 ··<ul>566 ··<ul>
567 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03432.html">BayesTreeOrphanWrapper&lt;·HybridBayesTreeClique·&gt;</a></li>567 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03432.html">BayesTreeOrphanWrapper&lt;·HybridBayesTreeClique·&gt;</a></li>
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./usr/share/doc/libgtsam-dev/html/a03436.html
    
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950 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>950 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
951 </div>951 </div>
952 </div>952 </div>
953 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>953 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
954 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00488_source.html">HybridConditional.h</a></li>954 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00488_source.html">HybridConditional.h</a></li>
955 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00491.html">HybridConditional.cpp</a></li>955 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00542.html">HybridConditional.cpp</a></li>
956 </ul>956 </ul>
957 </div><!--·contents·-->957 </div><!--·contents·-->
958 </div><!--·doc-content·-->958 </div><!--·doc-content·-->
959 <!--·start·footer·part·-->959 <!--·start·footer·part·-->
960 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->960 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
961 ··<ul>961 ··<ul>
962 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03436.html">HybridConditional</a></li>962 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03436.html">HybridConditional</a></li>
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327 ··</table>327 ··</table>
328 ··</dd>328 ··</dd>
329 </dl>329 </dl>
  
330 </div>330 </div>
331 </div>331 </div>
332 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>332 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
333 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00494_source.html">HybridEliminationTree.h</a></li>333 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00551_source.html">HybridEliminationTree.h</a></li>
334 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00548.html">HybridEliminationTree.cpp</a></li>334 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00533.html">HybridEliminationTree.cpp</a></li>
335 </ul>335 </ul>
336 </div><!--·contents·-->336 </div><!--·contents·-->
337 </div><!--·doc-content·-->337 </div><!--·doc-content·-->
338 <!--·start·footer·part·-->338 <!--·start·footer·part·-->
339 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->339 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
340 ··<ul>340 ··<ul>
341 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03444.html">HybridEliminationTree</a></li>341 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03444.html">HybridEliminationTree</a></li>
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1.23 KB
./usr/share/doc/libgtsam-dev/html/a03448.html
    
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496 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>496 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
497 <p>Reimplemented·in·<a·class="el"·href="a03512.html#ad1c4a9e95393b2b8e542d03682021e5f">gtsam::MixtureFactor</a>.</p>497 <p>Reimplemented·in·<a·class="el"·href="a03512.html#ad1c4a9e95393b2b8e542d03682021e5f">gtsam::MixtureFactor</a>.</p>
  
498 </div>498 </div>
499 </div>499 </div>
500 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>500 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
501 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00482_source.html">HybridFactor.h</a></li>501 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00569_source.html">HybridFactor.h</a></li>
502 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00503.html">HybridFactor.cpp</a></li>502 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00566.html">HybridFactor.cpp</a></li>
503 </ul>503 </ul>
504 </div><!--·contents·-->504 </div><!--·contents·-->
505 </div><!--·doc-content·-->505 </div><!--·doc-content·-->
506 <!--·start·footer·part·-->506 <!--·start·footer·part·-->
507 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->507 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
508 ··<ul>508 ··<ul>
509 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03448.html">HybridFactor</a></li>509 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03448.html">HybridFactor</a></li>
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1.65 KB
./usr/share/doc/libgtsam-dev/html/a03452.html
    
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03448.html">HybridFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03448.html">HybridFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a03448.html">HybridFactor</a>·&amp;m1,·const·<a·class="el"·href="a03448.html">HybridFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a03448.html">HybridFactor</a>·&amp;m1,·const·<a·class="el"·href="a03448.html">HybridFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00482_source.html">HybridFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00569_source.html">HybridFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03452.html">traits&lt;·HybridFactor·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03452.html">traits&lt;·HybridFactor·&gt;</a></li>
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1.28 KB
./usr/share/doc/libgtsam-dev/html/a03456.html
    
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413 <p>Implicit·copy/downcast·constructor·to·override·explicit·template·container·constructor.·</p>413 <p>Implicit·copy/downcast·constructor·to·override·explicit·template·container·constructor.·</p>
414 <p>In·<a·class="el"·href="a03540.html"·title="Bayes·tree.">BayesTree</a>·this·is·used·for:·<code>cachedSeparatorMarginal_.reset(*separatorMarginal)</code>·</p>414 <p>In·<a·class="el"·href="a03540.html"·title="Bayes·tree.">BayesTree</a>·this·is·used·for:·<code>cachedSeparatorMarginal_.reset(*separatorMarginal)</code>·</p>
  
415 </div>415 </div>
416 </div>416 </div>
417 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>417 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
418 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00563_source.html">HybridFactorGraph.h</a></li>418 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00527_source.html">HybridFactorGraph.h</a></li>
419 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00530.html">HybridFactorGraph.cpp</a></li>419 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00563.html">HybridFactorGraph.cpp</a></li>
420 </ul>420 </ul>
421 </div><!--·contents·-->421 </div><!--·contents·-->
422 </div><!--·doc-content·-->422 </div><!--·doc-content·-->
423 <!--·start·footer·part·-->423 <!--·start·footer·part·-->
424 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->424 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
425 ··<ul>425 ··<ul>
426 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03456.html">HybridFactorGraph</a></li>426 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03456.html">HybridFactorGraph</a></li>
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1.06 KB
./usr/share/doc/libgtsam-dev/html/a03464.html
    
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645 </dl>645 </dl>
646 <dl·class="section·return"><dt>Returns</dt><dd><a·class="el"·href="a02760.html">AlgebraicDecisionTree&lt;Key&gt;</a>·</dd></dl>646 <dl·class="section·return"><dt>Returns</dt><dd><a·class="el"·href="a02760.html">AlgebraicDecisionTree&lt;Key&gt;</a>·</dd></dl>
  
647 </div>647 </div>
648 </div>648 </div>
649 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>649 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
650 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00554_source.html">HybridGaussianFactorGraph.h</a></li>650 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00554_source.html">HybridGaussianFactorGraph.h</a></li>
651 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00527.html">HybridGaussianFactorGraph.cpp</a></li>651 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00521.html">HybridGaussianFactorGraph.cpp</a></li>
652 </ul>652 </ul>
653 </div><!--·contents·-->653 </div><!--·contents·-->
654 </div><!--·doc-content·-->654 </div><!--·doc-content·-->
655 <!--·start·footer·part·-->655 <!--·start·footer·part·-->
656 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->656 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
657 ··<ul>657 ··<ul>
658 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03464.html">HybridGaussianFactorGraph</a></li>658 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03464.html">HybridGaussianFactorGraph</a></li>
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1.12 KB
./usr/share/doc/libgtsam-dev/html/a03484.html
    
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328 ··</dd>328 ··</dd>
329 </dl>329 </dl>
330 <dl·class="section·return"><dt>Returns</dt><dd>The·elimination·tree·</dd></dl>330 <dl·class="section·return"><dt>Returns</dt><dd>The·elimination·tree·</dd></dl>
  
331 </div>331 </div>
332 </div>332 </div>
333 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>333 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
334 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00545_source.html">HybridJunctionTree.h</a></li>334 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00503_source.html">HybridJunctionTree.h</a></li>
335 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00521.html">HybridJunctionTree.cpp</a></li>335 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00482.html">HybridJunctionTree.cpp</a></li>
336 </ul>336 </ul>
337 </div><!--·contents·-->337 </div><!--·contents·-->
338 </div><!--·doc-content·-->338 </div><!--·doc-content·-->
339 <!--·start·footer·part·-->339 <!--·start·footer·part·-->
340 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->340 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
341 ··<ul>341 ··<ul>
342 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03484.html">HybridJunctionTree</a></li>342 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03484.html">HybridJunctionTree</a></li>
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./usr/share/doc/libgtsam-dev/html/a03488.html
    
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505 <p>Print·the·factor·graph.·</p>505 <p>Print·the·factor·graph.·</p>
  
506 <p>Reimplemented·from·<a·class="el"·href="a03524.html#a06c9c6d855c390743bd4a4472c730687">gtsam::FactorGraph&lt;·Factor·&gt;</a>.</p>506 <p>Reimplemented·from·<a·class="el"·href="a03524.html#a06c9c6d855c390743bd4a4472c730687">gtsam::FactorGraph&lt;·Factor·&gt;</a>.</p>
  
507 </div>507 </div>
508 </div>508 </div>
509 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>509 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
510 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00557_source.html">HybridNonlinearFactorGraph.h</a></li>510 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00506_source.html">HybridNonlinearFactorGraph.h</a></li>
511 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00506.html">HybridNonlinearFactorGraph.cpp</a></li>511 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00518.html">HybridNonlinearFactorGraph.cpp</a></li>
512 </ul>512 </ul>
513 </div><!--·contents·-->513 </div><!--·contents·-->
514 </div><!--·doc-content·-->514 </div><!--·doc-content·-->
515 <!--·start·footer·part·-->515 <!--·start·footer·part·-->
516 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->516 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
517 ··<ul>517 ··<ul>
518 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03488.html">HybridNonlinearFactorGraph</a></li>518 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03488.html">HybridNonlinearFactorGraph</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03488.html">HybridNonlinearFactorGraph</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03488.html">HybridNonlinearFactorGraph</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a03488.html">HybridNonlinearFactorGraph</a>·&amp;m1,·const·<a·class="el"·href="a03488.html">HybridNonlinearFactorGraph</a>·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a03488.html">HybridNonlinearFactorGraph</a>·&amp;m1,·const·<a·class="el"·href="a03488.html">HybridNonlinearFactorGraph</a>·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00557_source.html">HybridNonlinearFactorGraph.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00506_source.html">HybridNonlinearFactorGraph.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03492.html">traits&lt;·HybridNonlinearFactorGraph·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03492.html">traits&lt;·HybridNonlinearFactorGraph·&gt;</a></li>
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300 <p>get·counters·</p>300 <p>get·counters·</p>
301 <p>TODO:·comment·</p>301 <p>TODO:·comment·</p>
  
302 </div>302 </div>
303 </div>303 </div>
304 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>304 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
305 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00539_source.html">HybridNonlinearISAM.h</a></li>305 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00560_source.html">HybridNonlinearISAM.h</a></li>
306 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00560.html">HybridNonlinearISAM.cpp</a></li>306 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00536.html">HybridNonlinearISAM.cpp</a></li>
307 </ul>307 </ul>
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309 </div><!--·doc-content·-->309 </div><!--·doc-content·-->
310 <!--·start·footer·part·-->310 <!--·start·footer·part·-->
311 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->311 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
312 ··<ul>312 ··<ul>
313 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03496.html">HybridNonlinearISAM</a></li>313 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03496.html">HybridNonlinearISAM</a></li>
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214 ··</dd>214 ··</dd>
215 </dl>215 </dl>
216 <p>Prune</p>216 <p>Prune</p>
  
217 </div>217 </div>
218 </div>218 </div>
219 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>219 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
220 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00512_source.html">HybridSmoother.h</a></li>220 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00530_source.html">HybridSmoother.h</a></li>
221 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00542.html">HybridSmoother.cpp</a></li>221 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00512.html">HybridSmoother.cpp</a></li>
222 </ul>222 </ul>
223 </div><!--·contents·-->223 </div><!--·contents·-->
224 </div><!--·doc-content·-->224 </div><!--·doc-content·-->
225 <!--·start·footer·part·-->225 <!--·start·footer·part·-->
226 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->226 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
227 ··<ul>227 ··<ul>
228 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03500.html">HybridSmoother</a></li>228 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03500.html">HybridSmoother</a></li>
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169 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>insert_or_assign</b>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j,·const·Vector·&amp;value)</td></tr>169 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>insert_or_assign</b>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j,·const·Vector·&amp;value)</td></tr>
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173 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>insert_or_assign</b>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j,·size_t·value)</td></tr>173 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>insert_or_assign</b>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j,·size_t·value)</td></tr>
174 <tr·class="memdesc:aef33d2cc24baa79fd299efb0d1af56a6"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a03504.html#a4e27ac3e00f803ac49c4204412719a2f"·title="insert_or_assign()·,·similar·to·Values.h">insert_or_assign()</a>·,·similar·to·<a·class="el"·href="a01073.html"·title="A·non-templated·config·holding·any·types·of·Manifold-group·elements.">Values.h</a>·<br·/></td></tr>174 <tr·class="memdesc:aef33d2cc24baa79fd299efb0d1af56a6"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a03504.html#a4e27ac3e00f803ac49c4204412719a2f"·title="insert_or_assign()·,·similar·to·Values.h">insert_or_assign()</a>·,·similar·to·<a·class="el"·href="a01121.html"·title="A·non-templated·config·holding·any·types·of·Manifold-group·elements.">Values.h</a>·<br·/></td></tr>
175 <tr·class="separator:aef33d2cc24baa79fd299efb0d1af56a6"><td·class="memSeparator"·colspan="2">&#160;</td></tr>175 <tr·class="separator:aef33d2cc24baa79fd299efb0d1af56a6"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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177 <tr·class="memdesc:aad78196a68a02b327d73dbeda7e8cccb"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Insert·all·continuous·values·from·<code>values</code>.··<br·/></td></tr>177 <tr·class="memdesc:aad78196a68a02b327d73dbeda7e8cccb"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Insert·all·continuous·values·from·<code>values</code>.··<br·/></td></tr>
178 <tr·class="separator:aad78196a68a02b327d73dbeda7e8cccb"><td·class="memSeparator"·colspan="2">&#160;</td></tr>178 <tr·class="separator:aad78196a68a02b327d73dbeda7e8cccb"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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180 <tr·class="memdesc:a1cfdd5cb8cc111d0d5d3f69a8005ffe0"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Insert·all·discrete·values·from·<code>values</code>.··<br·/></td></tr>180 <tr·class="memdesc:a1cfdd5cb8cc111d0d5d3f69a8005ffe0"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Insert·all·discrete·values·from·<code>values</code>.··<br·/></td></tr>
181 <tr·class="separator:a1cfdd5cb8cc111d0d5d3f69a8005ffe0"><td·class="memSeparator"·colspan="2">&#160;</td></tr>181 <tr·class="separator:a1cfdd5cb8cc111d0d5d3f69a8005ffe0"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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537 <p>For·all·key/value·pairs·in·<code>values</code>,·replace·continuous·values·with·corresponding·keys·in·this·object·with·those·in·<code>values</code>.·</p>537 <p>For·all·key/value·pairs·in·<code>values</code>,·replace·continuous·values·with·corresponding·keys·in·this·object·with·those·in·<code>values</code>.·</p>
538 <p>Throws·std::out_of_range·if·any·keys·in·<code>values</code>·are·not·present·in·this·object.·</p>538 <p>Throws·std::out_of_range·if·any·keys·in·<code>values</code>·are·not·present·in·this·object.·</p>
  
539 </div>539 </div>
540 </div>540 </div>
541 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>541 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
542 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00566_source.html">HybridValues.h</a></li>542 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00557_source.html">HybridValues.h</a></li>
543 </ul>543 </ul>
544 </div><!--·contents·-->544 </div><!--·contents·-->
545 </div><!--·doc-content·-->545 </div><!--·doc-content·-->
546 <!--·start·footer·part·-->546 <!--·start·footer·part·-->
547 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->547 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
548 ··<ul>548 ··<ul>
549 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03504.html">HybridValues</a></li>549 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03504.html">HybridValues</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03504.html">HybridValues</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03504.html">HybridValues</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00566_source.html">HybridValues.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/<a·class="el"·href="a00557_source.html">HybridValues.h</a></li>
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138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03508.html">traits&lt;·HybridValues·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03508.html">traits&lt;·HybridValues·&gt;</a></li>
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726 <p>print·to·stdout·</p>726 <p>print·to·stdout·</p>
  
727 <p>Reimplemented·from·<a·class="el"·href="a03448.html#a9ba3360f3e23d4840b00e3130b094589">gtsam::HybridFactor</a>.</p>727 <p>Reimplemented·from·<a·class="el"·href="a03448.html#a9ba3360f3e23d4840b00e3130b094589">gtsam::HybridFactor</a>.</p>
  
728 </div>728 </div>
729 </div>729 </div>
730 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>730 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
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737 ··<ul>737 ··<ul>
738 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03512.html">MixtureFactor</a></li>738 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03512.html">MixtureFactor</a></li>
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1.46 KB
./usr/share/doc/libgtsam-dev/html/a03516.html
    
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450 <p>Reimplemented·from·<a·class="el"·href="a03524.html#a06c9c6d855c390743bd4a4472c730687">gtsam::FactorGraph&lt;·CONDITIONAL·&gt;</a>.</p>450 <p>Reimplemented·from·<a·class="el"·href="a03524.html#a06c9c6d855c390743bd4a4472c730687">gtsam::FactorGraph&lt;·CONDITIONAL·&gt;</a>.</p>
  
451 <p>Reimplemented·in·<a·class="el"·href="a03408.html#a46db6b5a2015becd4961b377efa7549a">gtsam::HybridBayesNet</a>,·<a·class="el"·href="a03740.html#a8bb3c347e66fc1d2ea8ae5c8e51299fa">gtsam::GaussianBayesNet</a>,·and·<a·class="el"·href="a04972.html#a16f146d9a2df6a5d6b9b7cead816d88e">gtsam::SymbolicBayesNet</a>.</p>451 <p>Reimplemented·in·<a·class="el"·href="a03408.html#a46db6b5a2015becd4961b377efa7549a">gtsam::HybridBayesNet</a>,·<a·class="el"·href="a03740.html#a8bb3c347e66fc1d2ea8ae5c8e51299fa">gtsam::GaussianBayesNet</a>,·and·<a·class="el"·href="a04972.html#a16f146d9a2df6a5d6b9b7cead816d88e">gtsam::SymbolicBayesNet</a>.</p>
  
452 </div>452 </div>
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454 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>454 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
455 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00686_source.html">BayesNet.h</a></li>455 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00692_source.html">BayesNet.h</a></li>
456 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00572_source.html">BayesNet-inst.h</a></li>456 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00584_source.html">BayesNet-inst.h</a></li>
457 </ul>457 </ul>
458 </div><!--·contents·-->458 </div><!--·contents·-->
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462 ··<ul>462 ··<ul>
463 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03516.html">BayesNet</a></li>463 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03516.html">BayesNet</a></li>
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551 <p>concept·check,·makes·sure·FACTOR·defines·print·and·equals·</p>551 <p>concept·check,·makes·sure·FACTOR·defines·print·and·equals·</p>
552 <p>Collection·of·factors·</p>552 <p>Collection·of·factors·</p>
  
553 </div>553 </div>
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556 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00680_source.html">BayesTree.h</a></li>556 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00668_source.html">BayesTree.h</a></li>
557 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00656_source.html">FactorGraph.h</a></li>557 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00599_source.html">FactorGraph.h</a></li>
558 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00599_source.html">FactorGraph-inst.h</a></li>558 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00608_source.html">FactorGraph-inst.h</a></li>
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565 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03524.html">FactorGraph</a></li>565 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03524.html">FactorGraph</a></li>
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292 ········</tr>292 ········</tr>
293 ······</table>293 ······</table>
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296 <dl·class="params"><dt>Parameters</dt><dd>296 <dl·class="params"><dt>Parameters</dt><dd>
297 ··<table·class="params">297 ··<table·class="params">
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299 ··</table>299 ··</table>
300 ··</dd>300 ··</dd>
301 </dl>301 </dl>
302 <dl·class="section·return"><dt>Returns</dt><dd>The·Bayes·tree·and·factor·graph·resulting·from·elimination·</dd></dl>302 <dl·class="section·return"><dt>Returns</dt><dd>The·Bayes·tree·and·factor·graph·resulting·from·elimination·</dd></dl>
  
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314 ··<ul>314 ··<ul>
315 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03528.html">EliminatableClusterTree</a></li>315 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03528.html">EliminatableClusterTree</a></li>
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133 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00638.html">BayesTree.cpp</a></li>133 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00623.html">BayesTree.cpp</a></li>
134 </ul>134 </ul>
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137 <!--·start·footer·part·-->137 <!--·start·footer·part·-->
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139 ··<ul>139 ··<ul>
140 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03532.html">BayesTreeCliqueStats</a></li>140 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03532.html">BayesTreeCliqueStats</a></li>
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134 ··<ul>134 ··<ul>
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529 <p>Given·a·list·of·indices,·turn·"contaminated"·part·of·the·tree·back·into·a·factor·graph.·</p>529 <p>Given·a·list·of·indices,·turn·"contaminated"·part·of·the·tree·back·into·a·factor·graph.·</p>
530 <p>Factors·and·orphans·are·added·to·the·in/out·arguments.·</p>530 <p>Factors·and·orphans·are·added·to·the·in/out·arguments.·</p>
  
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532 </div>532 </div>
533 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>533 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
534 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00680_source.html">BayesTree.h</a></li>534 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00668_source.html">BayesTree.h</a></li>
535 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00644_source.html">BayesTree-inst.h</a></li>535 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00572_source.html">BayesTree-inst.h</a></li>
536 </ul>536 </ul>
537 </div><!--·contents·-->537 </div><!--·contents·-->
538 </div><!--·doc-content·-->538 </div><!--·doc-content·-->
539 <!--·start·footer·part·-->539 <!--·start·footer·part·-->
540 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->540 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
541 ··<ul>541 ··<ul>
542 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03540.html">BayesTree</a></li>542 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03540.html">BayesTree</a></li>
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173 ··</table>173 ··</table>
174 ··</dd>174 ··</dd>
175 </dl>175 </dl>
  
176 </div>176 </div>
177 </div>177 </div>
178 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>178 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
179 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00680_source.html">BayesTree.h</a></li>179 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00668_source.html">BayesTree.h</a></li>
180 </ul>180 </ul>
181 </div><!--·contents·-->181 </div><!--·contents·-->
182 </div><!--·doc-content·-->182 </div><!--·doc-content·-->
183 <!--·start·footer·part·-->183 <!--·start·footer·part·-->
184 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->184 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
185 ··<ul>185 ··<ul>
186 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03544.html">BayesTreeOrphanWrapper</a></li>186 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03544.html">BayesTreeOrphanWrapper</a></li>
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101 </div><!--header-->101 </div><!--header-->
102 <div·class="contents">102 <div·class="contents">
103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
104 <div·class="textblock"><div·class="compoundTemplParams">template&lt;class·GRAPH&gt;<br·/>104 <div·class="textblock"><div·class="compoundTemplParams">template&lt;class·GRAPH&gt;<br·/>
105 struct·gtsam::EliminationTraits&lt;·GRAPH·&gt;</div><p>Traits·class·for·eliminateable·factor·graphs,·specifies·the·types·that·result·from·elimination,·etc.·</p>105 struct·gtsam::EliminationTraits&lt;·GRAPH·&gt;</div><p>Traits·class·for·eliminateable·factor·graphs,·specifies·the·types·that·result·from·elimination,·etc.·</p>
106 <p>This·must·be·defined·for·each·factor·graph·that·inherits·from·<a·class="el"·href="a03580.html"·title="EliminateableFactorGraph·is·a·base·class·for·factor·graphs·that·contains·elimination·algorithms.">EliminateableFactorGraph</a>.·</p>106 <p>This·must·be·defined·for·each·factor·graph·that·inherits·from·<a·class="el"·href="a03580.html"·title="EliminateableFactorGraph·is·a·base·class·for·factor·graphs·that·contains·elimination·algorithms.">EliminateableFactorGraph</a>.·</p>
107 </div><hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>107 </div><hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
108 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00602_source.html">BayesTreeCliqueBase.h</a></li>108 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00587_source.html">BayesTreeCliqueBase.h</a></li>
109 </ul>109 </ul>
110 </div><!--·contents·-->110 </div><!--·contents·-->
111 </div><!--·doc-content·-->111 </div><!--·doc-content·-->
112 <!--·start·footer·part·-->112 <!--·start·footer·part·-->
113 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->113 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
114 ··<ul>114 ··<ul>
115 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03548.html">EliminationTraits</a></li>115 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03548.html">EliminationTraits</a></li>
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427 <p>This·protects·Cached·seperator·marginal·P(S)·from·concurrent·read/writes·as·many·the·functions·which·access·it·are·const·(hence·the·mutable)·leading·to·the·false·impression·that·these·const·functions·are·thread-safe·which·is·not·true·due·to·these·mutable·values.·</p>427 <p>This·protects·Cached·seperator·marginal·P(S)·from·concurrent·read/writes·as·many·the·functions·which·access·it·are·const·(hence·the·mutable)·leading·to·the·false·impression·that·these·const·functions·are·thread-safe·which·is·not·true·due·to·these·mutable·values.·</p>
428 <p>This·is·fixed·by·applying·this·mutex.·</p>428 <p>This·is·fixed·by·applying·this·mutex.·</p>
  
429 </div>429 </div>
430 </div>430 </div>
431 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>431 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
432 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00602_source.html">BayesTreeCliqueBase.h</a></li>432 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00587_source.html">BayesTreeCliqueBase.h</a></li>
433 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00581_source.html">BayesTreeCliqueBase-inst.h</a></li>433 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00683_source.html">BayesTreeCliqueBase-inst.h</a></li>
434 </ul>434 </ul>
435 </div><!--·contents·-->435 </div><!--·contents·-->
436 </div><!--·doc-content·-->436 </div><!--·doc-content·-->
437 <!--·start·footer·part·-->437 <!--·start·footer·part·-->
438 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->438 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
439 ··<ul>439 ··<ul>
440 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03552.html">BayesTreeCliqueBase</a></li>440 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03552.html">BayesTreeCliqueBase</a></li>
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155 </table><table·class="memberdecls">155 </table><table·class="memberdecls">
156 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>156 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
157 Classes</h2></td></tr>157 Classes</h2></td></tr>
158 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03560.html">EliminationPostOrderVisitor</a></td></tr>158 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03560.html">EliminationPostOrderVisitor</a></td></tr>
159 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>159 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
160 </table>160 </table>
161 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>161 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
162 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00701_source.html">ClusterTree-inst.h</a></li>162 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00620_source.html">ClusterTree-inst.h</a></li>
163 </ul>163 </ul>
164 </div><!--·contents·-->164 </div><!--·contents·-->
165 </div><!--·doc-content·-->165 </div><!--·doc-content·-->
166 <!--·start·footer·part·-->166 <!--·start·footer·part·-->
167 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->167 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
168 ··<ul>168 ··<ul>
169 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03556.html">EliminationData</a></li>169 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03556.html">EliminationData</a></li>
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110 &#160;</td><td·class="memItemRight"·valign="bottom"><b>EliminationPostOrderVisitor</b>·(const·typename·CLUSTERTREE::Eliminate·&amp;eliminationFunction,·typename·CLUSTERTREE::BayesTreeType::Nodes·&amp;nodesIndex)</td></tr>110 &#160;</td><td·class="memItemRight"·valign="bottom"><b>EliminationPostOrderVisitor</b>·(const·typename·CLUSTERTREE::Eliminate·&amp;eliminationFunction,·typename·CLUSTERTREE::BayesTreeType::Nodes·&amp;nodesIndex)</td></tr>
111 <tr·class="separator:acb4697a7721f193d4f7870104104c554"><td·class="memSeparator"·colspan="2">&#160;</td></tr>111 <tr·class="separator:acb4697a7721f193d4f7870104104c554"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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113 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator()</b>·(const·typename·CLUSTERTREE::sharedNode·&amp;node,·<a·class="el"·href="a03556.html">EliminationData</a>·&amp;myData)</td></tr>113 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator()</b>·(const·typename·CLUSTERTREE::sharedNode·&amp;node,·<a·class="el"·href="a03556.html">EliminationData</a>·&amp;myData)</td></tr>
114 <tr·class="separator:a381975675a251d6f6fabe8c8096f19c4"><td·class="memSeparator"·colspan="2">&#160;</td></tr>114 <tr·class="separator:a381975675a251d6f6fabe8c8096f19c4"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
115 </table>115 </table>
116 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>116 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
117 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00701_source.html">ClusterTree-inst.h</a></li>117 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00620_source.html">ClusterTree-inst.h</a></li>
118 </ul>118 </ul>
119 </div><!--·contents·-->119 </div><!--·contents·-->
120 </div><!--·doc-content·-->120 </div><!--·doc-content·-->
121 <!--·start·footer·part·-->121 <!--·start·footer·part·-->
122 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->122 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
123 ··<ul>123 ··<ul>
124 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03556.html">EliminationData</a></li><li·class="navelem"><a·class="el"·href="a03560.html">EliminationPostOrderVisitor</a></li>124 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03556.html">EliminationData</a></li><li·class="navelem"><a·class="el"·href="a03560.html">EliminationPostOrderVisitor</a></li>
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223 Protected·Attributes</h2></td></tr>223 Protected·Attributes</h2></td></tr>
224 <tr·class="memitem:a6bf40ec963bf6cf9b2c28f532811a532"·id="r_a6bf40ec963bf6cf9b2c28f532811a532"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a6bf40ec963bf6cf9b2c28f532811a532"·name="a6bf40ec963bf6cf9b2c28f532811a532"></a>224 <tr·class="memitem:a6bf40ec963bf6cf9b2c28f532811a532"·id="r_a6bf40ec963bf6cf9b2c28f532811a532"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a6bf40ec963bf6cf9b2c28f532811a532"·name="a6bf40ec963bf6cf9b2c28f532811a532"></a>
225 <a·class="el"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;·sharedNode·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>roots_</b></td></tr>225 <a·class="el"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;·sharedNode·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>roots_</b></td></tr>
226 <tr·class="memdesc:a6bf40ec963bf6cf9b2c28f532811a532"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">concept·check·<br·/></td></tr>226 <tr·class="memdesc:a6bf40ec963bf6cf9b2c28f532811a532"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">concept·check·<br·/></td></tr>
227 <tr·class="separator:a6bf40ec963bf6cf9b2c28f532811a532"><td·class="memSeparator"·colspan="2">&#160;</td></tr>227 <tr·class="separator:a6bf40ec963bf6cf9b2c28f532811a532"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
228 </table>228 </table>
229 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>229 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
230 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00674_source.html">ClusterTree.h</a></li>230 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00605_source.html">ClusterTree.h</a></li>
231 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00701_source.html">ClusterTree-inst.h</a></li>231 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00620_source.html">ClusterTree-inst.h</a></li>
232 </ul>232 </ul>
233 </div><!--·contents·-->233 </div><!--·contents·-->
234 </div><!--·doc-content·-->234 </div><!--·doc-content·-->
235 <!--·start·footer·part·-->235 <!--·start·footer·part·-->
236 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->236 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
237 ··<ul>237 ··<ul>
238 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03564.html">ClusterTree</a></li>238 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03564.html">ClusterTree</a></li>
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181 typedef·<a·class="el"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;·boost::shared_ptr&lt;·<a·class="el"·href="a03568.html">Cluster</a>·&gt;·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Children</b></td></tr>181 typedef·<a·class="el"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;·boost::shared_ptr&lt;·<a·class="el"·href="a03568.html">Cluster</a>·&gt;·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Children</b></td></tr>
182 <tr·class="separator:a6e8c3ab90169d3c4eae7ef2c9d92bd07"><td·class="memSeparator"·colspan="2">&#160;</td></tr>182 <tr·class="separator:a6e8c3ab90169d3c4eae7ef2c9d92bd07"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
183 <tr·class="memitem:aa6b36b4475283ecca2cb51bed2fb7fe9"·id="r_aa6b36b4475283ecca2cb51bed2fb7fe9"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aa6b36b4475283ecca2cb51bed2fb7fe9"·name="aa6b36b4475283ecca2cb51bed2fb7fe9"></a>183 <tr·class="memitem:aa6b36b4475283ecca2cb51bed2fb7fe9"·id="r_aa6b36b4475283ecca2cb51bed2fb7fe9"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aa6b36b4475283ecca2cb51bed2fb7fe9"·name="aa6b36b4475283ecca2cb51bed2fb7fe9"></a>
184 typedef·<a·class="el"·href="a03680.html">Ordering</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Keys</b></td></tr>184 typedef·<a·class="el"·href="a03680.html">Ordering</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Keys</b></td></tr>
185 <tr·class="separator:aa6b36b4475283ecca2cb51bed2fb7fe9"><td·class="memSeparator"·colspan="2">&#160;</td></tr>185 <tr·class="separator:aa6b36b4475283ecca2cb51bed2fb7fe9"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
186 </table>186 </table>
187 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>187 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
188 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00674_source.html">ClusterTree.h</a></li>188 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00605_source.html">ClusterTree.h</a></li>
189 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00701_source.html">ClusterTree-inst.h</a></li>189 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00620_source.html">ClusterTree-inst.h</a></li>
190 </ul>190 </ul>
191 </div><!--·contents·-->191 </div><!--·contents·-->
192 </div><!--·doc-content·-->192 </div><!--·doc-content·-->
193 <!--·start·footer·part·-->193 <!--·start·footer·part·-->
194 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->194 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
195 ··<ul>195 ··<ul>
196 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03564.html">ClusterTree</a></li><li·class="navelem"><a·class="el"·href="a03568.html">Cluster</a></li>196 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03564.html">ClusterTree</a></li><li·class="navelem"><a·class="el"·href="a03568.html">Cluster</a></li>
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389 <p>All·conditional·types·need·to·implement·a·<code>logProbability</code>·function,·for·which·exp(logProbability(x))·=·evaluate(x).·</p>389 <p>All·conditional·types·need·to·implement·a·<code>logProbability</code>·function,·for·which·exp(logProbability(x))·=·evaluate(x).·</p>
  
390 <p>Reimplemented·in·<a·class="el"·href="a03392.html#a80680752fbb782b2b99e5b8f6c7e4cee">gtsam::GaussianMixture</a>,·<a·class="el"·href="a03436.html#a09248627e216ca920aa1ee9e9857eaf5">gtsam::HybridConditional</a>,·<a·class="el"·href="a02832.html#a7be64c2df6e77908ed9844541638ae81">gtsam::DiscreteConditional</a>,·<a·class="el"·href="a03764.html#a5f2147b91f9106d41bf556a0dbd7f9c6">gtsam::GaussianConditional</a>,·and·<a·class="el"·href="a04996.html#aed2b00c56ffb931c268c7317edd94f3c">gtsam::SymbolicConditional</a>.</p>390 <p>Reimplemented·in·<a·class="el"·href="a03392.html#a80680752fbb782b2b99e5b8f6c7e4cee">gtsam::GaussianMixture</a>,·<a·class="el"·href="a03436.html#a09248627e216ca920aa1ee9e9857eaf5">gtsam::HybridConditional</a>,·<a·class="el"·href="a02832.html#a7be64c2df6e77908ed9844541638ae81">gtsam::DiscreteConditional</a>,·<a·class="el"·href="a03764.html#a5f2147b91f9106d41bf556a0dbd7f9c6">gtsam::GaussianConditional</a>,·and·<a·class="el"·href="a04996.html#aed2b00c56ffb931c268c7317edd94f3c">gtsam::SymbolicConditional</a>.</p>
  
391 </div>391 </div>
392 </div>392 </div>
393 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>393 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
394 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00605_source.html">Conditional.h</a></li>394 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00686_source.html">Conditional.h</a></li>
395 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00608_source.html">Conditional-inst.h</a></li>395 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00596_source.html">Conditional-inst.h</a></li>
396 </ul>396 </ul>
397 </div><!--·contents·-->397 </div><!--·contents·-->
398 </div><!--·doc-content·-->398 </div><!--·doc-content·-->
399 <!--·start·footer·part·-->399 <!--·start·footer·part·-->
400 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->400 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
401 ··<ul>401 ··<ul>
402 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03572.html">Conditional</a></li>402 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03572.html">Conditional</a></li>
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205 <p>The·position·hints·allow·one·to·use·symbol·character·and·index·to·specify·position.·</p>205 <p>The·position·hints·allow·one·to·use·symbol·character·and·index·to·specify·position.·</p>
206 <p>Unless·variable·positions·are·specified,·if·a·hint·is·present·for·a·given·symbol,·it·will·be·used·to·calculate·the·positions·as·(index,hint).·</p>206 <p>Unless·variable·positions·are·specified,·if·a·hint·is·present·for·a·given·symbol,·it·will·be·used·to·calculate·the·positions·as·(index,hint).·</p>
  
207 </div>207 </div>
208 </div>208 </div>
209 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>209 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
210 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00617_source.html">DotWriter.h</a></li>210 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00626_source.html">DotWriter.h</a></li>
211 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00632.html">DotWriter.cpp</a></li>211 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00578.html">DotWriter.cpp</a></li>
212 </ul>212 </ul>
213 </div><!--·contents·-->213 </div><!--·contents·-->
214 </div><!--·doc-content·-->214 </div><!--·doc-content·-->
215 <!--·start·footer·part·-->215 <!--·start·footer·part·-->
216 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->216 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
217 ··<ul>217 ··<ul>
218 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03576.html">DotWriter</a></li>218 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03576.html">DotWriter</a></li>
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728 ··</table>728 ··</table>
729 ··</dd>729 ··</dd>
730 </dl>730 </dl>
  
731 </div>731 </div>
732 </div>732 </div>
733 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>733 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
734 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00677_source.html">EliminateableFactorGraph.h</a></li>734 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00701_source.html">EliminateableFactorGraph.h</a></li>
735 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00695_source.html">EliminateableFactorGraph-inst.h</a></li>735 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00674_source.html">EliminateableFactorGraph-inst.h</a></li>
736 </ul>736 </ul>
737 </div><!--·contents·-->737 </div><!--·contents·-->
738 </div><!--·doc-content·-->738 </div><!--·doc-content·-->
739 <!--·start·footer·part·-->739 <!--·start·footer·part·-->
740 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->740 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
741 ··<ul>741 ··<ul>
742 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03580.html">EliminateableFactorGraph</a></li>742 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03580.html">EliminateableFactorGraph</a></li>
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345 ········</tr>345 ········</tr>
346 ······</table>346 ······</table>
347 </div><div·class="memdoc">347 </div><div·class="memdoc">
  
348 <p>Eliminate·the·factors·to·a·Bayes·net·and·remaining·factor·graph.·</p>348 <p>Eliminate·the·factors·to·a·Bayes·net·and·remaining·factor·graph.·</p>
349 <dl·class="params"><dt>Parameters</dt><dd>349 <dl·class="params"><dt>Parameters</dt><dd>
350 ··<table·class="params">350 ··<table·class="params">
351 ····<tr><td·class="paramname">function</td><td>The·function·to·use·to·eliminate,·see·the·namespace·functions·in·<a·class="el"·href="a00770.html"·title="Linear·Factor·Graph·where·all·factors·are·Gaussians.">GaussianFactorGraph.h</a>·</td></tr>351 ····<tr><td·class="paramname">function</td><td>The·function·to·use·to·eliminate,·see·the·namespace·functions·in·<a·class="el"·href="a00848.html"·title="Linear·Factor·Graph·where·all·factors·are·Gaussians.">GaussianFactorGraph.h</a>·</td></tr>
352 ··</table>352 ··</table>
353 ··</dd>353 ··</dd>
354 </dl>354 </dl>
355 <dl·class="section·return"><dt>Returns</dt><dd>The·Bayes·net·and·factor·graph·resulting·from·elimination·</dd></dl>355 <dl·class="section·return"><dt>Returns</dt><dd>The·Bayes·net·and·factor·graph·resulting·from·elimination·</dd></dl>
  
356 </div>356 </div>
357 </div>357 </div>
358 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>358 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
359 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00671_source.html">EliminationTree.h</a></li>359 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00638_source.html">EliminationTree.h</a></li>
360 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00590_source.html">EliminationTree-inst.h</a></li>360 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00602_source.html">EliminationTree-inst.h</a></li>
361 </ul>361 </ul>
362 </div><!--·contents·-->362 </div><!--·contents·-->
363 </div><!--·doc-content·-->363 </div><!--·doc-content·-->
364 <!--·start·footer·part·-->364 <!--·start·footer·part·-->
365 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->365 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
366 ··<ul>366 ··<ul>
367 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03584.html">EliminationTree</a></li>367 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03584.html">EliminationTree</a></li>
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136 typedef·<a·class="el"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;·<a·class="el"·href="a03584.html#a4b18d7fff1722b2c8bb558d265d01b62">sharedFactor</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Factors</b></td></tr>136 typedef·<a·class="el"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;·<a·class="el"·href="a03584.html#a4b18d7fff1722b2c8bb558d265d01b62">sharedFactor</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Factors</b></td></tr>
137 <tr·class="separator:a02b0d4ba073433d26d1ba38bed4fe429"><td·class="memSeparator"·colspan="2">&#160;</td></tr>137 <tr·class="separator:a02b0d4ba073433d26d1ba38bed4fe429"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
138 <tr·class="memitem:a9715aad653e98ec3362603602277fed7"·id="r_a9715aad653e98ec3362603602277fed7"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a9715aad653e98ec3362603602277fed7"·name="a9715aad653e98ec3362603602277fed7"></a>138 <tr·class="memitem:a9715aad653e98ec3362603602277fed7"·id="r_a9715aad653e98ec3362603602277fed7"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a9715aad653e98ec3362603602277fed7"·name="a9715aad653e98ec3362603602277fed7"></a>
139 typedef·<a·class="el"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;·boost::shared_ptr&lt;·<a·class="el"·href="a03588.html">Node</a>·&gt;·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Children</b></td></tr>139 typedef·<a·class="el"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;·boost::shared_ptr&lt;·<a·class="el"·href="a03588.html">Node</a>·&gt;·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Children</b></td></tr>
140 <tr·class="separator:a9715aad653e98ec3362603602277fed7"><td·class="memSeparator"·colspan="2">&#160;</td></tr>140 <tr·class="separator:a9715aad653e98ec3362603602277fed7"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
141 </table>141 </table>
142 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>142 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
143 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00671_source.html">EliminationTree.h</a></li>143 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00638_source.html">EliminationTree.h</a></li>
144 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00590_source.html">EliminationTree-inst.h</a></li>144 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00602_source.html">EliminationTree-inst.h</a></li>
145 </ul>145 </ul>
146 </div><!--·contents·-->146 </div><!--·contents·-->
147 </div><!--·doc-content·-->147 </div><!--·doc-content·-->
148 <!--·start·footer·part·-->148 <!--·start·footer·part·-->
149 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->149 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
150 ··<ul>150 ··<ul>
151 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03584.html">EliminationTree</a></li><li·class="navelem"><a·class="el"·href="a03588.html">Node</a></li>151 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03584.html">EliminationTree</a></li><li·class="navelem"><a·class="el"·href="a03588.html">Node</a></li>
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539 </table>539 </table>
540 </div><div·class="memdoc">540 </div><div·class="memdoc">
541 <dl·class="section·return"><dt>Returns</dt><dd>the·number·of·variables·involved·in·this·factor·</dd></dl>541 <dl·class="section·return"><dt>Returns</dt><dd>the·number·of·variables·involved·in·this·factor·</dd></dl>
  
542 </div>542 </div>
543 </div>543 </div>
544 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>544 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
545 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00587_source.html">Factor.h</a></li>545 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00632_source.html">Factor.h</a></li>
546 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00698.html">Factor.cpp</a></li>546 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00611.html">Factor.cpp</a></li>
547 </ul>547 </ul>
548 </div><!--·contents·-->548 </div><!--·contents·-->
549 </div><!--·doc-content·-->549 </div><!--·doc-content·-->
550 <!--·start·footer·part·-->550 <!--·start·footer·part·-->
551 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->551 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
552 ··<ul>552 ··<ul>
553 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03592.html">Factor</a></li>553 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03592.html">Factor</a></li>
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114 <tr·class="separator:a91452ab70dd0ca7929d65117806979b3"><td·class="memSeparator"·colspan="2">&#160;</td></tr>114 <tr·class="separator:a91452ab70dd0ca7929d65117806979b3"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
115 <tr·class="memitem:aa29b76a76f0c7056cbcbe73b2bab72bc"·id="r_aa29b76a76f0c7056cbcbe73b2bab72bc"><td·class="memTemplParams"·colspan="2"><a·id="aa29b76a76f0c7056cbcbe73b2bab72bc"·name="aa29b76a76f0c7056cbcbe73b2bab72bc"></a>115 <tr·class="memitem:aa29b76a76f0c7056cbcbe73b2bab72bc"·id="r_aa29b76a76f0c7056cbcbe73b2bab72bc"><td·class="memTemplParams"·colspan="2"><a·id="aa29b76a76f0c7056cbcbe73b2bab72bc"·name="aa29b76a76f0c7056cbcbe73b2bab72bc"></a>
116 template&lt;typename·A·&gt;·</td></tr>116 template&lt;typename·A·&gt;·</td></tr>
117 <tr·class="memitem:aa29b76a76f0c7056cbcbe73b2bab72bc"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>operator()</b>·(const·A·&amp;a)</td></tr>117 <tr·class="memitem:aa29b76a76f0c7056cbcbe73b2bab72bc"><td·class="memTemplItemLeft"·align="right"·valign="top">void&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>operator()</b>·(const·A·&amp;a)</td></tr>
118 <tr·class="separator:aa29b76a76f0c7056cbcbe73b2bab72bc"><td·class="memSeparator"·colspan="2">&#160;</td></tr>118 <tr·class="separator:aa29b76a76f0c7056cbcbe73b2bab72bc"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
119 </table>119 </table>
120 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>120 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
121 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00656_source.html">FactorGraph.h</a></li>121 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00599_source.html">FactorGraph.h</a></li>
122 </ul>122 </ul>
123 </div><!--·contents·-->123 </div><!--·contents·-->
124 </div><!--·doc-content·-->124 </div><!--·doc-content·-->
125 <!--·start·footer·part·-->125 <!--·start·footer·part·-->
126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
127 ··<ul>127 ··<ul>
128 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03596.html">CRefCallPushBack</a></li>128 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03596.html">CRefCallPushBack</a></li>
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120 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>120 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
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121 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00656_source.html">FactorGraph.h</a></li>121 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00599_source.html">FactorGraph.h</a></li>
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125 <!--·start·footer·part·-->125 <!--·start·footer·part·-->
126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
127 ··<ul>127 ··<ul>
128 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03604.html">CRefCallAddCopy</a></li>128 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03604.html">CRefCallAddCopy</a></li>
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132 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>132 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
133 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00614_source.html">graph-inl.h</a></li>133 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00698_source.html">graph-inl.h</a></li>
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137 <!--·start·footer·part·-->137 <!--·start·footer·part·-->
138 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->138 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
139 ··<ul>139 ··<ul>
140 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03608.html">ordering_key_visitor</a></li>140 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03608.html">ordering_key_visitor</a></li>
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123 <tr·class="separator:a877d8d2194c8595369c0ef6b6c858175"><td·class="memSeparator"·colspan="2">&#160;</td></tr>123 <tr·class="separator:a877d8d2194c8595369c0ef6b6c858175"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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125 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>125 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
126 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00614_source.html">graph-inl.h</a></li>126 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00698_source.html">graph-inl.h</a></li>
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130 <!--·start·footer·part·-->130 <!--·start·footer·part·-->
131 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->131 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
132 ··<ul>132 ··<ul>
133 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03612.html">compose_key_visitor</a></li>133 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03612.html">compose_key_visitor</a></li>
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118 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>118 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>
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124 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>124 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
125 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00635_source.html">graph.h</a></li>125 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00593_source.html">graph.h</a></li>
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129 <!--·start·footer·part·-->129 <!--·start·footer·part·-->
130 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->130 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
131 ··<ul>131 ··<ul>
132 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03616.html">SDGraph</a></li>132 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03616.html">SDGraph</a></li>
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115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>115 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>
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121 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>121 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
122 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00635_source.html">graph.h</a></li>122 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00593_source.html">graph.h</a></li>
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125 </div><!--·doc-content·-->125 </div><!--·doc-content·-->
126 <!--·start·footer·part·-->126 <!--·start·footer·part·-->
127 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->127 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
128 ··<ul>128 ··<ul>
129 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03620.html">SGraph</a></li>129 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03620.html">SGraph</a></li>
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119 Public·Member·Functions</h2></td></tr>119 Public·Member·Functions</h2></td></tr>
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123 <tr·class="separator:a682e34c430a538cf5792a49b2d4697e9"><td·class="memSeparator"·colspan="2">&#160;</td></tr>123 <tr·class="separator:a682e34c430a538cf5792a49b2d4697e9"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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125 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>125 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
126 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00635_source.html">graph.h</a></li>126 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00593_source.html">graph.h</a></li>
127 </ul>127 </ul>
128 </div><!--·contents·-->128 </div><!--·contents·-->
129 </div><!--·doc-content·-->129 </div><!--·doc-content·-->
130 <!--·start·footer·part·-->130 <!--·start·footer·part·-->
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127 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00611_source.html">Key.h</a></li>127 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00590_source.html">Key.h</a></li>
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215 Friends</h2></td></tr>215 Friends</h2></td></tr>
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221 GTSAM_EXPORT·std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator&lt;&lt;</b>·(std::ostream·&amp;,·const·<a·class="el"·href="a03668.html">LabeledSymbol</a>·&amp;)</td></tr>221 GTSAM_EXPORT·std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator&lt;&lt;</b>·(std::ostream·&amp;,·const·<a·class="el"·href="a03668.html">LabeledSymbol</a>·&amp;)</td></tr>
222 <tr·class="memdesc:a51c83aaa24316fe9445284ab1fd99b03"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Output·stream·operator·that·can·be·used·with·<a·class="el"·href="a03660.html"·title="Output·stream·manipulator·that·will·format·gtsam::Keys·according·to·the·given·KeyFormatter,...">key_formatter</a>·(see·<a·class="el"·href="a00611.html">Key.h</a>).·<br·/></td></tr>222 <tr·class="memdesc:a51c83aaa24316fe9445284ab1fd99b03"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Output·stream·operator·that·can·be·used·with·<a·class="el"·href="a03660.html"·title="Output·stream·manipulator·that·will·format·gtsam::Keys·according·to·the·given·KeyFormatter,...">key_formatter</a>·(see·<a·class="el"·href="a00590.html">Key.h</a>).·<br·/></td></tr>
223 <tr·class="separator:a51c83aaa24316fe9445284ab1fd99b03"><td·class="memSeparator"·colspan="2">&#160;</td></tr>223 <tr·class="separator:a51c83aaa24316fe9445284ab1fd99b03"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
224 </table>224 </table>
225 <h2·class="groupheader">Member·Function·Documentation</h2>225 <h2·class="groupheader">Member·Function·Documentation</h2>
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228 <div·class="memitem">228 <div·class="memitem">
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249 <p>Return·a·filter·function·that·returns·true·when·evaluated·on·a·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2"·title="Integer·nonlinear·key·type.">gtsam::Key</a>·whose·character·(when·converted·to·a·<a·class="el"·href="a03668.html"·title="Customized·version·of·gtsam::Symbol·for·multi-robot·use.">LabeledSymbol</a>)·matches·<code>c</code>.·</p>249 <p>Return·a·filter·function·that·returns·true·when·evaluated·on·a·<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2"·title="Integer·nonlinear·key·type.">gtsam::Key</a>·whose·character·(when·converted·to·a·<a·class="el"·href="a03668.html"·title="Customized·version·of·gtsam::Symbol·for·multi-robot·use.">LabeledSymbol</a>)·matches·<code>c</code>.·</p>
250 <p>Use·this·with·the·Values::filter()·function·to·retrieve·all·key-value·pairs·with·the·requested·character.·</p>250 <p>Use·this·with·the·Values::filter()·function·to·retrieve·all·key-value·pairs·with·the·requested·character.·</p>
  
251 </div>251 </div>
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134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00578_source.html">LabeledSymbol.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00662_source.html">LabeledSymbol.h</a></li>
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140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03672.html">traits&lt;·LabeledSymbol·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03672.html">traits&lt;·LabeledSymbol·&gt;</a></li>
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165 <p>Augment·the·variable·index·with·new·factors.·</p>165 <p>Augment·the·variable·index·with·new·factors.·</p>
166 <p>This·can·be·used·when·solving·problems·incrementally.·</p>166 <p>This·can·be·used·when·solving·problems·incrementally.·</p>
  
167 </div>167 </div>
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169 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>169 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
170 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00584_source.html">MetisIndex.h</a></li>170 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00617_source.html">MetisIndex.h</a></li>
171 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00689_source.html">MetisIndex-inl.h</a></li>171 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00677_source.html">MetisIndex-inl.h</a></li>
172 </ul>172 </ul>
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174 </div><!--·doc-content·-->174 </div><!--·doc-content·-->
175 <!--·start·footer·part·-->175 <!--·start·footer·part·-->
176 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->176 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
177 ··<ul>177 ··<ul>
178 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03676.html">MetisIndex</a></li>178 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03676.html">MetisIndex</a></li>
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575 ··</dd>575 ··</dd>
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577 <dl·class="section·return"><dt>Returns</dt><dd>The·ordering·variable·with·appended·keys.·</dd></dl>577 <dl·class="section·return"><dt>Returns</dt><dd>The·ordering·variable·with·appended·keys.·</dd></dl>
  
578 </div>578 </div>
579 </div>579 </div>
580 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>580 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
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582 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00620.html">Ordering.cpp</a></li>582 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00629.html">Ordering.cpp</a></li>
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586 <!--·start·footer·part·-->586 <!--·start·footer·part·-->
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588 ··<ul>588 ··<ul>
589 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03680.html">Ordering</a></li>589 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03680.html">Ordering</a></li>
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200 Friends</h2></td></tr>200 Friends</h2></td></tr>
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236 <p>Use·this·with·the·Values::filter()·function·to·retrieve·all·key-value·pairs·with·the·requested·character.·</p>236 <p>Use·this·with·the·Values::filter()·function·to·retrieve·all·key-value·pairs·with·the·requested·character.·</p>
  
237 </div>237 </div>
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357 ··</table>357 ··</table>
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140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03712.html">traits&lt;·VariableSlots·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03712.html">traits&lt;·VariableSlots·&gt;</a></li>
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235 <p>Start·the·accelerated·iteration,·after·performing·the·accelerated·iteration,·calculate·the·ritz·error,·repeat·this·operation·until·the·ritz·error·converge.·</p>235 <p>Start·the·accelerated·iteration,·after·performing·the·accelerated·iteration,·calculate·the·ritz·error,·repeat·this·operation·until·the·ritz·error·converge.·</p>
236 <p>If·converged·return·true,·else·false.·</p>236 <p>If·converged·return·true,·else·false.·</p>
  
237 </div>237 </div>
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239 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>239 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
240 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00899_source.html">AcceleratedPowerMethod.h</a></li>240 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00743_source.html">AcceleratedPowerMethod.h</a></li>
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244 <!--·start·footer·part·-->244 <!--·start·footer·part·-->
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247 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03716.html">AcceleratedPowerMethod</a></li>247 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03716.html">AcceleratedPowerMethod</a></li>
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557 </dl>557 </dl>
  
558 <p>Implements·<a·class="el"·href="a03780.html#acc9a428ca38e8899654ddf4394e07336">gtsam::GaussianFactor</a>.</p>558 <p>Implements·<a·class="el"·href="a03780.html#acc9a428ca38e8899654ddf4394e07336">gtsam::GaussianFactor</a>.</p>
  
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562 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00845_source.html">BinaryJacobianFactor.h</a></li>562 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00761_source.html">BinaryJacobianFactor.h</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03720.html">BinaryJacobianFactor</a>&lt;·M,·N1,·N2·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03720.html">BinaryJacobianFactor</a>&lt;·M,·N1,·N2·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00845_source.html">BinaryJacobianFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00761_source.html">BinaryJacobianFactor.h</a></li>
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136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03724.html">traits&lt;·BinaryJacobianFactor&lt;·M,·N1,·N2·&gt;·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03724.html">traits&lt;·BinaryJacobianFactor&lt;·M,·N1,·N2·&gt;·&gt;</a></li>
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318 </div><div·class="memdoc">318 </div><div·class="memdoc">
  
319 <p>Reimplemented·from·<a·class="el"·href="a03828.html">gtsam::IterativeOptimizationParameters</a>.</p>319 <p>Reimplemented·from·<a·class="el"·href="a03828.html">gtsam::IterativeOptimizationParameters</a>.</p>
  
320 </div>320 </div>
321 </div>321 </div>
322 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>322 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
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324 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<b>ConjugateGradientSolver.cpp</b></li>324 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<b>ConjugateGradientSolver.cpp</b></li>
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328 <!--·start·footer·part·-->328 <!--·start·footer·part·-->
329 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->329 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
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119 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00806_source.html">Errors.h</a></li>119 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00869_source.html">Errors.h</a></li>
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124 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->124 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
125 ··<ul>125 ··<ul>
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863 <p>print·graph·</p>863 <p>print·graph·</p>
  
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869 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00827.html">GaussianBayesNet.cpp</a></li>869 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00842.html">GaussianBayesNet.cpp</a></li>
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873 <!--·start·footer·part·-->873 <!--·start·footer·part·-->
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875 ··<ul>875 ··<ul>
876 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03740.html">GaussianBayesNet</a></li>876 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03740.html">GaussianBayesNet</a></li>
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133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00776_source.html">GaussianBayesNet.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00734_source.html">GaussianBayesNet.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
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138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
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140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03744.html">traits&lt;·GaussianBayesNet·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03744.html">traits&lt;·GaussianBayesNet·&gt;</a></li>
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277 </table>277 </table>
278 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>278 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
279 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00785_source.html">GaussianBayesTree.h</a></li>279 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00752_source.html">GaussianBayesTree.h</a></li>
280 </ul>280 </ul>
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283 <!--·start·footer·part·-->283 <!--·start·footer·part·-->
284 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->284 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
285 ··<ul>285 ··<ul>
286 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03752.html">GaussianBayesTreeClique</a></li>286 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03752.html">GaussianBayesTreeClique</a></li>
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520 <p·class="formulaDsp">520 <p·class="formulaDsp">
521 \[·\delta·x·=·\hat\alpha·g·=·\frac{-g^T·g}{(R·g)^T(R·g)}·\]521 \[·\delta·x·=·\hat\alpha·g·=·\frac{-g^T·g}{(R·g)^T(R·g)}·\]
522 </p>522 </p>
523 ·523 ·
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525 </div>525 </div>
526 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>526 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
527 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00785_source.html">GaussianBayesTree.h</a></li>527 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00752_source.html">GaussianBayesTree.h</a></li>
528 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00800.html">GaussianBayesTree.cpp</a></li>528 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00788.html">GaussianBayesTree.cpp</a></li>
529 </ul>529 </ul>
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532 <!--·start·footer·part·-->532 <!--·start·footer·part·-->
533 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->533 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
534 ··<ul>534 ··<ul>
535 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03756.html">GaussianBayesTree</a></li>535 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03756.html">GaussianBayesTree</a></li>
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03756.html">GaussianBayesTree</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03756.html">GaussianBayesTree</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00785_source.html">GaussianBayesTree.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00752_source.html">GaussianBayesTree.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03760.html">traits&lt;·GaussianBayesTree·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03760.html">traits&lt;·GaussianBayesTree·&gt;</a></li>
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1.33 KB
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1239 ··</table>1239 ··</table>
1240 ··</dd>1240 ··</dd>
1241 </dl>1241 </dl>
  
1242 </div>1242 </div>
1243 </div>1243 </div>
1244 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>1244 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
1245 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00773_source.html">GaussianConditional.h</a></li>1245 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00749_source.html">GaussianConditional.h</a></li>
1246 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00869_source.html">GaussianConditional-inl.h</a></li>1246 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00845_source.html">GaussianConditional-inl.h</a></li>
1247 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00767.html">GaussianConditional.cpp</a></li>1247 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00881.html">GaussianConditional.cpp</a></li>
1248 </ul>1248 </ul>
1249 </div><!--·contents·-->1249 </div><!--·contents·-->
1250 </div><!--·doc-content·-->1250 </div><!--·doc-content·-->
1251 <!--·start·footer·part·-->1251 <!--·start·footer·part·-->
1252 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->1252 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
1253 ··<ul>1253 ··<ul>
1254 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03764.html">GaussianConditional</a></li>1254 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03764.html">GaussianConditional</a></li>
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03764.html">GaussianConditional</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a03764.html">GaussianConditional</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a03764.html">GaussianConditional</a>·&amp;m1,·const·<a·class="el"·href="a03764.html">GaussianConditional</a>·&amp;m2,·double·tol=1e-8)</td></tr>130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a03764.html">GaussianConditional</a>·&amp;m1,·const·<a·class="el"·href="a03764.html">GaussianConditional</a>·&amp;m2,·double·tol=1e-8)</td></tr>
131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00773_source.html">GaussianConditional.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00749_source.html">GaussianConditional.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03768.html">traits&lt;·GaussianConditional·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03768.html">traits&lt;·GaussianConditional·&gt;</a></li>
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1.15 KB
./usr/share/doc/libgtsam-dev/html/a03772.html
    
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819 <p>print·</p>819 <p>print·</p>
  
820 <p>Reimplemented·from·<a·class="el"·href="a03764.html#ac92852d933f3a84eb83e0413466f71eb">gtsam::GaussianConditional</a>.</p>820 <p>Reimplemented·from·<a·class="el"·href="a03764.html#ac92852d933f3a84eb83e0413466f71eb">gtsam::GaussianConditional</a>.</p>
  
821 </div>821 </div>
822 </div>822 </div>
823 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>823 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
824 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00812_source.html">GaussianDensity.h</a></li>824 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00746_source.html">GaussianDensity.h</a></li>
825 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00743.html">GaussianDensity.cpp</a></li>825 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00791.html">GaussianDensity.cpp</a></li>
826 </ul>826 </ul>
827 </div><!--·contents·-->827 </div><!--·contents·-->
828 </div><!--·doc-content·-->828 </div><!--·doc-content·-->
829 <!--·start·footer·part·-->829 <!--·start·footer·part·-->
830 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->830 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
831 ··<ul>831 ··<ul>
832 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03772.html">GaussianDensity</a></li>832 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03772.html">GaussianDensity</a></li>
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1.08 KB
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324 ··</table>324 ··</table>
325 ··</dd>325 ··</dd>
326 </dl>326 </dl>
  
327 </div>327 </div>
328 </div>328 </div>
329 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>329 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
330 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00836_source.html">GaussianEliminationTree.h</a></li>330 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00731_source.html">GaussianEliminationTree.h</a></li>
331 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00842.html">GaussianEliminationTree.cpp</a></li>331 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00800.html">GaussianEliminationTree.cpp</a></li>
332 </ul>332 </ul>
333 </div><!--·contents·-->333 </div><!--·contents·-->
334 </div><!--·doc-content·-->334 </div><!--·doc-content·-->
335 <!--·start·footer·part·-->335 <!--·start·footer·part·-->
336 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->336 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
337 ··<ul>337 ··<ul>
338 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03776.html">GaussianEliminationTree</a></li>338 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03776.html">GaussianEliminationTree</a></li>
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1.46 KB
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989 </dl>989 </dl>
  
990 <p>Implemented·in·<a·class="el"·href="a03720.html#afb114b4f91aa1b56cf5539003696f53a">gtsam::BinaryJacobianFactor&lt;·M,·N1,·N2·&gt;</a>,·<a·class="el"·href="a03812.html#aa89e11ba53507ec7f643fd10cb76eeea">gtsam::HessianFactor</a>,·<a·class="el"·href="a03844.html#aef0fc554aee09f2ac0a4eb66594c5a13">gtsam::JacobianFactor</a>,·and·<a·class="el"·href="a04912.html#a693be797800c445d358cccf8dd694efc">gtsam::RegularImplicitSchurFactor&lt;·CAMERA·&gt;</a>.</p>990 <p>Implemented·in·<a·class="el"·href="a03720.html#afb114b4f91aa1b56cf5539003696f53a">gtsam::BinaryJacobianFactor&lt;·M,·N1,·N2·&gt;</a>,·<a·class="el"·href="a03812.html#aa89e11ba53507ec7f643fd10cb76eeea">gtsam::HessianFactor</a>,·<a·class="el"·href="a03844.html#aef0fc554aee09f2ac0a4eb66594c5a13">gtsam::JacobianFactor</a>,·and·<a·class="el"·href="a04912.html#a693be797800c445d358cccf8dd694efc">gtsam::RegularImplicitSchurFactor&lt;·CAMERA·&gt;</a>.</p>
  
991 </div>991 </div>
992 </div>992 </div>
993 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>993 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
994 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00815_source.html">GaussianFactor.h</a></li>994 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00737_source.html">GaussianFactor.h</a></li>
995 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00821.html">GaussianFactor.cpp</a></li>995 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00740.html">GaussianFactor.cpp</a></li>
996 </ul>996 </ul>
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140 ··<ul>140 ··<ul>
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326 ··</dd>326 ··</dd>
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153 <!--·start·footer·part·-->153 <!--·start·footer·part·-->
154 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->154 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
155 ··<ul>155 ··<ul>
156 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03824.html">System</a></li>156 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03824.html">System</a></li>
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193 </div><!--·doc-content·-->193 </div><!--·doc-content·-->
194 <!--·start·footer·part·-->194 <!--·start·footer·part·-->
195 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->195 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
196 ··<ul>196 ··<ul>
197 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03832.html">IterativeSolver</a></li>197 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03832.html">IterativeSolver</a></li>
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129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00782_source.html">IterativeSolver.h</a></li>129 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00725_source.html">IterativeSolver.h</a></li>
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1687 <p>Return·a·whitened·version·of·the·factor,·i.e.·</p>1687 <p>Return·a·whitened·version·of·the·factor,·i.e.·</p>
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179 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00887_source.html">linearExceptions.h</a></li>179 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00821_source.html">linearExceptions.h</a></li>
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364 ··<ul>364 ··<ul>
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351 <p>This·returns·w(x)·in·<a·class="el"·href="a01450.html">mEstimator</a>·</p>351 <p>This·returns·w(x)·in·<a·class="el"·href="a01450.html">mEstimator</a>·</p>
  
352 <p>Implements·<a·class="el"·href="a03880.html#a93f40d2f9629fd1d9d4aeb53d8b8ffe8">gtsam::noiseModel::mEstimator::Base</a>.</p>352 <p>Implements·<a·class="el"·href="a03880.html#a93f40d2f9629fd1d9d4aeb53d8b8ffe8">gtsam::noiseModel::mEstimator::Base</a>.</p>
  
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363 ··<ul>363 ··<ul>
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351 <p>This·returns·w(x)·in·<a·class="el"·href="a01450.html">mEstimator</a>·</p>351 <p>This·returns·w(x)·in·<a·class="el"·href="a01450.html">mEstimator</a>·</p>
  
352 <p>Implements·<a·class="el"·href="a03880.html#a93f40d2f9629fd1d9d4aeb53d8b8ffe8">gtsam::noiseModel::mEstimator::Base</a>.</p>352 <p>Implements·<a·class="el"·href="a03880.html#a93f40d2f9629fd1d9d4aeb53d8b8ffe8">gtsam::noiseModel::mEstimator::Base</a>.</p>
  
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363 ··<ul>363 ··<ul>
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348 <p>This·returns·w(x)·in·<a·class="el"·href="a01450.html">mEstimator</a>·</p>348 <p>This·returns·w(x)·in·<a·class="el"·href="a01450.html">mEstimator</a>·</p>
  
349 <p>Implements·<a·class="el"·href="a03880.html#a93f40d2f9629fd1d9d4aeb53d8b8ffe8">gtsam::noiseModel::mEstimator::Base</a>.</p>349 <p>Implements·<a·class="el"·href="a03880.html#a93f40d2f9629fd1d9d4aeb53d8b8ffe8">gtsam::noiseModel::mEstimator::Base</a>.</p>
  
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352 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>352 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
353 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00737_source.html">LossFunctions.h</a></li>353 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00857_source.html">LossFunctions.h</a></li>
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359 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->359 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
360 ··<ul>360 ··<ul>
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349 <p>This·returns·w(x)·in·<a·class="el"·href="a01450.html">mEstimator</a>·</p>349 <p>This·returns·w(x)·in·<a·class="el"·href="a01450.html">mEstimator</a>·</p>
  
350 <p>Implements·<a·class="el"·href="a03880.html#a93f40d2f9629fd1d9d4aeb53d8b8ffe8">gtsam::noiseModel::mEstimator::Base</a>.</p>350 <p>Implements·<a·class="el"·href="a03880.html#a93f40d2f9629fd1d9d4aeb53d8b8ffe8">gtsam::noiseModel::mEstimator::Base</a>.</p>
  
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354 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00737_source.html">LossFunctions.h</a></li>354 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00857_source.html">LossFunctions.h</a></li>
355 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<b>LossFunctions.cpp</b></li>355 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<b>LossFunctions.cpp</b></li>
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360 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->360 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
361 ··<ul>361 ··<ul>
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349 <p>This·returns·w(x)·in·<a·class="el"·href="a01450.html">mEstimator</a>·</p>349 <p>This·returns·w(x)·in·<a·class="el"·href="a01450.html">mEstimator</a>·</p>
  
350 <p>Implements·<a·class="el"·href="a03880.html#a93f40d2f9629fd1d9d4aeb53d8b8ffe8">gtsam::noiseModel::mEstimator::Base</a>.</p>350 <p>Implements·<a·class="el"·href="a03880.html#a93f40d2f9629fd1d9d4aeb53d8b8ffe8">gtsam::noiseModel::mEstimator::Base</a>.</p>
  
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354 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00737_source.html">LossFunctions.h</a></li>354 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00857_source.html">LossFunctions.h</a></li>
355 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<b>LossFunctions.cpp</b></li>355 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<b>LossFunctions.cpp</b></li>
356 </ul>356 </ul>
357 </div><!--·contents·-->357 </div><!--·contents·-->
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360 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->360 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
361 ··<ul>361 ··<ul>
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706 </div><div·class="memdoc">706 </div><div·class="memdoc">
  
707 <p>Implemented·in·<a·class="el"·href="a03924.html#a4111574a34e80990d155f945140c58e6">gtsam::noiseModel::Gaussian</a>.</p>707 <p>Implemented·in·<a·class="el"·href="a03924.html#a4111574a34e80990d155f945140c58e6">gtsam::noiseModel::Gaussian</a>.</p>
  
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711 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00824_source.html">NoiseModel.h</a></li>711 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00839_source.html">NoiseModel.h</a></li>
712 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00875.html">NoiseModel.cpp</a></li>712 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00863.html">NoiseModel.cpp</a></li>
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718 ··<ul>718 ··<ul>
719 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01449.html">noiseModel</a></li><li·class="navelem"><a·class="el"·href="a03920.html">Base</a></li>719 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01449.html">noiseModel</a></li><li·class="navelem"><a·class="el"·href="a03920.html">Base</a></li>
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882 <p>Whiten·a·system,·in·place·as·well.·</p>882 <p>Whiten·a·system,·in·place·as·well.·</p>
  
883 <p>Implements·<a·class="el"·href="a03920.html">gtsam::noiseModel::Base</a>.</p>883 <p>Implements·<a·class="el"·href="a03920.html">gtsam::noiseModel::Base</a>.</p>
  
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888 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00875.html">NoiseModel.cpp</a></li>888 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00863.html">NoiseModel.cpp</a></li>
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894 ··<ul>894 ··<ul>
895 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01449.html">noiseModel</a></li><li·class="navelem"><a·class="el"·href="a03924.html">Gaussian</a></li>895 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01449.html">noiseModel</a></li><li·class="navelem"><a·class="el"·href="a03924.html">Gaussian</a></li>
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697 <p>Reimplemented·from·<a·class="el"·href="a03924.html#a10964d6f0d955e27acd6aeb16fc83ed1">gtsam::noiseModel::Gaussian</a>.</p>697 <p>Reimplemented·from·<a·class="el"·href="a03924.html#a10964d6f0d955e27acd6aeb16fc83ed1">gtsam::noiseModel::Gaussian</a>.</p>
  
698 <p>Reimplemented·in·<a·class="el"·href="a03940.html#ab1451b36f4796f85c4ee776e67df319d">gtsam::noiseModel::Unit</a>,·and·<a·class="el"·href="a03936.html#a0a3c7a16da1df4075e2ff45bf64e5762">gtsam::noiseModel::Isotropic</a>.</p>698 <p>Reimplemented·in·<a·class="el"·href="a03940.html#ab1451b36f4796f85c4ee776e67df319d">gtsam::noiseModel::Unit</a>,·and·<a·class="el"·href="a03936.html#a0a3c7a16da1df4075e2ff45bf64e5762">gtsam::noiseModel::Isotropic</a>.</p>
  
699 </div>699 </div>
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703 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00875.html">NoiseModel.cpp</a></li>703 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00863.html">NoiseModel.cpp</a></li>
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708 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->708 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
709 ··<ul>709 ··<ul>
710 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01449.html">noiseModel</a></li><li·class="navelem"><a·class="el"·href="a03928.html">Diagonal</a></li>710 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01449.html">noiseModel</a></li><li·class="navelem"><a·class="el"·href="a03928.html">Diagonal</a></li>
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715 <p>In-place·version.·</p>715 <p>In-place·version.·</p>
  
716 <p>Reimplemented·from·<a·class="el"·href="a03924.html#a10964d6f0d955e27acd6aeb16fc83ed1">gtsam::noiseModel::Gaussian</a>.</p>716 <p>Reimplemented·from·<a·class="el"·href="a03924.html#a10964d6f0d955e27acd6aeb16fc83ed1">gtsam::noiseModel::Gaussian</a>.</p>
  
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720 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00824_source.html">NoiseModel.h</a></li>720 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00839_source.html">NoiseModel.h</a></li>
721 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00875.html">NoiseModel.cpp</a></li>721 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00863.html">NoiseModel.cpp</a></li>
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727 ··<ul>727 ··<ul>
728 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01449.html">noiseModel</a></li><li·class="navelem"><a·class="el"·href="a03932.html">Constrained</a></li>728 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01449.html">noiseModel</a></li><li·class="navelem"><a·class="el"·href="a03932.html">Constrained</a></li>
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652 <p>Reimplemented·from·<a·class="el"·href="a03920.html#a11dc92b7aee00150dcc3f4a78bf373a9">gtsam::noiseModel::Base</a>.</p>652 <p>Reimplemented·from·<a·class="el"·href="a03920.html#a11dc92b7aee00150dcc3f4a78bf373a9">gtsam::noiseModel::Base</a>.</p>
  
653 <p>Reimplemented·in·<a·class="el"·href="a03940.html#a8da3bd9bc0519a2a0b821f97ee08955f">gtsam::noiseModel::Unit</a>.</p>653 <p>Reimplemented·in·<a·class="el"·href="a03940.html#a8da3bd9bc0519a2a0b821f97ee08955f">gtsam::noiseModel::Unit</a>.</p>
  
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664 ··<ul>664 ··<ul>
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138 ··<ul>138 ··<ul>
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319 </div><div·class="memdoc">319 </div><div·class="memdoc">
  
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262 </div><div·class="memdoc">262 </div><div·class="memdoc">
  
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149 const·<a·class="el"·href="a03840.html">KeyInfo</a>·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>keyInfo_</b></td></tr>149 const·<a·class="el"·href="a03840.html">KeyInfo</a>·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>keyInfo_</b></td></tr>
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263 <p>implement·x·=·L^{-T}·y·</p>263 <p>implement·x·=·L^{-T}·y·</p>
  
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278 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->278 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
279 ··<ul>279 ··<ul>
280 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03996.html">DummyPreconditioner</a></li>280 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a03996.html">DummyPreconditioner</a></li>
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170 enum·gtsam::PreconditionerParameters::Kernel&#160;</td><td·class="memItemRight"·valign="bottom"><b>kernel_</b></td></tr>170 enum·gtsam::PreconditionerParameters::Kernel&#160;</td><td·class="memItemRight"·valign="bottom"><b>kernel_</b></td></tr>
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172 <tr·class="memitem:afb36bfc3b76406b3dc9e6ad6cfdb4426·inherit·pub_attribs_a03984"·id="r_afb36bfc3b76406b3dc9e6ad6cfdb4426"><td·class="memItemLeft"·align="right"·valign="top">172 <tr·class="memitem:afb36bfc3b76406b3dc9e6ad6cfdb4426·inherit·pub_attribs_a03984"·id="r_afb36bfc3b76406b3dc9e6ad6cfdb4426"><td·class="memItemLeft"·align="right"·valign="top">
173 enum·gtsam::PreconditionerParameters::Verbosity&#160;</td><td·class="memItemRight"·valign="bottom"><b>verbosity_</b></td></tr>173 enum·gtsam::PreconditionerParameters::Verbosity&#160;</td><td·class="memItemRight"·valign="bottom"><b>verbosity_</b></td></tr>
174 <tr·class="separator:afb36bfc3b76406b3dc9e6ad6cfdb4426·inherit·pub_attribs_a03984"><td·class="memSeparator"·colspan="2">&#160;</td></tr>174 <tr·class="separator:afb36bfc3b76406b3dc9e6ad6cfdb4426·inherit·pub_attribs_a03984"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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176 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>176 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
177 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00707_source.html">Preconditioner.h</a></li>177 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00803_source.html">Preconditioner.h</a></li>
178 </ul>178 </ul>
179 </div><!--·contents·-->179 </div><!--·contents·-->
180 </div><!--·doc-content·-->180 </div><!--·doc-content·-->
181 <!--·start·footer·part·-->181 <!--·start·footer·part·-->
182 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->182 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
183 ··<ul>183 ··<ul>
184 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04000.html">BlockJacobiPreconditionerParameters</a></li>184 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04000.html">BlockJacobiPreconditionerParameters</a></li>
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288 <p>implement·x·=·L^{-T}·y·</p>288 <p>implement·x·=·L^{-T}·y·</p>
  
289 <p>Implements·<a·class="el"·href="a03988.html#aae3d89e2b3e004d227e9fd28ff8dba64">gtsam::Preconditioner</a>.</p>289 <p>Implements·<a·class="el"·href="a03988.html#aae3d89e2b3e004d227e9fd28ff8dba64">gtsam::Preconditioner</a>.</p>
  
290 </div>290 </div>
291 </div>291 </div>
292 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>292 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
293 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00707_source.html">Preconditioner.h</a></li>293 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00803_source.html">Preconditioner.h</a></li>
294 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<b>Preconditioner.cpp</b></li>294 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<b>Preconditioner.cpp</b></li>
295 </ul>295 </ul>
296 </div><!--·contents·-->296 </div><!--·contents·-->
297 </div><!--·doc-content·-->297 </div><!--·doc-content·-->
298 <!--·start·footer·part·-->298 <!--·start·footer·part·-->
299 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->299 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
300 ··<ul>300 ··<ul>
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./usr/share/doc/libgtsam-dev/html/a04008.html
    
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812 <p>y·+=·alpha·*·A'*A*x·</p>812 <p>y·+=·alpha·*·A'*A*x·</p>
  
813 <p>Reimplemented·from·<a·class="el"·href="a03812.html#aab47423e43d6cadef55f150cb15c7fe2">gtsam::HessianFactor</a>.</p>813 <p>Reimplemented·from·<a·class="el"·href="a03812.html#aab47423e43d6cadef55f150cb15c7fe2">gtsam::HessianFactor</a>.</p>
  
814 </div>814 </div>
815 </div>815 </div>
816 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>816 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
817 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00872_source.html">RegularHessianFactor.h</a></li>817 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00758_source.html">RegularHessianFactor.h</a></li>
818 </ul>818 </ul>
819 </div><!--·contents·-->819 </div><!--·contents·-->
820 </div><!--·doc-content·-->820 </div><!--·doc-content·-->
821 <!--·start·footer·part·-->821 <!--·start·footer·part·-->
822 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->822 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
823 ··<ul>823 ··<ul>
824 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04008.html">RegularHessianFactor</a></li>824 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04008.html">RegularHessianFactor</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04008.html">RegularHessianFactor</a>&lt;·D·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04008.html">RegularHessianFactor</a>&lt;·D·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04008.html">RegularHessianFactor</a>&lt;·D·&gt;·&amp;m1,·const·<a·class="el"·href="a04008.html">RegularHessianFactor</a>&lt;·D·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04008.html">RegularHessianFactor</a>&lt;·D·&gt;·&amp;m1,·const·<a·class="el"·href="a04008.html">RegularHessianFactor</a>&lt;·D·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00872_source.html">RegularHessianFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00758_source.html">RegularHessianFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04012.html">traits&lt;·RegularHessianFactor&lt;·D·&gt;·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04012.html">traits&lt;·RegularHessianFactor&lt;·D·&gt;·&gt;</a></li>
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975 B
./usr/share/doc/libgtsam-dev/html/a04016.html
    
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1032 <p>double*·Transpose·Matrix-vector·multiply,·i.e.·</p>1032 <p>double*·Transpose·Matrix-vector·multiply,·i.e.·</p>
1033 <p>x·+=·A'*e·RAW·memory·access!·Assumes·keys·start·at·0·and·go·to·M-1,·and·y·is·laid·out·that·way·</p>1033 <p>x·+=·A'*e·RAW·memory·access!·Assumes·keys·start·at·0·and·go·to·M-1,·and·y·is·laid·out·that·way·</p>
  
1034 </div>1034 </div>
1035 </div>1035 </div>
1036 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>1036 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
1037 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00839_source.html">RegularJacobianFactor.h</a></li>1037 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00818_source.html">RegularJacobianFactor.h</a></li>
1038 </ul>1038 </ul>
1039 </div><!--·contents·-->1039 </div><!--·contents·-->
1040 </div><!--·doc-content·-->1040 </div><!--·doc-content·-->
1041 <!--·start·footer·part·-->1041 <!--·start·footer·part·-->
1042 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->1042 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
1043 ··<ul>1043 ··<ul>
1044 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04016.html">RegularJacobianFactor</a></li>1044 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04016.html">RegularJacobianFactor</a></li>
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1.13 KB
./usr/share/doc/libgtsam-dev/html/a04020.html
    
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238 <p>Create·a·sampler·for·a·distribution·specified·by·a·vector·of·sigmas·directly.·</p>238 <p>Create·a·sampler·for·a·distribution·specified·by·a·vector·of·sigmas·directly.·</p>
239 <p>NOTE:·do·not·use·zero·as·a·seed,·it·will·break·the·generator·</p>239 <p>NOTE:·do·not·use·zero·as·a·seed,·it·will·break·the·generator·</p>
  
240 </div>240 </div>
241 </div>241 </div>
242 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>242 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
243 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00764_source.html">Sampler.h</a></li>243 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00833_source.html">Sampler.h</a></li>
244 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00740.html">Sampler.cpp</a></li>244 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00899.html">Sampler.cpp</a></li>
245 </ul>245 </ul>
246 </div><!--·contents·-->246 </div><!--·contents·-->
247 </div><!--·doc-content·-->247 </div><!--·doc-content·-->
248 <!--·start·footer·part·-->248 <!--·start·footer·part·-->
249 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->249 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
250 ··<ul>250 ··<ul>
251 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04020.html">Sampler</a></li>251 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04020.html">Sampler</a></li>
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1.63 KB
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136 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="friends"·name="friends"></a>136 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="friends"·name="friends"></a>
137 Friends</h2></td></tr>137 Friends</h2></td></tr>
138 <tr·class="memitem:a68fa1658a184a866d7a5535ad6f06816"·id="r_a68fa1658a184a866d7a5535ad6f06816"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a68fa1658a184a866d7a5535ad6f06816"·name="a68fa1658a184a866d7a5535ad6f06816"></a>138 <tr·class="memitem:a68fa1658a184a866d7a5535ad6f06816"·id="r_a68fa1658a184a866d7a5535ad6f06816"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a68fa1658a184a866d7a5535ad6f06816"·name="a68fa1658a184a866d7a5535ad6f06816"></a>
139 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator&lt;</b>·(const·<a·class="el"·href="a04024.html">SlotEntry</a>·&amp;p,·const·<a·class="el"·href="a04024.html">SlotEntry</a>·&amp;q)</td></tr>139 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>operator&lt;</b>·(const·<a·class="el"·href="a04024.html">SlotEntry</a>·&amp;p,·const·<a·class="el"·href="a04024.html">SlotEntry</a>·&amp;q)</td></tr>
140 <tr·class="separator:a68fa1658a184a866d7a5535ad6f06816"><td·class="memSeparator"·colspan="2">&#160;</td></tr>140 <tr·class="separator:a68fa1658a184a866d7a5535ad6f06816"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
141 </table>141 </table>
142 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>142 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
143 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00860_source.html">Scatter.h</a></li>143 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00809_source.html">Scatter.h</a></li>
144 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00818.html">Scatter.cpp</a></li>144 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00794.html">Scatter.cpp</a></li>
145 </ul>145 </ul>
146 </div><!--·contents·-->146 </div><!--·contents·-->
147 </div><!--·doc-content·-->147 </div><!--·doc-content·-->
148 <!--·start·footer·part·-->148 <!--·start·footer·part·-->
149 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->149 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
150 ··<ul>150 ··<ul>
151 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04024.html">SlotEntry</a></li>151 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04024.html">SlotEntry</a></li>
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./usr/share/doc/libgtsam-dev/html/a04028.html
    
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131 <tr·class="separator:af5136cc8acb2902c1f17c2a7e463ecb4"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:af5136cc8acb2902c1f17c2a7e463ecb4"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 <tr·class="memitem:a513b73f7ed08f72f79c1362d8959eb9a"·id="r_a513b73f7ed08f72f79c1362d8959eb9a"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a513b73f7ed08f72f79c1362d8959eb9a"·name="a513b73f7ed08f72f79c1362d8959eb9a"></a>132 <tr·class="memitem:a513b73f7ed08f72f79c1362d8959eb9a"·id="r_a513b73f7ed08f72f79c1362d8959eb9a"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a513b73f7ed08f72f79c1362d8959eb9a"·name="a513b73f7ed08f72f79c1362d8959eb9a"></a>
133 GTSAM_EXPORT·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>add</b>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·size_t·dim)</td></tr>133 GTSAM_EXPORT·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>add</b>·(<a·class="el"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·size_t·dim)</td></tr>
134 <tr·class="memdesc:a513b73f7ed08f72f79c1362d8959eb9a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Add·a·key/dim·pair.·<br·/></td></tr>134 <tr·class="memdesc:a513b73f7ed08f72f79c1362d8959eb9a"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Add·a·key/dim·pair.·<br·/></td></tr>
135 <tr·class="separator:a513b73f7ed08f72f79c1362d8959eb9a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>135 <tr·class="separator:a513b73f7ed08f72f79c1362d8959eb9a"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
136 </table>136 </table>
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314 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->314 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
315 ··<ul>315 ··<ul>
316 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04056.html">SubgraphSolverParameters</a></li>316 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04056.html">SubgraphSolverParameters</a></li>
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314 <p>Interface·that·<a·class="el"·href="a03832.html"·title="Base·class·for·Iterative·Solvers·like·SubgraphSolver.">IterativeSolver</a>·subclasses·have·to·implement.·</p>314 <p>Interface·that·<a·class="el"·href="a03832.html"·title="Base·class·for·Iterative·Solvers·like·SubgraphSolver.">IterativeSolver</a>·subclasses·have·to·implement.·</p>
  
315 <p>Implements·<a·class="el"·href="a03832.html">gtsam::IterativeSolver</a>.</p>315 <p>Implements·<a·class="el"·href="a03832.html">gtsam::IterativeSolver</a>.</p>
  
316 </div>316 </div>
317 </div>317 </div>
318 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>318 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
319 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00722_source.html">SubgraphSolver.h</a></li>319 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00836_source.html">SubgraphSolver.h</a></li>
320 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00755.html">SubgraphSolver.cpp</a></li>320 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00713.html">SubgraphSolver.cpp</a></li>
321 </ul>321 </ul>
322 </div><!--·contents·-->322 </div><!--·contents·-->
323 </div><!--·doc-content·-->323 </div><!--·doc-content·-->
324 <!--·start·footer·part·-->324 <!--·start·footer·part·-->
325 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->325 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
326 ··<ul>326 ··<ul>
327 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04060.html">SubgraphSolver</a></li>327 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04060.html">SubgraphSolver</a></li>
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793 <p>For·all·key/value·pairs·in·<code>values</code>,·replace·values·with·corresponding·keys·in·this·class·with·those·in·<code>values</code>.·</p>793 <p>For·all·key/value·pairs·in·<code>values</code>,·replace·values·with·corresponding·keys·in·this·class·with·those·in·<code>values</code>.·</p>
794 <p>Throws·std::out_of_range·if·any·keys·in·<code>values</code>·are·not·present·in·this·class.·</p>794 <p>Throws·std::out_of_range·if·any·keys·in·<code>values</code>·are·not·present·in·this·class.·</p>
  
795 </div>795 </div>
796 </div>796 </div>
797 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>797 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
798 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00884_source.html">VectorValues.h</a></li>798 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00890_source.html">VectorValues.h</a></li>
799 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00791.html">VectorValues.cpp</a></li>799 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00797.html">VectorValues.cpp</a></li>
800 </ul>800 </ul>
801 </div><!--·contents·-->801 </div><!--·contents·-->
802 </div><!--·doc-content·-->802 </div><!--·doc-content·-->
803 <!--·start·footer·part·-->803 <!--·start·footer·part·-->
804 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->804 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
805 ··<ul>805 ··<ul>
806 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04064.html">VectorValues</a></li>806 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04064.html">VectorValues</a></li>
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04064.html">VectorValues</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04064.html">VectorValues</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04064.html">VectorValues</a>·&amp;m1,·const·<a·class="el"·href="a04064.html">VectorValues</a>·&amp;m2,·double·tol=1e-8)</td></tr>130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04064.html">VectorValues</a>·&amp;m1,·const·<a·class="el"·href="a04064.html">VectorValues</a>·&amp;m2,·double·tol=1e-8)</td></tr>
131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00884_source.html">VectorValues.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00890_source.html">VectorValues.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04068.html">traits&lt;·VectorValues·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04068.html">traits&lt;·VectorValues·&gt;</a></li>
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1.05 KB
./usr/share/doc/libgtsam-dev/html/a04072.html
    
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462 ··</table>462 ··</table>
463 ··</dd>463 ··</dd>
464 </dl>464 </dl>
  
465 </div>465 </div>
466 </div>466 </div>
467 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>467 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
468 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00914_source.html">AHRSFactor.h</a></li>468 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00983_source.html">AHRSFactor.h</a></li>
469 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00953.html">AHRSFactor.cpp</a></li>469 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00938.html">AHRSFactor.cpp</a></li>
470 </ul>470 </ul>
471 </div><!--·contents·-->471 </div><!--·contents·-->
472 </div><!--·doc-content·-->472 </div><!--·doc-content·-->
473 <!--·start·footer·part·-->473 <!--·start·footer·part·-->
474 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->474 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
475 ··<ul>475 ··<ul>
476 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04072.html">PreintegratedAhrsMeasurements</a></li>476 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04072.html">PreintegratedAhrsMeasurements</a></li>
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1.13 KB
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775 <p>print·</p>775 <p>print·</p>
  
776 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>776 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
777 </div>777 </div>
778 </div>778 </div>
779 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>779 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
780 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00914_source.html">AHRSFactor.h</a></li>780 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00983_source.html">AHRSFactor.h</a></li>
781 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00953.html">AHRSFactor.cpp</a></li>781 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00938.html">AHRSFactor.cpp</a></li>
782 </ul>782 </ul>
783 </div><!--·contents·-->783 </div><!--·contents·-->
784 </div><!--·doc-content·-->784 </div><!--·doc-content·-->
785 <!--·start·footer·part·-->785 <!--·start·footer·part·-->
786 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->786 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
787 ··<ul>787 ··<ul>
788 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04076.html">AHRSFactor</a></li>788 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04076.html">AHRSFactor</a></li>
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1.05 KB
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208 ··</table>208 ··</table>
209 ··</dd>209 ··</dd>
210 </dl>210 </dl>
  
211 </div>211 </div>
212 </div>212 </div>
213 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>213 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
214 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00923_source.html">AttitudeFactor.h</a></li>214 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00995_source.html">AttitudeFactor.h</a></li>
215 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00950.html">AttitudeFactor.cpp</a></li>215 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00923.html">AttitudeFactor.cpp</a></li>
216 </ul>216 </ul>
217 </div><!--·contents·-->217 </div><!--·contents·-->
218 </div><!--·doc-content·-->218 </div><!--·doc-content·-->
219 <!--·start·footer·part·-->219 <!--·start·footer·part·-->
220 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->220 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
221 ··<ul>221 ··<ul>
222 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04080.html">AttitudeFactor</a></li>222 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04080.html">AttitudeFactor</a></li>
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1.17 KB
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629 <p>print·</p>629 <p>print·</p>
  
630 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>630 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>
  
631 </div>631 </div>
632 </div>632 </div>
633 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>633 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
634 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00923_source.html">AttitudeFactor.h</a></li>634 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00995_source.html">AttitudeFactor.h</a></li>
635 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00950.html">AttitudeFactor.cpp</a></li>635 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00923.html">AttitudeFactor.cpp</a></li>
636 </ul>636 </ul>
637 </div><!--·contents·-->637 </div><!--·contents·-->
638 </div><!--·doc-content·-->638 </div><!--·doc-content·-->
639 <!--·start·footer·part·-->639 <!--·start·footer·part·-->
640 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->640 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
641 ··<ul>641 ··<ul>
642 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04084.html">Rot3AttitudeFactor</a></li>642 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04084.html">Rot3AttitudeFactor</a></li>
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./usr/share/doc/libgtsam-dev/html/a04088.html
    
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04084.html">Rot3AttitudeFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04084.html">Rot3AttitudeFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04084.html">Rot3AttitudeFactor</a>·&amp;m1,·const·<a·class="el"·href="a04084.html">Rot3AttitudeFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04084.html">Rot3AttitudeFactor</a>·&amp;m1,·const·<a·class="el"·href="a04084.html">Rot3AttitudeFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>
131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00923_source.html">AttitudeFactor.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00995_source.html">AttitudeFactor.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04088.html">traits&lt;·Rot3AttitudeFactor·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04088.html">traits&lt;·Rot3AttitudeFactor·&gt;</a></li>
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1.17 KB
./usr/share/doc/libgtsam-dev/html/a04092.html
    
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629 <p>print·</p>629 <p>print·</p>
  
630 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>630 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>
  
631 </div>631 </div>
632 </div>632 </div>
633 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>633 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
634 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00923_source.html">AttitudeFactor.h</a></li>634 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00995_source.html">AttitudeFactor.h</a></li>
635 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00950.html">AttitudeFactor.cpp</a></li>635 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00923.html">AttitudeFactor.cpp</a></li>
636 </ul>636 </ul>
637 </div><!--·contents·-->637 </div><!--·contents·-->
638 </div><!--·doc-content·-->638 </div><!--·doc-content·-->
639 <!--·start·footer·part·-->639 <!--·start·footer·part·-->
640 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->640 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
641 ··<ul>641 ··<ul>
642 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04092.html">Pose3AttitudeFactor</a></li>642 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04092.html">Pose3AttitudeFactor</a></li>
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./usr/share/doc/libgtsam-dev/html/a04096.html
    
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04092.html">Pose3AttitudeFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04092.html">Pose3AttitudeFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04092.html">Pose3AttitudeFactor</a>·&amp;m1,·const·<a·class="el"·href="a04092.html">Pose3AttitudeFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04092.html">Pose3AttitudeFactor</a>·&amp;m1,·const·<a·class="el"·href="a04092.html">Pose3AttitudeFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>
131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00923_source.html">AttitudeFactor.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00995_source.html">AttitudeFactor.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04096.html">traits&lt;·Pose3AttitudeFactor·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04096.html">traits&lt;·Pose3AttitudeFactor·&gt;</a></li>
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1.16 KB
./usr/share/doc/libgtsam-dev/html/a04100.html
    
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617 <p>print·</p>617 <p>print·</p>
  
618 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>618 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
619 </div>619 </div>
620 </div>620 </div>
621 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>621 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
622 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00911_source.html">BarometricFactor.h</a></li>622 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00935_source.html">BarometricFactor.h</a></li>
623 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00974.html">BarometricFactor.cpp</a></li>623 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00905.html">BarometricFactor.cpp</a></li>
624 </ul>624 </ul>
625 </div><!--·contents·-->625 </div><!--·contents·-->
626 </div><!--·doc-content·-->626 </div><!--·doc-content·-->
627 <!--·start·footer·part·-->627 <!--·start·footer·part·-->
628 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->628 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
629 ··<ul>629 ··<ul>
630 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04100.html">BarometricFactor</a></li>630 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04100.html">BarometricFactor</a></li>
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1.18 KB
./usr/share/doc/libgtsam-dev/html/a04104.html
    
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378 </div><div·class="memdoc">378 </div><div·class="memdoc">
  
379 <p>Reimplemented·from·<a·class="el"·href="a04204.html">gtsam::PreintegratedRotationParams</a>.</p>379 <p>Reimplemented·from·<a·class="el"·href="a04204.html">gtsam::PreintegratedRotationParams</a>.</p>
  
380 </div>380 </div>
381 </div>381 </div>
382 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>382 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
383 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00980_source.html">CombinedImuFactor.h</a></li>383 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00956_source.html">CombinedImuFactor.h</a></li>
384 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00941.html">CombinedImuFactor.cpp</a></li>384 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00926.html">CombinedImuFactor.cpp</a></li>
385 </ul>385 </ul>
386 </div><!--·contents·-->386 </div><!--·contents·-->
387 </div><!--·doc-content·-->387 </div><!--·doc-content·-->
388 <!--·start·footer·part·-->388 <!--·start·footer·part·-->
389 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->389 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
390 ··<ul>390 ··<ul>
391 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04104.html">PreintegrationCombinedParams</a></li>391 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04104.html">PreintegrationCombinedParams</a></li>
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1.35 KB
./usr/share/doc/libgtsam-dev/html/a04108.html
    
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533 <p>Re-initialize·<a·class="el"·href="a04108.html"·title="PreintegratedCombinedMeasurements·integrates·the·IMU·measurements·(rotation·rates·and·accelerations)·...">PreintegratedCombinedMeasurements</a>.·</p>533 <p>Re-initialize·<a·class="el"·href="a04108.html"·title="PreintegratedCombinedMeasurements·integrates·the·IMU·measurements·(rotation·rates·and·accelerations)·...">PreintegratedCombinedMeasurements</a>.·</p>
  
534 <p>Reimplemented·from·<a·class="el"·href="a04192.html">gtsam::ManifoldPreintegration</a>.</p>534 <p>Reimplemented·from·<a·class="el"·href="a04192.html">gtsam::ManifoldPreintegration</a>.</p>
  
535 </div>535 </div>
536 </div>536 </div>
537 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>537 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
538 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00980_source.html">CombinedImuFactor.h</a></li>538 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00956_source.html">CombinedImuFactor.h</a></li>
539 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00941.html">CombinedImuFactor.cpp</a></li>539 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00926.html">CombinedImuFactor.cpp</a></li>
540 </ul>540 </ul>
541 </div><!--·contents·-->541 </div><!--·contents·-->
542 </div><!--·doc-content·-->542 </div><!--·doc-content·-->
543 <!--·start·footer·part·-->543 <!--·start·footer·part·-->
544 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->544 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
545 ··<ul>545 ··<ul>
546 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04108.html">PreintegratedCombinedMeasurements</a></li>546 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04108.html">PreintegratedCombinedMeasurements</a></li>
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1.17 KB
./usr/share/doc/libgtsam-dev/html/a04112.html
    
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726 <p>print·</p>726 <p>print·</p>
  
727 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>727 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
728 </div>728 </div>
729 </div>729 </div>
730 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>730 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
731 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00980_source.html">CombinedImuFactor.h</a></li>731 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00956_source.html">CombinedImuFactor.h</a></li>
732 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00941.html">CombinedImuFactor.cpp</a></li>732 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00926.html">CombinedImuFactor.cpp</a></li>
733 </ul>733 </ul>
734 </div><!--·contents·-->734 </div><!--·contents·-->
735 </div><!--·doc-content·-->735 </div><!--·doc-content·-->
736 <!--·start·footer·part·-->736 <!--·start·footer·part·-->
737 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->737 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
738 ··<ul>738 ··<ul>
739 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04112.html">CombinedImuFactor</a></li>739 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04112.html">CombinedImuFactor</a></li>
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1.73 KB
./usr/share/doc/libgtsam-dev/html/a04116.html
    
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04104.html">PreintegrationCombinedParams</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04104.html">PreintegrationCombinedParams</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04104.html">PreintegrationCombinedParams</a>·&amp;m1,·const·<a·class="el"·href="a04104.html">PreintegrationCombinedParams</a>·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04104.html">PreintegrationCombinedParams</a>·&amp;m1,·const·<a·class="el"·href="a04104.html">PreintegrationCombinedParams</a>·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00980_source.html">CombinedImuFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00956_source.html">CombinedImuFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04116.html">traits&lt;·PreintegrationCombinedParams·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04116.html">traits&lt;·PreintegrationCombinedParams·&gt;</a></li>
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1.75 KB
./usr/share/doc/libgtsam-dev/html/a04120.html
    
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04108.html">PreintegratedCombinedMeasurements</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04108.html">PreintegratedCombinedMeasurements</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04108.html">PreintegratedCombinedMeasurements</a>·&amp;m1,·const·<a·class="el"·href="a04108.html">PreintegratedCombinedMeasurements</a>·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04108.html">PreintegratedCombinedMeasurements</a>·&amp;m1,·const·<a·class="el"·href="a04108.html">PreintegratedCombinedMeasurements</a>·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00980_source.html">CombinedImuFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00956_source.html">CombinedImuFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04120.html">traits&lt;·PreintegratedCombinedMeasurements·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04120.html">traits&lt;·PreintegratedCombinedMeasurements·&gt;</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04112.html">CombinedImuFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04112.html">CombinedImuFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04112.html">CombinedImuFactor</a>·&amp;m1,·const·<a·class="el"·href="a04112.html">CombinedImuFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04112.html">CombinedImuFactor</a>·&amp;m1,·const·<a·class="el"·href="a04112.html">CombinedImuFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00980_source.html">CombinedImuFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00956_source.html">CombinedImuFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04124.html">traits&lt;·CombinedImuFactor·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04124.html">traits&lt;·CombinedImuFactor·&gt;</a></li>
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./usr/share/doc/libgtsam-dev/html/a04132.html
    
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613 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>613 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
614 </div>614 </div>
615 </div>615 </div>
616 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>616 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
617 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00986_source.html">GPSFactor.h</a></li>617 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00986_source.html">GPSFactor.h</a></li>
618 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00902.html">GPSFactor.cpp</a></li>618 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00953.html">GPSFactor.cpp</a></li>
619 </ul>619 </ul>
620 </div><!--·contents·-->620 </div><!--·contents·-->
621 </div><!--·doc-content·-->621 </div><!--·doc-content·-->
622 <!--·start·footer·part·-->622 <!--·start·footer·part·-->
623 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->623 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
624 ··<ul>624 ··<ul>
625 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04132.html">GPSFactor</a></li>625 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04132.html">GPSFactor</a></li>
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./usr/share/doc/libgtsam-dev/html/a04136.html
    
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552 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>552 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
553 </div>553 </div>
554 </div>554 </div>
555 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>555 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
556 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00986_source.html">GPSFactor.h</a></li>556 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00986_source.html">GPSFactor.h</a></li>
557 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00902.html">GPSFactor.cpp</a></li>557 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00953.html">GPSFactor.cpp</a></li>
558 </ul>558 </ul>
559 </div><!--·contents·-->559 </div><!--·contents·-->
560 </div><!--·doc-content·-->560 </div><!--·doc-content·-->
561 <!--·start·footer·part·-->561 <!--·start·footer·part·-->
562 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->562 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
563 ··<ul>563 ··<ul>
564 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04136.html">GPSFactor2</a></li>564 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04136.html">GPSFactor2</a></li>
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1.71 KB
./usr/share/doc/libgtsam-dev/html/a04140.html
    
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181 Static·Public·Attributes</h2></td></tr>181 Static·Public·Attributes</h2></td></tr>
182 <tr·class="memitem:a85ba8cd799a5771ad8ac8669e1377f1d"·id="r_a85ba8cd799a5771ad8ac8669e1377f1d"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a85ba8cd799a5771ad8ac8669e1377f1d"·name="a85ba8cd799a5771ad8ac8669e1377f1d"></a>182 <tr·class="memitem:a85ba8cd799a5771ad8ac8669e1377f1d"·id="r_a85ba8cd799a5771ad8ac8669e1377f1d"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a85ba8cd799a5771ad8ac8669e1377f1d"·name="a85ba8cd799a5771ad8ac8669e1377f1d"></a>
183 static·const·size_t&#160;</td><td·class="memItemRight"·valign="bottom"><b>dimension</b>·=·6</td></tr>183 static·const·size_t&#160;</td><td·class="memItemRight"·valign="bottom"><b>dimension</b>·=·6</td></tr>
184 <tr·class="memdesc:a85ba8cd799a5771ad8ac8669e1377f1d"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">dimension·of·the·variable·-·used·to·autodetect·sizes·<br·/></td></tr>184 <tr·class="memdesc:a85ba8cd799a5771ad8ac8669e1377f1d"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">dimension·of·the·variable·-·used·to·autodetect·sizes·<br·/></td></tr>
185 <tr·class="separator:a85ba8cd799a5771ad8ac8669e1377f1d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>185 <tr·class="separator:a85ba8cd799a5771ad8ac8669e1377f1d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
186 </table>186 </table>
187 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>187 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
188 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00998_source.html">ImuBias.h</a></li>188 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00962_source.html">ImuBias.h</a></li>
189 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00926.html">ImuBias.cpp</a></li>189 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00947.html">ImuBias.cpp</a></li>
190 </ul>190 </ul>
191 </div><!--·contents·-->191 </div><!--·contents·-->
192 </div><!--·doc-content·-->192 </div><!--·doc-content·-->
193 <!--·start·footer·part·-->193 <!--·start·footer·part·-->
194 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->194 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
195 ··<ul>195 ··<ul>
196 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01452.html">imuBias</a></li><li·class="navelem"><a·class="el"·href="a04140.html">ConstantBias</a></li>196 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01452.html">imuBias</a></li><li·class="navelem"><a·class="el"·href="a04140.html">ConstantBias</a></li>
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1.49 KB
./usr/share/doc/libgtsam-dev/html/a04144.html
    
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184 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>184 typedef·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>ChartJacobian</b></td></tr>
185 <tr·class="separator:af75812a841edef85cabc4e06b65a1121·inherit·pub_types_a02604"><td·class="memSeparator"·colspan="2">&#160;</td></tr>185 <tr·class="separator:af75812a841edef85cabc4e06b65a1121·inherit·pub_types_a02604"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
186 <tr·class="memitem:ab2461a41d72cb29e2fd6ffd05be40b42·inherit·pub_types_a02604"·id="r_ab2461a41d72cb29e2fd6ffd05be40b42"><td·class="memItemLeft"·align="right"·valign="top">186 <tr·class="memitem:ab2461a41d72cb29e2fd6ffd05be40b42·inherit·pub_types_a02604"·id="r_ab2461a41d72cb29e2fd6ffd05be40b42"><td·class="memItemLeft"·align="right"·valign="top">
187 typedef·Eigen::Matrix&lt;·double,·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Jacobian</b></td></tr>187 typedef·Eigen::Matrix&lt;·double,·N,·N·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Jacobian</b></td></tr>
188 <tr·class="separator:ab2461a41d72cb29e2fd6ffd05be40b42·inherit·pub_types_a02604"><td·class="memSeparator"·colspan="2">&#160;</td></tr>188 <tr·class="separator:ab2461a41d72cb29e2fd6ffd05be40b42·inherit·pub_types_a02604"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
189 </table>189 </table>
190 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>190 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
191 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00998_source.html">ImuBias.h</a></li>191 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00962_source.html">ImuBias.h</a></li>
192 </ul>192 </ul>
193 </div><!--·contents·-->193 </div><!--·contents·-->
194 </div><!--·doc-content·-->194 </div><!--·doc-content·-->
195 <!--·start·footer·part·-->195 <!--·start·footer·part·-->
196 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->196 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
197 ··<ul>197 ··<ul>
198 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04144.html">traits&lt;·imuBias::ConstantBias·&gt;</a></li>198 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04144.html">traits&lt;·imuBias::ConstantBias·&gt;</a></li>
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1.16 KB
./usr/share/doc/libgtsam-dev/html/a04148.html
    
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551 <p>COVARIANCE·OF:·[PreintROTATION·PreintPOSITION·PreintVELOCITY].·</p>551 <p>COVARIANCE·OF:·[PreintROTATION·PreintPOSITION·PreintVELOCITY].·</p>
552 <p>(first-order·propagation·from·<em>measurementCovariance</em>).·</p>552 <p>(first-order·propagation·from·<em>measurementCovariance</em>).·</p>
  
553 </div>553 </div>
554 </div>554 </div>
555 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>555 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
556 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00938_source.html">ImuFactor.h</a></li>556 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00950_source.html">ImuFactor.h</a></li>
557 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00968.html">ImuFactor.cpp</a></li>557 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00902.html">ImuFactor.cpp</a></li>
558 </ul>558 </ul>
559 </div><!--·contents·-->559 </div><!--·contents·-->
560 </div><!--·doc-content·-->560 </div><!--·doc-content·-->
561 <!--·start·footer·part·-->561 <!--·start·footer·part·-->
562 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->562 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
563 ··<ul>563 ··<ul>
564 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04148.html">PreintegratedImuMeasurements</a></li>564 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04148.html">PreintegratedImuMeasurements</a></li>
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1.13 KB
./usr/share/doc/libgtsam-dev/html/a04152.html
    
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705 <p>print·</p>705 <p>print·</p>
  
706 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>706 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
707 </div>707 </div>
708 </div>708 </div>
709 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>709 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
710 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00938_source.html">ImuFactor.h</a></li>710 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00950_source.html">ImuFactor.h</a></li>
711 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00968.html">ImuFactor.cpp</a></li>711 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00902.html">ImuFactor.cpp</a></li>
712 </ul>712 </ul>
713 </div><!--·contents·-->713 </div><!--·contents·-->
714 </div><!--·doc-content·-->714 </div><!--·doc-content·-->
715 <!--·start·footer·part·-->715 <!--·start·footer·part·-->
716 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->716 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
717 ··<ul>717 ··<ul>
718 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04152.html">ImuFactor</a></li>718 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04152.html">ImuFactor</a></li>
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1.13 KB
./usr/share/doc/libgtsam-dev/html/a04156.html
    
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657 <p>print·</p>657 <p>print·</p>
  
658 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>658 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
659 </div>659 </div>
660 </div>660 </div>
661 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>661 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
662 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00938_source.html">ImuFactor.h</a></li>662 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00950_source.html">ImuFactor.h</a></li>
663 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00968.html">ImuFactor.cpp</a></li>663 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00902.html">ImuFactor.cpp</a></li>
664 </ul>664 </ul>
665 </div><!--·contents·-->665 </div><!--·contents·-->
666 </div><!--·doc-content·-->666 </div><!--·doc-content·-->
667 <!--·start·footer·part·-->667 <!--·start·footer·part·-->
668 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->668 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
669 ··<ul>669 ··<ul>
670 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04156.html">ImuFactor2</a></li>670 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04156.html">ImuFactor2</a></li>
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1.72 KB
./usr/share/doc/libgtsam-dev/html/a04160.html
    
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04148.html">PreintegratedImuMeasurements</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04148.html">PreintegratedImuMeasurements</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00938_source.html">ImuFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00950_source.html">ImuFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04160.html">traits&lt;·PreintegratedImuMeasurements·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04160.html">traits&lt;·PreintegratedImuMeasurements·&gt;</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04152.html">ImuFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04152.html">ImuFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04152.html">ImuFactor</a>·&amp;m1,·const·<a·class="el"·href="a04152.html">ImuFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04152.html">ImuFactor</a>·&amp;m1,·const·<a·class="el"·href="a04152.html">ImuFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00938_source.html">ImuFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00950_source.html">ImuFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04164.html">traits&lt;·ImuFactor·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04164.html">traits&lt;·ImuFactor·&gt;</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04156.html">ImuFactor2</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04156.html">ImuFactor2</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04156.html">ImuFactor2</a>·&amp;m1,·const·<a·class="el"·href="a04156.html">ImuFactor2</a>·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04156.html">ImuFactor2</a>·&amp;m1,·const·<a·class="el"·href="a04156.html">ImuFactor2</a>·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00938_source.html">ImuFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00950_source.html">ImuFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04168.html">traits&lt;·ImuFactor2·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04168.html">traits&lt;·ImuFactor2·&gt;</a></li>
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993 B
./usr/share/doc/libgtsam-dev/html/a04172.html
    
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519 <dl·class="section·return"><dt>Returns</dt><dd>a·deep·copy·of·this·factor·</dd></dl>519 <dl·class="section·return"><dt>Returns</dt><dd>a·deep·copy·of·this·factor·</dd></dl>
  
520 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a9b1f311731e3344c33c376aa0f5f729c">gtsam::NonlinearFactor</a>.</p>520 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a9b1f311731e3344c33c376aa0f5f729c">gtsam::NonlinearFactor</a>.</p>
  
521 </div>521 </div>
522 </div>522 </div>
523 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>523 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
524 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00995_source.html">MagFactor.h</a></li>524 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00920_source.html">MagFactor.h</a></li>
525 </ul>525 </ul>
526 </div><!--·contents·-->526 </div><!--·contents·-->
527 </div><!--·doc-content·-->527 </div><!--·doc-content·-->
528 <!--·start·footer·part·-->528 <!--·start·footer·part·-->
529 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->529 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
530 ··<ul>530 ··<ul>
531 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04172.html">MagFactor</a></li>531 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04172.html">MagFactor</a></li>
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994 B
./usr/share/doc/libgtsam-dev/html/a04176.html
    
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438 <dl·class="section·return"><dt>Returns</dt><dd>a·deep·copy·of·this·factor·</dd></dl>438 <dl·class="section·return"><dt>Returns</dt><dd>a·deep·copy·of·this·factor·</dd></dl>
  
439 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a9b1f311731e3344c33c376aa0f5f729c">gtsam::NonlinearFactor</a>.</p>439 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a9b1f311731e3344c33c376aa0f5f729c">gtsam::NonlinearFactor</a>.</p>
  
440 </div>440 </div>
441 </div>441 </div>
442 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>442 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
443 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00995_source.html">MagFactor.h</a></li>443 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00920_source.html">MagFactor.h</a></li>
444 </ul>444 </ul>
445 </div><!--·contents·-->445 </div><!--·contents·-->
446 </div><!--·doc-content·-->446 </div><!--·doc-content·-->
447 <!--·start·footer·part·-->447 <!--·start·footer·part·-->
448 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->448 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
449 ··<ul>449 ··<ul>
450 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04176.html">MagFactor1</a></li>450 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04176.html">MagFactor1</a></li>
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./usr/share/doc/libgtsam-dev/html/a04180.html
    
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494 ··</table>494 ··</table>
495 ··</dd>495 ··</dd>
496 </dl>496 </dl>
  
497 </div>497 </div>
498 </div>498 </div>
499 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>499 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
500 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00995_source.html">MagFactor.h</a></li>500 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00920_source.html">MagFactor.h</a></li>
501 </ul>501 </ul>
502 </div><!--·contents·-->502 </div><!--·contents·-->
503 </div><!--·doc-content·-->503 </div><!--·doc-content·-->
504 <!--·start·footer·part·-->504 <!--·start·footer·part·-->
505 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->505 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
506 ··<ul>506 ··<ul>
507 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04180.html">MagFactor2</a></li>507 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04180.html">MagFactor2</a></li>
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812 B
./usr/share/doc/libgtsam-dev/html/a04184.html
    
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506 ··</table>506 ··</table>
507 ··</dd>507 ··</dd>
508 </dl>508 </dl>
  
509 </div>509 </div>
510 </div>510 </div>
511 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>511 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
512 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00995_source.html">MagFactor.h</a></li>512 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00920_source.html">MagFactor.h</a></li>
513 </ul>513 </ul>
514 </div><!--·contents·-->514 </div><!--·contents·-->
515 </div><!--·doc-content·-->515 </div><!--·doc-content·-->
516 <!--·start·footer·part·-->516 <!--·start·footer·part·-->
517 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->517 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
518 ··<ul>518 ··<ul>
519 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04184.html">MagFactor3</a></li>519 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04184.html">MagFactor3</a></li>
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1.04 KB
./usr/share/doc/libgtsam-dev/html/a04188.html
    
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670 <p>Implement·functions·needed·for·<a·class="el"·href="a02492.html"·title="A·helper·that·implements·the·traits·interface·for·GTSAM·types.">Testable</a>.·</p>670 <p>Implement·functions·needed·for·<a·class="el"·href="a02492.html"·title="A·helper·that·implements·the·traits·interface·for·GTSAM·types.">Testable</a>.·</p>
  
671 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>671 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
672 </div>672 </div>
673 </div>673 </div>
674 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>674 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
675 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00977_source.html">MagPoseFactor.h</a></li>675 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00911_source.html">MagPoseFactor.h</a></li>
676 </ul>676 </ul>
677 </div><!--·contents·-->677 </div><!--·contents·-->
678 </div><!--·doc-content·-->678 </div><!--·doc-content·-->
679 <!--·start·footer·part·-->679 <!--·start·footer·part·-->
680 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->680 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
681 ··<ul>681 ··<ul>
682 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04188.html">MagPoseFactor</a></li>682 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04188.html">MagPoseFactor</a></li>
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1.43 KB
./usr/share/doc/libgtsam-dev/html/a04192.html
    
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570 <p>Update·preintegrated·measurements·and·get·derivatives·It·takes·measured·quantities·in·the·j·frame·Modifies·preintegrated·quantities·in·place·after·correcting·for·bias·and·possibly·sensor·pose·NOTE(frank):·implementation·is·different·in·two·versions.·</p>570 <p>Update·preintegrated·measurements·and·get·derivatives·It·takes·measured·quantities·in·the·j·frame·Modifies·preintegrated·quantities·in·place·after·correcting·for·bias·and·possibly·sensor·pose·NOTE(frank):·implementation·is·different·in·two·versions.·</p>
  
571 <p>Implements·<a·class="el"·href="a04216.html#af562d10048eb544a7057443feaefb8c6">gtsam::PreintegrationBase</a>.</p>571 <p>Implements·<a·class="el"·href="a04216.html#af562d10048eb544a7057443feaefb8c6">gtsam::PreintegrationBase</a>.</p>
  
572 </div>572 </div>
573 </div>573 </div>
574 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>574 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
575 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00959_source.html">ManifoldPreintegration.h</a></li>575 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00992_source.html">ManifoldPreintegration.h</a></li>
576 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00989.html">ManifoldPreintegration.cpp</a></li>576 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00959.html">ManifoldPreintegration.cpp</a></li>
577 </ul>577 </ul>
578 </div><!--·contents·-->578 </div><!--·contents·-->
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583 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04192.html">ManifoldPreintegration</a></li>583 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04192.html">ManifoldPreintegration</a></li>
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260 </table>260 </table>
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262 <p>serialization·</p>262 <p>serialization·</p>
  
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265 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>265 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
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156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>156 typedef·<a·class="el"·href="a02388.html">manifold_tag</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>structure_category</b></td></tr>
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162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>162 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00908_source.html">NavState.h</a></li>163 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00980_source.html">NavState.h</a></li>
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169 ··<ul>169 ··<ul>
170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04200.html">traits&lt;·NavState·&gt;</a></li>170 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04200.html">traits&lt;·NavState·&gt;</a></li>
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177 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00944.html">PreintegratedRotation.cpp</a></li>177 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00998.html">PreintegratedRotation.cpp</a></li>
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182 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->182 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
183 ··<ul>183 ··<ul>
184 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04204.html">PreintegratedRotationParams</a></li>184 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04204.html">PreintegratedRotationParams</a></li>
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222 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00905_source.html">PreintegratedRotation.h</a></li>222 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00932_source.html">PreintegratedRotation.h</a></li>
223 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00944.html">PreintegratedRotation.cpp</a></li>223 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00998.html">PreintegratedRotation.cpp</a></li>
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227 <!--·start·footer·part·-->227 <!--·start·footer·part·-->
228 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->228 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
229 ··<ul>229 ··<ul>
230 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04208.html">PreintegratedRotation</a></li>230 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04208.html">PreintegratedRotation</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04208.html">PreintegratedRotation</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04208.html">PreintegratedRotation</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04208.html">PreintegratedRotation</a>·&amp;m1,·const·<a·class="el"·href="a04208.html">PreintegratedRotation</a>·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04208.html">PreintegratedRotation</a>·&amp;m1,·const·<a·class="el"·href="a04208.html">PreintegratedRotation</a>·&amp;m2,·double·tol=1e-8)</td></tr>
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130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00905_source.html">PreintegratedRotation.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00932_source.html">PreintegratedRotation.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
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136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04212.html">traits&lt;·PreintegratedRotation·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04212.html">traits&lt;·PreintegratedRotation·&gt;</a></li>
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1.16 KB
./usr/share/doc/libgtsam-dev/html/a04216.html
    
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563 <p>Update·preintegrated·measurements·and·get·derivatives·It·takes·measured·quantities·in·the·j·frame·Modifies·preintegrated·quantities·in·place·after·correcting·for·bias·and·possibly·sensor·pose.·</p>563 <p>Update·preintegrated·measurements·and·get·derivatives·It·takes·measured·quantities·in·the·j·frame·Modifies·preintegrated·quantities·in·place·after·correcting·for·bias·and·possibly·sensor·pose.·</p>
  
564 <p>Implemented·in·<a·class="el"·href="a04192.html#a5634a540fa491ed01c0a84341d91d9ff">gtsam::ManifoldPreintegration</a>,·and·<a·class="el"·href="a04244.html#a29246e35a8351b6e9f66039401f445e8">gtsam::TangentPreintegration</a>.</p>564 <p>Implemented·in·<a·class="el"·href="a04192.html#a5634a540fa491ed01c0a84341d91d9ff">gtsam::ManifoldPreintegration</a>,·and·<a·class="el"·href="a04244.html#a29246e35a8351b6e9f66039401f445e8">gtsam::TangentPreintegration</a>.</p>
  
565 </div>565 </div>
566 </div>566 </div>
567 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>567 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
568 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00992_source.html">PreintegrationBase.h</a></li>568 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00944_source.html">PreintegrationBase.h</a></li>
569 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<b>PreintegrationBase.cpp</b></li>569 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<b>PreintegrationBase.cpp</b></li>
570 </ul>570 </ul>
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573 <!--·start·footer·part·-->573 <!--·start·footer·part·-->
574 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->574 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
575 ··<ul>575 ··<ul>
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894 B
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299 </div><div·class="memdoc">299 </div><div·class="memdoc">
  
300 <p>Reimplemented·from·<a·class="el"·href="a04204.html">gtsam::PreintegratedRotationParams</a>.</p>300 <p>Reimplemented·from·<a·class="el"·href="a04204.html">gtsam::PreintegratedRotationParams</a>.</p>
  
301 </div>301 </div>
302 </div>302 </div>
303 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>303 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
304 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00929_source.html">PreintegrationParams.h</a></li>304 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00908_source.html">PreintegrationParams.h</a></li>
305 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<b>PreintegrationParams.cpp</b></li>305 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<b>PreintegrationParams.cpp</b></li>
306 </ul>306 </ul>
307 </div><!--·contents·-->307 </div><!--·contents·-->
308 </div><!--·doc-content·-->308 </div><!--·doc-content·-->
309 <!--·start·footer·part·-->309 <!--·start·footer·part·-->
310 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->310 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
311 ··<ul>311 ··<ul>
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267 <p>velocity·at·time·t,·in·nav·frame·</p>267 <p>velocity·at·time·t,·in·nav·frame·</p>
  
268 <p>Implemented·in·<a·class="el"·href="a04228.html#ad1ef4f451f2f8d8413424778ab3e1791">gtsam::ConstantTwistScenario</a>,·and·<a·class="el"·href="a04232.html#aed78128a8d22e10539cff5352c0f8790">gtsam::AcceleratingScenario</a>.</p>268 <p>Implemented·in·<a·class="el"·href="a04228.html#ad1ef4f451f2f8d8413424778ab3e1791">gtsam::ConstantTwistScenario</a>,·and·<a·class="el"·href="a04232.html#aed78128a8d22e10539cff5352c0f8790">gtsam::AcceleratingScenario</a>.</p>
  
269 </div>269 </div>
270 </div>270 </div>
271 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>271 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
272 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00947_source.html">Scenario.h</a></li>272 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00989_source.html">Scenario.h</a></li>
273 </ul>273 </ul>
274 </div><!--·contents·-->274 </div><!--·contents·-->
275 </div><!--·doc-content·-->275 </div><!--·doc-content·-->
276 <!--·start·footer·part·-->276 <!--·start·footer·part·-->
277 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->277 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
278 ··<ul>278 ··<ul>
279 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04224.html">Scenario</a></li>279 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04224.html">Scenario</a></li>
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272 <p>velocity·at·time·t,·in·nav·frame·</p>272 <p>velocity·at·time·t,·in·nav·frame·</p>
  
273 <p>Implements·<a·class="el"·href="a04224.html#ad696947e9da2987f0913113957b64162">gtsam::Scenario</a>.</p>273 <p>Implements·<a·class="el"·href="a04224.html#ad696947e9da2987f0913113957b64162">gtsam::Scenario</a>.</p>
  
274 </div>274 </div>
275 </div>275 </div>
276 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>276 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
277 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00947_source.html">Scenario.h</a></li>277 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00989_source.html">Scenario.h</a></li>
278 </ul>278 </ul>
279 </div><!--·contents·-->279 </div><!--·contents·-->
280 </div><!--·doc-content·-->280 </div><!--·doc-content·-->
281 <!--·start·footer·part·-->281 <!--·start·footer·part·-->
282 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->282 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
283 ··<ul>283 ··<ul>
284 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04228.html">ConstantTwistScenario</a></li>284 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04228.html">ConstantTwistScenario</a></li>
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271 <p>velocity·at·time·t,·in·nav·frame·</p>271 <p>velocity·at·time·t,·in·nav·frame·</p>
  
272 <p>Implements·<a·class="el"·href="a04224.html#ad696947e9da2987f0913113957b64162">gtsam::Scenario</a>.</p>272 <p>Implements·<a·class="el"·href="a04224.html#ad696947e9da2987f0913113957b64162">gtsam::Scenario</a>.</p>
  
273 </div>273 </div>
274 </div>274 </div>
275 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>275 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
276 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00947_source.html">Scenario.h</a></li>276 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00989_source.html">Scenario.h</a></li>
277 </ul>277 </ul>
278 </div><!--·contents·-->278 </div><!--·contents·-->
279 </div><!--·doc-content·-->279 </div><!--·doc-content·-->
280 <!--·start·footer·part·-->280 <!--·start·footer·part·-->
281 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->281 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
282 ··<ul>282 ··<ul>
283 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04232.html">AcceleratingScenario</a></li>283 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04232.html">AcceleratingScenario</a></li>
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./usr/share/doc/libgtsam-dev/html/a04236.html
    
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165 typedef·<a·class="el"·href="a04140.html">imuBias::ConstantBias</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Bias</b></td></tr>165 typedef·<a·class="el"·href="a04140.html">imuBias::ConstantBias</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Bias</b></td></tr>
166 <tr·class="separator:a3cd57e1845581d8434dd20ce7affd3f2"><td·class="memSeparator"·colspan="2">&#160;</td></tr>166 <tr·class="separator:a3cd57e1845581d8434dd20ce7affd3f2"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
167 <tr·class="memitem:ac5b82ec05533e93e60967c6a20d71712"·id="r_ac5b82ec05533e93e60967c6a20d71712"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac5b82ec05533e93e60967c6a20d71712"·name="ac5b82ec05533e93e60967c6a20d71712"></a>167 <tr·class="memitem:ac5b82ec05533e93e60967c6a20d71712"·id="r_ac5b82ec05533e93e60967c6a20d71712"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac5b82ec05533e93e60967c6a20d71712"·name="ac5b82ec05533e93e60967c6a20d71712"></a>
168 typedef·boost::shared_ptr&lt;·<a·class="el"·href="a04220.html">PreintegrationParams</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>SharedParams</b></td></tr>168 typedef·boost::shared_ptr&lt;·<a·class="el"·href="a04220.html">PreintegrationParams</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>SharedParams</b></td></tr>
169 <tr·class="separator:ac5b82ec05533e93e60967c6a20d71712"><td·class="memSeparator"·colspan="2">&#160;</td></tr>169 <tr·class="separator:ac5b82ec05533e93e60967c6a20d71712"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
170 </table>170 </table>
171 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>171 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
172 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00935_source.html">ScenarioRunner.h</a></li>172 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00917_source.html">ScenarioRunner.h</a></li>
173 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<b>ScenarioRunner.cpp</b></li>173 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<b>ScenarioRunner.cpp</b></li>
174 </ul>174 </ul>
175 </div><!--·contents·-->175 </div><!--·contents·-->
176 </div><!--·doc-content·-->176 </div><!--·doc-content·-->
177 <!--·start·footer·part·-->177 <!--·start·footer·part·-->
178 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->178 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
179 ··<ul>179 ··<ul>
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./usr/share/doc/libgtsam-dev/html/a04240.html
    
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185 typedef·<a·class="el"·href="a04140.html">imuBias::ConstantBias</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Bias</b></td></tr>185 typedef·<a·class="el"·href="a04140.html">imuBias::ConstantBias</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>Bias</b></td></tr>
186 <tr·class="separator:a3cd57e1845581d8434dd20ce7affd3f2·inherit·pub_types_a04236"><td·class="memSeparator"·colspan="2">&#160;</td></tr>186 <tr·class="separator:a3cd57e1845581d8434dd20ce7affd3f2·inherit·pub_types_a04236"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
187 <tr·class="memitem:ac5b82ec05533e93e60967c6a20d71712·inherit·pub_types_a04236"·id="r_ac5b82ec05533e93e60967c6a20d71712"><td·class="memItemLeft"·align="right"·valign="top">187 <tr·class="memitem:ac5b82ec05533e93e60967c6a20d71712·inherit·pub_types_a04236"·id="r_ac5b82ec05533e93e60967c6a20d71712"><td·class="memItemLeft"·align="right"·valign="top">
188 typedef·boost::shared_ptr&lt;·<a·class="el"·href="a04220.html">PreintegrationParams</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>SharedParams</b></td></tr>188 typedef·boost::shared_ptr&lt;·<a·class="el"·href="a04220.html">PreintegrationParams</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>SharedParams</b></td></tr>
189 <tr·class="separator:ac5b82ec05533e93e60967c6a20d71712·inherit·pub_types_a04236"><td·class="memSeparator"·colspan="2">&#160;</td></tr>189 <tr·class="separator:ac5b82ec05533e93e60967c6a20d71712·inherit·pub_types_a04236"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
190 </table>190 </table>
191 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>191 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
192 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00935_source.html">ScenarioRunner.h</a></li>192 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00917_source.html">ScenarioRunner.h</a></li>
193 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<b>ScenarioRunner.cpp</b></li>193 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<b>ScenarioRunner.cpp</b></li>
194 </ul>194 </ul>
195 </div><!--·contents·-->195 </div><!--·contents·-->
196 </div><!--·doc-content·-->196 </div><!--·doc-content·-->
197 <!--·start·footer·part·-->197 <!--·start·footer·part·-->
198 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->198 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
199 ··<ul>199 ··<ul>
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./usr/share/doc/libgtsam-dev/html/a04244.html
    
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567 <p>Update·preintegrated·measurements·and·get·derivatives·It·takes·measured·quantities·in·the·j·frame·Modifies·preintegrated·quantities·in·place·after·correcting·for·bias·and·possibly·sensor·pose·NOTE(frank):·implementation·is·different·in·two·versions.·</p>567 <p>Update·preintegrated·measurements·and·get·derivatives·It·takes·measured·quantities·in·the·j·frame·Modifies·preintegrated·quantities·in·place·after·correcting·for·bias·and·possibly·sensor·pose·NOTE(frank):·implementation·is·different·in·two·versions.·</p>
  
568 <p>Implements·<a·class="el"·href="a04216.html#af562d10048eb544a7057443feaefb8c6">gtsam::PreintegrationBase</a>.</p>568 <p>Implements·<a·class="el"·href="a04216.html#af562d10048eb544a7057443feaefb8c6">gtsam::PreintegrationBase</a>.</p>
  
569 </div>569 </div>
570 </div>570 </div>
571 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>571 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
572 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00932_source.html">TangentPreintegration.h</a></li>572 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00977_source.html">TangentPreintegration.h</a></li>
573 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00962.html">TangentPreintegration.cpp</a></li>573 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/<a·class="el"·href="a00965.html">TangentPreintegration.cpp</a></li>
574 </ul>574 </ul>
575 </div><!--·contents·-->575 </div><!--·contents·-->
576 </div><!--·doc-content·-->576 </div><!--·doc-content·-->
577 <!--·start·footer·part·-->577 <!--·start·footer·part·-->
578 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->578 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
579 ··<ul>579 ··<ul>
580 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04244.html">TangentPreintegration</a></li>580 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04244.html">TangentPreintegration</a></li>
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1.3 KB
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524 <p>Calls·the·errorFunction·closure,·which·is·a·std::function·object·One·can·check·if·a·derivative·is·needed·in·the·errorFunction·by·checking·the·length·of·Jacobian·array.·</p>524 <p>Calls·the·errorFunction·closure,·which·is·a·std::function·object·One·can·check·if·a·derivative·is·needed·in·the·errorFunction·by·checking·the·length·of·Jacobian·array.·</p>
  
525 <p>Implements·<a·class="el"·href="a04504.html#afd61874915a8076bf83f9d8311fc0e26">gtsam::NoiseModelFactor</a>.</p>525 <p>Implements·<a·class="el"·href="a04504.html#afd61874915a8076bf83f9d8311fc0e26">gtsam::NoiseModelFactor</a>.</p>
  
526 </div>526 </div>
527 </div>527 </div>
528 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>528 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
529 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01010_source.html">CustomFactor.h</a></li>529 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01106_source.html">CustomFactor.h</a></li>
530 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01079.html">CustomFactor.cpp</a></li>530 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01010.html">CustomFactor.cpp</a></li>
531 </ul>531 </ul>
532 </div><!--·contents·-->532 </div><!--·contents·-->
533 </div><!--·doc-content·-->533 </div><!--·doc-content·-->
534 <!--·start·footer·part·-->534 <!--·start·footer·part·-->
535 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->535 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
536 ··<ul>536 ··<ul>
537 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04248.html">CustomFactor</a></li>537 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04248.html">CustomFactor</a></li>
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./usr/share/doc/libgtsam-dev/html/a04256.html
    
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327 </div><div·class="memdoc">327 </div><div·class="memdoc">
  
328 <p>Reimplemented·from·<a·class="el"·href="a04556.html">gtsam::NonlinearOptimizerParams</a>.</p>328 <p>Reimplemented·from·<a·class="el"·href="a04556.html">gtsam::NonlinearOptimizerParams</a>.</p>
  
329 </div>329 </div>
330 </div>330 </div>
331 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>331 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
332 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01025_source.html">DoglegOptimizer.h</a></li>332 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01109_source.html">DoglegOptimizer.h</a></li>
333 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01118.html">DoglegOptimizer.cpp</a></li>333 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01148.html">DoglegOptimizer.cpp</a></li>
334 </ul>334 </ul>
335 </div><!--·contents·-->335 </div><!--·contents·-->
336 </div><!--·doc-content·-->336 </div><!--·doc-content·-->
337 <!--·start·footer·part·-->337 <!--·start·footer·part·-->
338 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->338 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
339 ··<ul>339 ··<ul>
340 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04256.html">DoglegParams</a></li>340 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04256.html">DoglegParams</a></li>
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1.37 KB
./usr/share/doc/libgtsam-dev/html/a04260.html
    
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364 <p>Perform·a·single·iteration,·returning·<a·class="el"·href="a03792.html"·title="A·Linear·Factor·Graph·is·a·factor·graph·where·all·factors·are·Gaussian,·i.e.">GaussianFactorGraph</a>·corresponding·to·the·linearized·factor·graph.·</p>364 <p>Perform·a·single·iteration,·returning·<a·class="el"·href="a03792.html"·title="A·Linear·Factor·Graph·is·a·factor·graph·where·all·factors·are·Gaussian,·i.e.">GaussianFactorGraph</a>·corresponding·to·the·linearized·factor·graph.·</p>
  
365 <p>Implements·<a·class="el"·href="a04552.html#ab238f0a58ca49edd63ad552baf852599">gtsam::NonlinearOptimizer</a>.</p>365 <p>Implements·<a·class="el"·href="a04552.html#ab238f0a58ca49edd63ad552baf852599">gtsam::NonlinearOptimizer</a>.</p>
  
366 </div>366 </div>
367 </div>367 </div>
368 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>368 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
369 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01025_source.html">DoglegOptimizer.h</a></li>369 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01109_source.html">DoglegOptimizer.h</a></li>
370 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01118.html">DoglegOptimizer.cpp</a></li>370 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01148.html">DoglegOptimizer.cpp</a></li>
371 </ul>371 </ul>
372 </div><!--·contents·-->372 </div><!--·contents·-->
373 </div><!--·doc-content·-->373 </div><!--·doc-content·-->
374 <!--·start·footer·part·-->374 <!--·start·footer·part·-->
375 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->375 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
376 ··<ul>376 ··<ul>
377 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04260.html">DoglegOptimizer</a></li>377 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04260.html">DoglegOptimizer</a></li>
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989 B
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386 ··</dd>386 ··</dd>
387 </dl>387 </dl>
388 <dl·class="section·return"><dt>Returns</dt><dd>A·DoglegIterationResult·containing·the·new·<code>delta</code>,·the·linear·update·<code>dx_d</code>,·and·the·resulting·nonlinear·error·<code>f_error</code>.·</dd></dl>388 <dl·class="section·return"><dt>Returns</dt><dd>A·DoglegIterationResult·containing·the·new·<code>delta</code>,·the·linear·update·<code>dx_d</code>,·and·the·resulting·nonlinear·error·<code>f_error</code>.·</dd></dl>
  
389 </div>389 </div>
390 </div>390 </div>
391 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>391 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
392 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01046_source.html">DoglegOptimizerImpl.h</a></li>392 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01037_source.html">DoglegOptimizerImpl.h</a></li>
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755 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04280.html">ExpressionFactor</a></li>755 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04280.html">ExpressionFactor</a></li>
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97 </div>97 </div>
  
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616 <p>print·</p>616 <p>print·</p>
  
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627 ··<ul>627 ··<ul>
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618 <p>print·</p>618 <p>print·</p>
  
619 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>619 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
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630 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04344.html">FunctorizedFactor2</a></li>630 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04344.html">FunctorizedFactor2</a></li>
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141 ··<ul>141 ··<ul>
142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04348.html">traits&lt;·FunctorizedFactor2&lt;·R,·T1,·T2·&gt;·&gt;</a></li>142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04348.html">traits&lt;·FunctorizedFactor2&lt;·R,·T1,·T2·&gt;·&gt;</a></li>
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275 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01064_source.html">GaussNewtonOptimizer.h</a></li>275 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01067_source.html">GaussNewtonOptimizer.h</a></li>
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279 <!--·start·footer·part·-->279 <!--·start·footer·part·-->
280 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->280 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
281 ··<ul>281 ··<ul>
282 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04352.html">GaussNewtonParams</a></li>282 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04352.html">GaussNewtonParams</a></li>
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356 <p>Perform·a·single·iteration,·returning·<a·class="el"·href="a03792.html"·title="A·Linear·Factor·Graph·is·a·factor·graph·where·all·factors·are·Gaussian,·i.e.">GaussianFactorGraph</a>·corresponding·to·the·linearized·factor·graph.·</p>356 <p>Perform·a·single·iteration,·returning·<a·class="el"·href="a03792.html"·title="A·Linear·Factor·Graph·is·a·factor·graph·where·all·factors·are·Gaussian,·i.e.">GaussianFactorGraph</a>·corresponding·to·the·linearized·factor·graph.·</p>
  
357 <p>Implements·<a·class="el"·href="a04552.html#ab238f0a58ca49edd63ad552baf852599">gtsam::NonlinearOptimizer</a>.</p>357 <p>Implements·<a·class="el"·href="a04552.html#ab238f0a58ca49edd63ad552baf852599">gtsam::NonlinearOptimizer</a>.</p>
  
358 </div>358 </div>
359 </div>359 </div>
360 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>360 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
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286 <p>Set·weights·for·each·factor.·</p>286 <p>Set·weights·for·each·factor.·</p>
287 <p>This·is·typically·not·needed,·but·provides·an·extra·interface·for·the·user·to·initialize·the·weightst·</p>287 <p>This·is·typically·not·needed,·but·provides·an·extra·interface·for·the·user·to·initialize·the·weightst·</p>
  
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312 <p>any·other·specific·GNC·parameters:·</p>312 <p>any·other·specific·GNC·parameters:·</p>
313 <p>Default·loss·</p>313 <p>Default·loss·</p>
  
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315 </div>315 </div>
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269 <p>Paper·horizontal·is·robot·Y,·paper·vertical·is·robot·X.·Default·figure·size·of·5x5·in.·</p>269 <p>Paper·horizontal·is·robot·Y,·paper·vertical·is·robot·X.·Default·figure·size·of·5x5·in.·</p>
  
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213 <p>Update·the·RgProd·(R*g)·incrementally·taking·into·account·which·variables·have·been·recalculated·in·<code>replacedKeys</code>.·</p>213 <p>Update·the·RgProd·(R*g)·incrementally·taking·into·account·which·variables·have·been·recalculated·in·<code>replacedKeys</code>.·</p>
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132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01103_source.html">ISAM2-impl.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01124_source.html">ISAM2-impl.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04380.html">DeltaImpl</a></li><li·class="navelem"><a·class="el"·href="a04388.html">ReorderingMode</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04380.html">DeltaImpl</a></li><li·class="navelem"><a·class="el"·href="a04388.html">ReorderingMode</a></li>
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279 ··</dd>279 ··</dd>
280 </dl>280 </dl>
281 <dl·class="section·return"><dt>Returns</dt><dd>The·set·of·variable·indices·in·delta·whose·magnitude·is·greater·than·or·equal·to·relinearizeThreshold·</dd></dl>281 <dl·class="section·return"><dt>Returns</dt><dd>The·set·of·variable·indices·in·delta·whose·magnitude·is·greater·than·or·equal·to·relinearizeThreshold·</dd></dl>
  
282 </div>282 </div>
283 </div>283 </div>
284 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>284 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
285 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01103_source.html">ISAM2-impl.h</a></li>285 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01124_source.html">ISAM2-impl.h</a></li>
286 </ul>286 </ul>
287 </div><!--·contents·-->287 </div><!--·contents·-->
288 </div><!--·doc-content·-->288 </div><!--·doc-content·-->
289 <!--·start·footer·part·-->289 <!--·start·footer·part·-->
290 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->290 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
291 ··<ul>291 ··<ul>
292 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04392.html">UpdateImpl</a></li>292 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04392.html">UpdateImpl</a></li>
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1.63 KB
./usr/share/doc/libgtsam-dev/html/a04396.html
    
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964 <p>A·cumulative·mask·for·the·variables·that·were·replaced·and·have·not·yet·been·updated·in·the·linear·solution·delta_,·this·is·only·used·internally,·delta·will·always·be·updated·if·necessary·when·requested·with·<a·class="el"·href="a04396.html#a54c3a0329b3397df717271cfd530b105"·title="Access·the·current·delta,·computed·during·the·last·call·to·update.">getDelta()</a>·or·<a·class="el"·href="a04396.html#ae12fc71728266a75fa3893f40531f597"·title="Compute·an·estimate·from·the·incomplete·linear·delta·computed·during·the·last·update.">calculateEstimate()</a>.·</p>964 <p>A·cumulative·mask·for·the·variables·that·were·replaced·and·have·not·yet·been·updated·in·the·linear·solution·delta_,·this·is·only·used·internally,·delta·will·always·be·updated·if·necessary·when·requested·with·<a·class="el"·href="a04396.html#a54c3a0329b3397df717271cfd530b105"·title="Access·the·current·delta,·computed·during·the·last·call·to·update.">getDelta()</a>·or·<a·class="el"·href="a04396.html#ae12fc71728266a75fa3893f40531f597"·title="Compute·an·estimate·from·the·incomplete·linear·delta·computed·during·the·last·update.">calculateEstimate()</a>.·</p>
965 <p>This·is·<code>mutable</code>·because·it·is·used·internally·to·not·update·delta_·until·it·is·needed.·</p>965 <p>This·is·<code>mutable</code>·because·it·is·used·internally·to·not·update·delta_·until·it·is·needed.·</p>
  
966 </div>966 </div>
967 </div>967 </div>
968 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>968 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
969 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01148_source.html">ISAM2.h</a></li>969 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01163_source.html">ISAM2.h</a></li>
970 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01076.html">ISAM2.cpp</a></li>970 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01151.html">ISAM2.cpp</a></li>
971 </ul>971 </ul>
972 </div><!--·contents·-->972 </div><!--·contents·-->
973 </div><!--·doc-content·-->973 </div><!--·doc-content·-->
974 <!--·start·footer·part·-->974 <!--·start·footer·part·-->
975 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->975 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
976 ··<ul>976 ··<ul>
977 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04396.html">ISAM2</a></li>977 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04396.html">ISAM2</a></li>
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1.62 KB
./usr/share/doc/libgtsam-dev/html/a04400.html
    
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04396.html">ISAM2</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04396.html">ISAM2</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04396.html">ISAM2</a>·&amp;m1,·const·<a·class="el"·href="a04396.html">ISAM2</a>·&amp;m2,·double·tol=1e-8)</td></tr>130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04396.html">ISAM2</a>·&amp;m1,·const·<a·class="el"·href="a04396.html">ISAM2</a>·&amp;m2,·double·tol=1e-8)</td></tr>
131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01148_source.html">ISAM2.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01163_source.html">ISAM2.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04400.html">traits&lt;·ISAM2·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04400.html">traits&lt;·ISAM2·&gt;</a></li>
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1.2 KB
./usr/share/doc/libgtsam-dev/html/a04404.html
    
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413 <p>print·this·node·</p>413 <p>print·this·node·</p>
  
414 <p>Reimplemented·from·<a·class="el"·href="a03552.html#ad03372d87f70713d127a4a702cfcdf23">gtsam::BayesTreeCliqueBase&lt;·ISAM2Clique,·GaussianFactorGraph·&gt;</a>.</p>414 <p>Reimplemented·from·<a·class="el"·href="a03552.html#ad03372d87f70713d127a4a702cfcdf23">gtsam::BayesTreeCliqueBase&lt;·ISAM2Clique,·GaussianFactorGraph·&gt;</a>.</p>
  
415 </div>415 </div>
416 </div>416 </div>
417 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>417 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
418 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01121_source.html">ISAM2Clique.h</a></li>418 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01118_source.html">ISAM2Clique.h</a></li>
419 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01157.html">ISAM2Clique.cpp</a></li>419 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01019.html">ISAM2Clique.cpp</a></li>
420 </ul>420 </ul>
421 </div><!--·contents·-->421 </div><!--·contents·-->
422 </div><!--·doc-content·-->422 </div><!--·doc-content·-->
423 <!--·start·footer·part·-->423 <!--·start·footer·part·-->
424 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->424 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
425 ··<ul>425 ··<ul>
426 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04404.html">ISAM2Clique</a></li>426 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04404.html">ISAM2Clique</a></li>
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827 B
./usr/share/doc/libgtsam-dev/html/a04408.html
    
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162 ··</table>162 ··</table>
163 ··</dd>163 ··</dd>
164 </dl>164 </dl>
  
165 </div>165 </div>
166 </div>166 </div>
167 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>167 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
168 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01061_source.html">ISAM2Params.h</a></li>168 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01016_source.html">ISAM2Params.h</a></li>
169 </ul>169 </ul>
170 </div><!--·contents·-->170 </div><!--·contents·-->
171 </div><!--·doc-content·-->171 </div><!--·doc-content·-->
172 <!--·start·footer·part·-->172 <!--·start·footer·part·-->
173 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->173 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
174 ··<ul>174 ··<ul>
175 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04408.html">ISAM2GaussNewtonParams</a></li>175 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04408.html">ISAM2GaussNewtonParams</a></li>
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1.04 KB
./usr/share/doc/libgtsam-dev/html/a04412.html
    
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223 ··</table>223 ··</table>
224 ··</dd>224 ··</dd>
225 </dl>225 </dl>
  
226 </div>226 </div>
227 </div>227 </div>
228 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>228 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
229 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01061_source.html">ISAM2Params.h</a></li>229 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01016_source.html">ISAM2Params.h</a></li>
230 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01109.html">ISAM2Params.cpp</a></li>230 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01007.html">ISAM2Params.cpp</a></li>
231 </ul>231 </ul>
232 </div><!--·contents·-->232 </div><!--·contents·-->
233 </div><!--·doc-content·-->233 </div><!--·doc-content·-->
234 <!--·start·footer·part·-->234 <!--·start·footer·part·-->
235 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->235 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
236 ··<ul>236 ··<ul>
237 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04412.html">ISAM2DoglegParams</a></li>237 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04412.html">ISAM2DoglegParams</a></li>
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1.51 KB
./usr/share/doc/libgtsam-dev/html/a04416.html
    
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402 <div·class="line">Vector3(1.0,·1.0,·1.0);················<span·class="comment">//·1.0·m·landmark·position·threshold</span></div>402 <div·class="line">Vector3(1.0,·1.0,·1.0);················<span·class="comment">//·1.0·m·landmark·position·threshold</span></div>
403 <div·class="line">··params.relinearizeThreshold·=·thresholds;</div>403 <div·class="line">··params.relinearizeThreshold·=·thresholds;</div>
404 <div·class="ttc"·id="aa02316_html"><div·class="ttname"><a·href="a02316.html">gtsam::FastMap</a></div><div·class="ttdoc">FastMap·is·a·thin·wrapper·around·std::map·that·uses·the·boost·fast_pool_allocator·instead·of·the·defa...</div><div·class="ttdef"><b>Definition</b>·FastMap.h:38</div></div>404 <div·class="ttc"·id="aa02316_html"><div·class="ttname"><a·href="a02316.html">gtsam::FastMap</a></div><div·class="ttdoc">FastMap·is·a·thin·wrapper·around·std::map·that·uses·the·boost·fast_pool_allocator·instead·of·the·defa...</div><div·class="ttdef"><b>Definition</b>·FastMap.h:38</div></div>
405 </div><!--·fragment·-->·405 </div><!--·fragment·-->·
406 </div>406 </div>
407 </div>407 </div>
408 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>408 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
409 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01061_source.html">ISAM2Params.h</a></li>409 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01016_source.html">ISAM2Params.h</a></li>
410 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01109.html">ISAM2Params.cpp</a></li>410 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01007.html">ISAM2Params.cpp</a></li>
411 </ul>411 </ul>
412 </div><!--·contents·-->412 </div><!--·contents·-->
413 </div><!--·doc-content·-->413 </div><!--·doc-content·-->
414 <!--·start·footer·part·-->414 <!--·start·footer·part·-->
415 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->415 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
416 ··<ul>416 ··<ul>
417 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04416.html">ISAM2Params</a></li>417 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04416.html">ISAM2Params</a></li>
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1.55 KB
./usr/share/doc/libgtsam-dev/html/a04420.html
    
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297 <p>The·number·of·variables·that·were·relinearized·because·their·linear·deltas·exceeded·the·reslinearization·threshold·(<a·class="el"·href="a04416.html#af5da340f5774c8ccbbdecfc0a5299888"·title="Only·relinearize·variables·whose·linear·delta·magnitude·is·greater·than·this·threshold·(default:·0....">ISAM2Params::relinearizeThreshold</a>),·combined·with·any·additional·variables·that·had·to·be·relinearized·because·they·were·involved·in·the·same·factor·as·a·variable·above·the·relinearization·threshold.·</p>297 <p>The·number·of·variables·that·were·relinearized·because·their·linear·deltas·exceeded·the·reslinearization·threshold·(<a·class="el"·href="a04416.html#af5da340f5774c8ccbbdecfc0a5299888"·title="Only·relinearize·variables·whose·linear·delta·magnitude·is·greater·than·this·threshold·(default:·0....">ISAM2Params::relinearizeThreshold</a>),·combined·with·any·additional·variables·that·had·to·be·relinearized·because·they·were·involved·in·the·same·factor·as·a·variable·above·the·relinearization·threshold.·</p>
298 <p>On·steps·where·no·relinearization·is·considered·(see·<a·class="el"·href="a04416.html#ab914df94ba4aeff0d19293240f61838c"·title="Only·relinearize·any·variables·every·relinearizeSkip·calls·to·ISAM2::update·(default:·10)">ISAM2Params::relinearizeSkip</a>),·this·count·will·be·zero.·</p>298 <p>On·steps·where·no·relinearization·is·considered·(see·<a·class="el"·href="a04416.html#ab914df94ba4aeff0d19293240f61838c"·title="Only·relinearize·any·variables·every·relinearizeSkip·calls·to·ISAM2::update·(default:·10)">ISAM2Params::relinearizeSkip</a>),·this·count·will·be·zero.·</p>
  
299 </div>299 </div>
300 </div>300 </div>
301 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>301 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
302 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01049_source.html">ISAM2Result.h</a></li>302 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01064_source.html">ISAM2Result.h</a></li>
303 </ul>303 </ul>
304 </div><!--·contents·-->304 </div><!--·contents·-->
305 </div><!--·doc-content·-->305 </div><!--·doc-content·-->
306 <!--·start·footer·part·-->306 <!--·start·footer·part·-->
307 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->307 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
308 ··<ul>308 ··<ul>
309 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04420.html">ISAM2Result</a></li>309 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04420.html">ISAM2Result</a></li>
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124 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>124 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
125 Classes</h2></td></tr>125 Classes</h2></td></tr>
126 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04428.html">VariableStatus</a></td></tr>126 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04428.html">VariableStatus</a></td></tr>
127 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·status·of·a·single·variable,·this·struct·is·stored·in·<a·class="el"·href="a04424.html#aa95ea9ffc9e1c58ae54bccea5e5e1c5a"·title="The·status·of·each·variable·during·this·update,·see·VariableStatus.">DetailedResults::variableStatus</a>.··<a·href="a04428.html#details">More...</a><br·/></td></tr>127 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·status·of·a·single·variable,·this·struct·is·stored·in·<a·class="el"·href="a04424.html#aa95ea9ffc9e1c58ae54bccea5e5e1c5a"·title="The·status·of·each·variable·during·this·update,·see·VariableStatus.">DetailedResults::variableStatus</a>.··<a·href="a04428.html#details">More...</a><br·/></td></tr>
128 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>128 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 </table>129 </table>
130 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>130 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
131 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01049_source.html">ISAM2Result.h</a></li>131 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01064_source.html">ISAM2Result.h</a></li>
132 </ul>132 </ul>
133 </div><!--·contents·-->133 </div><!--·contents·-->
134 </div><!--·doc-content·-->134 </div><!--·doc-content·-->
135 <!--·start·footer·part·-->135 <!--·start·footer·part·-->
136 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->136 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
137 ··<ul>137 ··<ul>
138 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04420.html">ISAM2Result</a></li><li·class="navelem"><a·class="el"·href="a04424.html">DetailedResults</a></li>138 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04420.html">ISAM2Result</a></li><li·class="navelem"><a·class="el"·href="a04424.html">DetailedResults</a></li>
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150 <p>Whether·the·variable·was·relinearized,·either·by·being·above·the·relinearization·threshold·or·by·involvement.·</p>150 <p>Whether·the·variable·was·relinearized,·either·by·being·above·the·relinearization·threshold·or·by·involvement.·</p>
151 <p>Whether·the·variable·was·just·involved·in·new·factors·</p>151 <p>Whether·the·variable·was·just·involved·in·new·factors·</p>
  
152 </div>152 </div>
153 </div>153 </div>
154 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>154 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
155 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01049_source.html">ISAM2Result.h</a></li>155 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01064_source.html">ISAM2Result.h</a></li>
156 </ul>156 </ul>
157 </div><!--·contents·-->157 </div><!--·contents·-->
158 </div><!--·doc-content·-->158 </div><!--·doc-content·-->
159 <!--·start·footer·part·-->159 <!--·start·footer·part·-->
160 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->160 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
161 ··<ul>161 ··<ul>
162 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04420.html">ISAM2Result</a></li><li·class="navelem"><a·class="el"·href="a04424.html">DetailedResults</a></li><li·class="navelem"><a·class="el"·href="a04428.html">VariableStatus</a></li>162 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04420.html">ISAM2Result</a></li><li·class="navelem"><a·class="el"·href="a04424.html">DetailedResults</a></li><li·class="navelem"><a·class="el"·href="a04428.html">VariableStatus</a></li>
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186 <li>Timestamp·<code>i</code>:·<a·class="el"·href="a04396.html#abd282f9b00477204ab09590993a974e6"·title="Add·new·factors,·updating·the·solution·and·relinearizing·as·needed.">ISAM2::update()</a>·called·with·a·new·smart·factor·depending·on·Keys·<code>X(0)</code>·and·<code>X(1)</code>.·It·returns·that·the·factor·index·for·the·new·smart·factor·(inside·<a·class="el"·href="a04396.html"·title="Implementation·of·the·full·ISAM2·algorithm·for·incremental·nonlinear·optimization.">ISAM2</a>)·is·<code>13</code>.</li>186 <li>Timestamp·<code>i</code>:·<a·class="el"·href="a04396.html#abd282f9b00477204ab09590993a974e6"·title="Add·new·factors,·updating·the·solution·and·relinearizing·as·needed.">ISAM2::update()</a>·called·with·a·new·smart·factor·depending·on·Keys·<code>X(0)</code>·and·<code>X(1)</code>.·It·returns·that·the·factor·index·for·the·new·smart·factor·(inside·<a·class="el"·href="a04396.html"·title="Implementation·of·the·full·ISAM2·algorithm·for·incremental·nonlinear·optimization.">ISAM2</a>)·is·<code>13</code>.</li>
187 <li>Timestamp·<code>i+1</code>:·The·same·smart·factor·has·been·augmented·to·now·also·depend·on·Keys·<code>X(2)</code>,·<code>X(3)</code>.·Next·call·to·<a·class="el"·href="a04396.html#abd282f9b00477204ab09590993a974e6"·title="Add·new·factors,·updating·the·solution·and·relinearizing·as·needed.">ISAM2::update()</a>·must·include·its·<code>newAffectedKeys</code>·field·with·the·map·<code>13·-&gt;·{X(2),·X(3)}</code>.·</li>187 <li>Timestamp·<code>i+1</code>:·The·same·smart·factor·has·been·augmented·to·now·also·depend·on·Keys·<code>X(2)</code>,·<code>X(3)</code>.·Next·call·to·<a·class="el"·href="a04396.html#abd282f9b00477204ab09590993a974e6"·title="Add·new·factors,·updating·the·solution·and·relinearizing·as·needed.">ISAM2::update()</a>·must·include·its·<code>newAffectedKeys</code>·field·with·the·map·<code>13·-&gt;·{X(2),·X(3)}</code>.·</li>
188 </ul>188 </ul>
  
189 </div>189 </div>
190 </div>190 </div>
191 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>191 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
192 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01067_source.html">ISAM2UpdateParams.h</a></li>192 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01130_source.html">ISAM2UpdateParams.h</a></li>
193 </ul>193 </ul>
194 </div><!--·contents·-->194 </div><!--·contents·-->
195 </div><!--·doc-content·-->195 </div><!--·doc-content·-->
196 <!--·start·footer·part·-->196 <!--·start·footer·part·-->
197 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->197 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
198 ··<ul>198 ··<ul>
199 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04432.html">ISAM2UpdateParams</a></li>199 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04432.html">ISAM2UpdateParams</a></li>
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397 <p>Perform·a·single·iteration,·returning·<a·class="el"·href="a03792.html"·title="A·Linear·Factor·Graph·is·a·factor·graph·where·all·factors·are·Gaussian,·i.e.">GaussianFactorGraph</a>·corresponding·to·the·linearized·factor·graph.·</p>397 <p>Perform·a·single·iteration,·returning·<a·class="el"·href="a03792.html"·title="A·Linear·Factor·Graph·is·a·factor·graph·where·all·factors·are·Gaussian,·i.e.">GaussianFactorGraph</a>·corresponding·to·the·linearized·factor·graph.·</p>
  
398 <p>Implements·<a·class="el"·href="a04552.html#ab238f0a58ca49edd63ad552baf852599">gtsam::NonlinearOptimizer</a>.</p>398 <p>Implements·<a·class="el"·href="a04552.html#ab238f0a58ca49edd63ad552baf852599">gtsam::NonlinearOptimizer</a>.</p>
  
399 </div>399 </div>
400 </div>400 </div>
401 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>401 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
402 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01151_source.html">LevenbergMarquardtOptimizer.h</a></li>402 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01112_source.html">LevenbergMarquardtOptimizer.h</a></li>
403 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01112.html">LevenbergMarquardtOptimizer.cpp</a></li>403 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01097.html">LevenbergMarquardtOptimizer.cpp</a></li>
404 </ul>404 </ul>
405 </div><!--·contents·-->405 </div><!--·contents·-->
406 </div><!--·doc-content·-->406 </div><!--·doc-content·-->
407 <!--·start·footer·part·-->407 <!--·start·footer·part·-->
408 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->408 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
409 ··<ul>409 ··<ul>
410 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04436.html">LevenbergMarquardtOptimizer</a></li>410 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04436.html">LevenbergMarquardtOptimizer</a></li>
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466 </div><div·class="memdoc">466 </div><div·class="memdoc">
  
467 <p>Reimplemented·from·<a·class="el"·href="a04556.html">gtsam::NonlinearOptimizerParams</a>.</p>467 <p>Reimplemented·from·<a·class="el"·href="a04556.html">gtsam::NonlinearOptimizerParams</a>.</p>
  
468 </div>468 </div>
469 </div>469 </div>
470 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>470 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
471 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01037_source.html">LevenbergMarquardtParams.h</a></li>471 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01166_source.html">LevenbergMarquardtParams.h</a></li>
472 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01070.html">LevenbergMarquardtParams.cpp</a></li>472 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01046.html">LevenbergMarquardtParams.cpp</a></li>
473 </ul>473 </ul>
474 </div><!--·contents·-->474 </div><!--·contents·-->
475 </div><!--·doc-content·-->475 </div><!--·doc-content·-->
476 <!--·start·footer·part·-->476 <!--·start·footer·part·-->
477 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->477 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
478 ··<ul>478 ··<ul>
479 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04440.html">LevenbergMarquardtParams</a></li>479 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04440.html">LevenbergMarquardtParams</a></li>
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648 <p>Creates·a·shared_ptr·clone·of·the·factor·with·different·keys·using·a·map·from·old-&gt;new·keys.·</p>648 <p>Creates·a·shared_ptr·clone·of·the·factor·with·different·keys·using·a·map·from·old-&gt;new·keys.·</p>
  
649 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a659931523972a6bbc9742d89ba09ace2">gtsam::NonlinearFactor</a>.</p>649 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a659931523972a6bbc9742d89ba09ace2">gtsam::NonlinearFactor</a>.</p>
  
650 </div>650 </div>
651 </div>651 </div>
652 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>652 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
653 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01022_source.html">LinearContainerFactor.h</a></li>653 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01136_source.html">LinearContainerFactor.h</a></li>
654 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01001.html">LinearContainerFactor.cpp</a></li>654 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01049.html">LinearContainerFactor.cpp</a></li>
655 </ul>655 </ul>
656 </div><!--·contents·-->656 </div><!--·contents·-->
657 </div><!--·doc-content·-->657 </div><!--·doc-content·-->
658 <!--·start·footer·part·-->658 <!--·start·footer·part·-->
659 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->659 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
660 ··<ul>660 ··<ul>
661 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04444.html">LinearContainerFactor</a></li>661 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04444.html">LinearContainerFactor</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04444.html">LinearContainerFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04444.html">LinearContainerFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04444.html">LinearContainerFactor</a>·&amp;m1,·const·<a·class="el"·href="a04444.html">LinearContainerFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04444.html">LinearContainerFactor</a>·&amp;m1,·const·<a·class="el"·href="a04444.html">LinearContainerFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01022_source.html">LinearContainerFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01136_source.html">LinearContainerFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04448.html">traits&lt;·LinearContainerFactor·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04448.html">traits&lt;·LinearContainerFactor·&gt;</a></li>
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502 <p>Compute·the·marginal·information·matrix·of·a·single·variable.·</p>502 <p>Compute·the·marginal·information·matrix·of·a·single·variable.·</p>
503 <p>Use·LLt(const·Matrix&amp;)·or·RtR(const·Matrix&amp;)·to·obtain·the·square-root·information·matrix.·</p>503 <p>Use·LLt(const·Matrix&amp;)·or·RtR(const·Matrix&amp;)·to·obtain·the·square-root·information·matrix.·</p>
  
504 </div>504 </div>
505 </div>505 </div>
506 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>506 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
507 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01085_source.html">Marginals.h</a></li>507 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01085_source.html">Marginals.h</a></li>
508 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01019.html">Marginals.cpp</a></li>508 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01127.html">Marginals.cpp</a></li>
509 </ul>509 </ul>
510 </div><!--·contents·-->510 </div><!--·contents·-->
511 </div><!--·doc-content·-->511 </div><!--·doc-content·-->
512 <!--·start·footer·part·-->512 <!--·start·footer·part·-->
513 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->513 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
514 ··<ul>514 ··<ul>
515 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04452.html">Marginals</a></li>515 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04452.html">Marginals</a></li>
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200 ··</dd>200 ··</dd>
201 </dl>201 </dl>
  
202 </div>202 </div>
203 </div>203 </div>
204 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>204 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
205 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01085_source.html">Marginals.h</a></li>205 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01085_source.html">Marginals.h</a></li>
206 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01019.html">Marginals.cpp</a></li>206 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01127.html">Marginals.cpp</a></li>
207 </ul>207 </ul>
208 </div><!--·contents·-->208 </div><!--·contents·-->
209 </div><!--·doc-content·-->209 </div><!--·doc-content·-->
210 <!--·start·footer·part·-->210 <!--·start·footer·part·-->
211 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->211 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
212 ··<ul>212 ··<ul>
213 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04456.html">JointMarginal</a></li>213 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04456.html">JointMarginal</a></li>
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294 <p>Optimize·for·the·maximum-likelihood·estimate,·returning·a·the·optimized·variable·assignments.·</p>294 <p>Optimize·for·the·maximum-likelihood·estimate,·returning·a·the·optimized·variable·assignments.·</p>
  
295 <p>Reimplemented·from·<a·class="el"·href="a04552.html#a823730cdeb1c0b0c5c1fef2e1ac546d7">gtsam::NonlinearOptimizer</a>.</p>295 <p>Reimplemented·from·<a·class="el"·href="a04552.html#a823730cdeb1c0b0c5c1fef2e1ac546d7">gtsam::NonlinearOptimizer</a>.</p>
  
296 </div>296 </div>
297 </div>297 </div>
298 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>298 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
299 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01091_source.html">NonlinearConjugateGradientOptimizer.h</a></li>299 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01103_source.html">NonlinearConjugateGradientOptimizer.h</a></li>
300 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01160.html">NonlinearConjugateGradientOptimizer.cpp</a></li>300 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01145.html">NonlinearConjugateGradientOptimizer.cpp</a></li>
301 </ul>301 </ul>
302 </div><!--·contents·-->302 </div><!--·contents·-->
303 </div><!--·doc-content·-->303 </div><!--·doc-content·-->
304 <!--·start·footer·part·-->304 <!--·start·footer·part·-->
305 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->305 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
306 ··<ul>306 ··<ul>
307 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04460.html">NonlinearConjugateGradientOptimizer</a></li>307 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04460.html">NonlinearConjugateGradientOptimizer</a></li>
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128 <tr·class="separator:a29304dce3fd2db23fb3cc768c1549064"><td·class="memSeparator"·colspan="2">&#160;</td></tr>128 <tr·class="separator:a29304dce3fd2db23fb3cc768c1549064"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 </table>129 </table>
130 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>130 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
131 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01004_source.html">nonlinearExceptions.h</a></li>131 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01022_source.html">nonlinearExceptions.h</a></li>
132 </ul>132 </ul>
133 </div><!--·contents·-->133 </div><!--·contents·-->
134 </div><!--·doc-content·-->134 </div><!--·doc-content·-->
135 <!--·start·footer·part·-->135 <!--·start·footer·part·-->
136 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->136 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
137 ··<ul>137 ··<ul>
138 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04492.html">MarginalizeNonleafException</a></li>138 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04492.html">MarginalizeNonleafException</a></li>
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646 <p>Should·the·factor·be·evaluated·in·the·same·thread·as·the·caller·This·is·to·enable·factors·that·has·shared·states·(like·the·Python·GIL·lock)·</p>646 <p>Should·the·factor·be·evaluated·in·the·same·thread·as·the·caller·This·is·to·enable·factors·that·has·shared·states·(like·the·Python·GIL·lock)·</p>
  
647 <p>Reimplemented·in·<a·class="el"·href="a04248.html#afd0394a184c062583c4cf0cb21c8e05b">gtsam::CustomFactor</a>.</p>647 <p>Reimplemented·in·<a·class="el"·href="a04248.html#afd0394a184c062583c4cf0cb21c8e05b">gtsam::CustomFactor</a>.</p>
  
648 </div>648 </div>
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650 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>650 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
651 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01133_source.html">NonlinearFactor.h</a></li>651 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01013_source.html">NonlinearFactor.h</a></li>
652 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01040.html">NonlinearFactor.cpp</a></li>652 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01043.html">NonlinearFactor.cpp</a></li>
653 </ul>653 </ul>
654 </div><!--·contents·-->654 </div><!--·contents·-->
655 </div><!--·doc-content·-->655 </div><!--·doc-content·-->
656 <!--·start·footer·part·-->656 <!--·start·footer·part·-->
657 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->657 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
658 ··<ul>658 ··<ul>
659 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04496.html">NonlinearFactor</a></li>659 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04496.html">NonlinearFactor</a></li>
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04496.html">NonlinearFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04496.html">NonlinearFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04496.html">NonlinearFactor</a>·&amp;m1,·const·<a·class="el"·href="a04496.html">NonlinearFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04496.html">NonlinearFactor</a>·&amp;m1,·const·<a·class="el"·href="a04496.html">NonlinearFactor</a>·&amp;m2,·double·tol=1e-8)</td></tr>
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132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01133_source.html">NonlinearFactor.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01013_source.html">NonlinearFactor.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04500.html">traits&lt;·NonlinearFactor·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04500.html">traits&lt;·NonlinearFactor·&gt;</a></li>
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635 <p>Vector·of·errors,·whitened·This·is·the·raw·error,·i.e.,·i.e.·</p>635 <p>Vector·of·errors,·whitened·This·is·the·raw·error,·i.e.,·i.e.·</p>
636 <p>\(·(h(x)-z)/\sigma·\)·in·case·of·a·Gaussian·</p>636 <p>\(·(h(x)-z)/\sigma·\)·in·case·of·a·Gaussian·</p>
  
637 </div>637 </div>
638 </div>638 </div>
639 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>639 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
640 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01133_source.html">NonlinearFactor.h</a></li>640 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01013_source.html">NonlinearFactor.h</a></li>
641 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01040.html">NonlinearFactor.cpp</a></li>641 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01043.html">NonlinearFactor.cpp</a></li>
642 </ul>642 </ul>
643 </div><!--·contents·-->643 </div><!--·contents·-->
644 </div><!--·doc-content·-->644 </div><!--·doc-content·-->
645 <!--·start·footer·part·-->645 <!--·start·footer·part·-->
646 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->646 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
647 ··<ul>647 ··<ul>
648 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04504.html">NoiseModelFactor</a></li>648 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04504.html">NoiseModelFactor</a></li>
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143 <div·class="line">TEST(NonlinearFactor,·MyFactor)·{</div>143 <div·class="line">TEST(NonlinearFactor,·MyFactor)·{</div>
144 <div·class="line">··MyFactor·f(X(1),·X(2),·<a·class="code·hl_function"·href="a03940.html#a61fda7a7390d3fc40f5618185e801bfe">noiseModel::Unit::Create</a>(1));</div>144 <div·class="line">··MyFactor·f(X(1),·X(2),·<a·class="code·hl_function"·href="a03940.html#a61fda7a7390d3fc40f5618185e801bfe">noiseModel::Unit::Create</a>(1));</div>
145 <div·class="line">··EXPECT_DOUBLES_EQUAL(-8.,·f.evaluateError(Pose3(),·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>(8.,·7.,·6.))(0),</div>145 <div·class="line">··EXPECT_DOUBLES_EQUAL(-8.,·f.evaluateError(Pose3(),·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>(8.,·7.,·6.))(0),</div>
146 <div·class="line">·······················1e-9);</div>146 <div·class="line">·······················1e-9);</div>
147 <div·class="line">··<a·class="code·hl_class"·href="a05076.html">Values</a>·values;</div>147 <div·class="line">··<a·class="code·hl_class"·href="a05076.html">Values</a>·values;</div>
148 <div·class="line">··values.insert(X(1),·Pose3(<a·class="code·hl_function"·href="a03228.html#a2df5a4051a52c140ec7eabb262952c4b">Rot3::RzRyRx</a>(0.1,·0.2,·0.3),·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>(1,·2,·3)));</div>148 <div·class="line">··values.insert(X(1),·Pose3(<a·class="code·hl_function"·href="a03228.html#a2df5a4051a52c140ec7eabb262952c4b">Rot3::RzRyRx</a>(0.1,·0.2,·0.3),·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>(1,·2,·3)));</div>
149 <div·class="line">··values.insert(X(2),·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>(1,·2,·3));</div>149 <div·class="line">··values.insert(X(2),·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>(1,·2,·3));</div>
150 <div·class="line">··<a·class="code·hl_define"·href="a01016.html#a8ec37fe83eda47404b8588e1f012df21">EXPECT_CORRECT_FACTOR_JACOBIANS</a>(f,·values,·1e-5,·1e-5);</div>150 <div·class="line">··<a·class="code·hl_define"·href="a01142.html#a8ec37fe83eda47404b8588e1f012df21">EXPECT_CORRECT_FACTOR_JACOBIANS</a>(f,·values,·1e-5,·1e-5);</div>
151 <div·class="line">}</div>151 <div·class="line">}</div>
152 <div·class="ttc"·id="aa01016_html_a8ec37fe83eda47404b8588e1f012df21"><div·class="ttname"><a·href="a01016.html#a8ec37fe83eda47404b8588e1f012df21">EXPECT_CORRECT_FACTOR_JACOBIANS</a></div><div·class="ttdeci">#define·EXPECT_CORRECT_FACTOR_JACOBIANS(factor,·values,·numerical_derivative_step,·tolerance)</div><div·class="ttdoc">Check·the·Jacobians·produced·by·a·factor·against·finite·differences.</div><div·class="ttdef"><b>Definition</b>·factorTesting.h:114</div></div>152 <div·class="ttc"·id="aa01142_html_a8ec37fe83eda47404b8588e1f012df21"><div·class="ttname"><a·href="a01142.html#a8ec37fe83eda47404b8588e1f012df21">EXPECT_CORRECT_FACTOR_JACOBIANS</a></div><div·class="ttdeci">#define·EXPECT_CORRECT_FACTOR_JACOBIANS(factor,·values,·numerical_derivative_step,·tolerance)</div><div·class="ttdoc">Check·the·Jacobians·produced·by·a·factor·against·finite·differences.</div><div·class="ttdef"><b>Definition</b>·factorTesting.h:114</div></div>
153 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>153 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>
154 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>154 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>
155 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>155 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
156 <div·class="ttc"·id="aa03180_html"><div·class="ttname"><a·href="a03180.html">gtsam::Pose3</a></div><div·class="ttdoc">A·3D·pose·(R,t)·:·(Rot3,Point3)</div><div·class="ttdef"><b>Definition</b>·Pose3.h:37</div></div>156 <div·class="ttc"·id="aa03180_html"><div·class="ttname"><a·href="a03180.html">gtsam::Pose3</a></div><div·class="ttdoc">A·3D·pose·(R,t)·:·(Rot3,Point3)</div><div·class="ttdef"><b>Definition</b>·Pose3.h:37</div></div>
157 <div·class="ttc"·id="aa03228_html_a2df5a4051a52c140ec7eabb262952c4b"><div·class="ttname"><a·href="a03228.html#a2df5a4051a52c140ec7eabb262952c4b">gtsam::Rot3::RzRyRx</a></div><div·class="ttdeci">static·Rot3·RzRyRx(double·x,·double·y,·double·z,·OptionalJacobian&lt;·3,·1·&gt;·Hx=boost::none,·OptionalJacobian&lt;·3,·1·&gt;·Hy=boost::none,·OptionalJacobian&lt;·3,·1·&gt;·Hz=boost::none)</div><div·class="ttdoc">Rotations·around·Z,·Y,·then·X·axes·as·in·http://en.wikipedia.org/wiki/Rotation_matrix,...</div><div·class="ttdef"><b>Definition</b>·Rot3M.cpp:85</div></div>157 <div·class="ttc"·id="aa03228_html_a2df5a4051a52c140ec7eabb262952c4b"><div·class="ttname"><a·href="a03228.html#a2df5a4051a52c140ec7eabb262952c4b">gtsam::Rot3::RzRyRx</a></div><div·class="ttdeci">static·Rot3·RzRyRx(double·x,·double·y,·double·z,·OptionalJacobian&lt;·3,·1·&gt;·Hx=boost::none,·OptionalJacobian&lt;·3,·1·&gt;·Hy=boost::none,·OptionalJacobian&lt;·3,·1·&gt;·Hz=boost::none)</div><div·class="ttdoc">Rotations·around·Z,·Y,·then·X·axes·as·in·http://en.wikipedia.org/wiki/Rotation_matrix,...</div><div·class="ttdef"><b>Definition</b>·Rot3M.cpp:85</div></div>
158 <div·class="ttc"·id="aa03940_html_a61fda7a7390d3fc40f5618185e801bfe"><div·class="ttname"><a·href="a03940.html#a61fda7a7390d3fc40f5618185e801bfe">gtsam::noiseModel::Unit::Create</a></div><div·class="ttdeci">static·shared_ptr·Create(size_t·dim)</div><div·class="ttdoc">Create·a·unit·covariance·noise·model.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:597</div></div>158 <div·class="ttc"·id="aa03940_html_a61fda7a7390d3fc40f5618185e801bfe"><div·class="ttname"><a·href="a03940.html#a61fda7a7390d3fc40f5618185e801bfe">gtsam::noiseModel::Unit::Create</a></div><div·class="ttdeci">static·shared_ptr·Create(size_t·dim)</div><div·class="ttdoc">Create·a·unit·covariance·noise·model.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:597</div></div>
159 <div·class="ttc"·id="aa04504_html"><div·class="ttname"><a·href="a04504.html">gtsam::NoiseModelFactor</a></div><div·class="ttdoc">A·nonlinear·sum-of-squares·factor·with·a·zero-mean·noise·model·implementing·the·density··Templated·on...</div><div·class="ttdef"><b>Definition</b>·NonlinearFactor.h:174</div></div>159 <div·class="ttc"·id="aa04504_html"><div·class="ttname"><a·href="a04504.html">gtsam::NoiseModelFactor</a></div><div·class="ttdoc">A·nonlinear·sum-of-squares·factor·with·a·zero-mean·noise·model·implementing·the·density··Templated·on...</div><div·class="ttdef"><b>Definition</b>·NonlinearFactor.h:174</div></div>
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850 </dl>850 </dl>
  
851 <p>Implements·<a·class="el"·href="a04504.html#afd61874915a8076bf83f9d8311fc0e26">gtsam::NoiseModelFactor</a>.</p>851 <p>Implements·<a·class="el"·href="a04504.html#afd61874915a8076bf83f9d8311fc0e26">gtsam::NoiseModelFactor</a>.</p>
  
852 </div>852 </div>
853 </div>853 </div>
854 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>854 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
855 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01133_source.html">NonlinearFactor.h</a></li>855 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01013_source.html">NonlinearFactor.h</a></li>
856 </ul>856 </ul>
857 </div><!--·contents·-->857 </div><!--·contents·-->
858 </div><!--·doc-content·-->858 </div><!--·doc-content·-->
859 <!--·start·footer·part·-->859 <!--·start·footer·part·-->
860 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->860 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
861 ··<ul>861 ··<ul>
862 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04536.html">NoiseModelFactorN</a></li>862 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04536.html">NoiseModelFactorN</a></li>
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879 <p>Linearize·and·solve·in·one·pass.·</p>879 <p>Linearize·and·solve·in·one·pass.·</p>
880 <p>Calls·linearizeToHessianFactor,·densely·solves·the·normal·equations,·and·updates·the·values.·</p>880 <p>Calls·linearizeToHessianFactor,·densely·solves·the·normal·equations,·and·updates·the·values.·</p>
  
881 </div>881 </div>
882 </div>882 </div>
883 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>883 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
884 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01145_source.html">NonlinearFactorGraph.h</a></li>884 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01157_source.html">NonlinearFactorGraph.h</a></li>
885 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01094.html">NonlinearFactorGraph.cpp</a></li>885 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01028.html">NonlinearFactorGraph.cpp</a></li>
886 </ul>886 </ul>
887 </div><!--·contents·-->887 </div><!--·contents·-->
888 </div><!--·doc-content·-->888 </div><!--·doc-content·-->
889 <!--·start·footer·part·-->889 <!--·start·footer·part·-->
890 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->890 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
891 ··<ul>891 ··<ul>
892 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04540.html">NonlinearFactorGraph</a></li>892 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04540.html">NonlinearFactorGraph</a></li>
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;m1,·const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;m2,·double·tol=1e-8)</td></tr>130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;m1,·const·<a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·&amp;m2,·double·tol=1e-8)</td></tr>
131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01145_source.html">NonlinearFactorGraph.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01157_source.html">NonlinearFactorGraph.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04544.html">traits&lt;·NonlinearFactorGraph·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04544.html">traits&lt;·NonlinearFactorGraph·&gt;</a></li>
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259 <p>get·counters·</p>259 <p>get·counters·</p>
260 <p>TODO:·comment·</p>260 <p>TODO:·comment·</p>
  
261 </div>261 </div>
262 </div>262 </div>
263 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>263 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
264 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01100_source.html">NonlinearISAM.h</a></li>264 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01034_source.html">NonlinearISAM.h</a></li>
265 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01013.html">NonlinearISAM.cpp</a></li>265 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01079.html">NonlinearISAM.cpp</a></li>
266 </ul>266 </ul>
267 </div><!--·contents·-->267 </div><!--·contents·-->
268 </div><!--·doc-content·-->268 </div><!--·doc-content·-->
269 <!--·start·footer·part·-->269 <!--·start·footer·part·-->
270 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->270 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
271 ··<ul>271 ··<ul>
272 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04548.html">NonlinearISAM</a></li>272 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04548.html">NonlinearISAM</a></li>
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406 <p>Default·function·to·do·linear·solve,·i.e.·</p>406 <p>Default·function·to·do·linear·solve,·i.e.·</p>
407 <p>optimize·a·<a·class="el"·href="a03792.html"·title="A·Linear·Factor·Graph·is·a·factor·graph·where·all·factors·are·Gaussian,·i.e.">GaussianFactorGraph</a>·</p>407 <p>optimize·a·<a·class="el"·href="a03792.html"·title="A·Linear·Factor·Graph·is·a·factor·graph·where·all·factors·are·Gaussian,·i.e.">GaussianFactorGraph</a>·</p>
  
408 </div>408 </div>
409 </div>409 </div>
410 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>410 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
411 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01043_source.html">NonlinearOptimizer.h</a></li>411 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01052_source.html">NonlinearOptimizer.h</a></li>
412 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01124.html">NonlinearOptimizer.cpp</a></li>412 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01154.html">NonlinearOptimizer.cpp</a></li>
413 </ul>413 </ul>
414 </div><!--·contents·-->414 </div><!--·contents·-->
415 </div><!--·doc-content·-->415 </div><!--·doc-content·-->
416 <!--·start·footer·part·-->416 <!--·start·footer·part·-->
417 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->417 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
418 ··<ul>418 ··<ul>
419 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04552.html">NonlinearOptimizer</a></li>419 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04552.html">NonlinearOptimizer</a></li>
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317 <div·class="line">··<span·class="comment">//·...</span></div>317 <div·class="line">··<span·class="comment">//·...</span></div>
318 <div·class="line">};</div>318 <div·class="line">};</div>
319 </div><!--·fragment·--><p>·or·to·the·result·of·a·properly-formed·<code>std::bind</code>·call.·</p>319 </div><!--·fragment·--><p>·or·to·the·result·of·a·properly-formed·<code>std::bind</code>·call.·</p>
  
320 </div>320 </div>
321 </div>321 </div>
322 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>322 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
323 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01055_source.html">NonlinearOptimizerParams.h</a></li>323 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01070_source.html">NonlinearOptimizerParams.h</a></li>
324 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01088.html">NonlinearOptimizerParams.cpp</a></li>324 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01004.html">NonlinearOptimizerParams.cpp</a></li>
325 </ul>325 </ul>
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328 <!--·start·footer·part·-->328 <!--·start·footer·part·-->
329 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->329 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
330 ··<ul>330 ··<ul>
331 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04556.html">NonlinearOptimizerParams</a></li>331 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04556.html">NonlinearOptimizerParams</a></li>
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130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04612.html">Values</a>·&amp;m1,·const·<a·class="el"·href="a04612.html">Values</a>·&amp;m2,·double·tol=1e-8)</td></tr>130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04612.html">Values</a>·&amp;m1,·const·<a·class="el"·href="a04612.html">Values</a>·&amp;m2,·double·tol=1e-8)</td></tr>
131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01073_source.html">Values.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01121_source.html">Values.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
137 </div><!--·doc-content·-->137 </div><!--·doc-content·-->
138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04648.html">traits&lt;·Values·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04648.html">traits&lt;·Values·&gt;</a></li>
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597 <p>Print.·</p>597 <p>Print.·</p>
  
598 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a9723167fd0aee86f22c12bec9b644de3">gtsam::NonlinearFactor</a>.</p>598 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a9723167fd0aee86f22c12bec9b644de3">gtsam::NonlinearFactor</a>.</p>
  
599 </div>599 </div>
600 </div>600 </div>
601 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>601 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
602 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01166_source.html">WhiteNoiseFactor.h</a></li>602 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01133_source.html">WhiteNoiseFactor.h</a></li>
603 </ul>603 </ul>
604 </div><!--·contents·-->604 </div><!--·contents·-->
605 </div><!--·doc-content·-->605 </div><!--·doc-content·-->
606 <!--·start·footer·part·-->606 <!--·start·footer·part·-->
607 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->607 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
608 ··<ul>608 ··<ul>
609 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04652.html">WhiteNoiseFactor</a></li>609 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04652.html">WhiteNoiseFactor</a></li>
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286 <p>print·</p>286 <p>print·</p>
  
287 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>287 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
288 </div>288 </div>
289 </div>289 </div>
290 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>290 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
291 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01208_source.html">BinaryMeasurement.h</a></li>291 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01205_source.html">BinaryMeasurement.h</a></li>
292 </ul>292 </ul>
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294 </div><!--·doc-content·-->294 </div><!--·doc-content·-->
295 <!--·start·footer·part·-->295 <!--·start·footer·part·-->
296 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->296 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
297 ··<ul>297 ··<ul>
298 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04688.html">BinaryMeasurement</a></li>298 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04688.html">BinaryMeasurement</a></li>
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./usr/share/doc/libgtsam-dev/html/a04700.html
    
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244 <p>Computes·the·outlier·weights·of·the·graph.·</p>244 <p>Computes·the·outlier·weights·of·the·graph.·</p>
245 <p>We·define·the·outlier·weight·of·a·edge·to·be·zero·if·the·edge·is·an·inlier·and·the·magnitude·of·its·edgeWeight·if·it·is·an·outlier.·This·function·internally·calls·computeOrdering·and·uses·the·obtained·ordering·to·identify·outlier·edges.·</p><dl·class="section·return"><dt>Returns</dt><dd>outlierWeights:·map·from·an·edge·to·its·outlier·weight.·</dd></dl>245 <p>We·define·the·outlier·weight·of·a·edge·to·be·zero·if·the·edge·is·an·inlier·and·the·magnitude·of·its·edgeWeight·if·it·is·an·outlier.·This·function·internally·calls·computeOrdering·and·uses·the·obtained·ordering·to·identify·outlier·edges.·</p><dl·class="section·return"><dt>Returns</dt><dd>outlierWeights:·map·from·an·edge·to·its·outlier·weight.·</dd></dl>
  
246 </div>246 </div>
247 </div>247 </div>
248 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>248 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
249 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01196_source.html">MFAS.h</a></li>249 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01211_source.html">MFAS.h</a></li>
250 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01187.html">MFAS.cpp</a></li>250 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01202.html">MFAS.cpp</a></li>
251 </ul>251 </ul>
252 </div><!--·contents·-->252 </div><!--·contents·-->
253 </div><!--·doc-content·-->253 </div><!--·doc-content·-->
254 <!--·start·footer·part·-->254 <!--·start·footer·part·-->
255 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->255 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
256 ··<ul>256 ··<ul>
257 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04700.html">MFAS</a></li>257 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04700.html">MFAS</a></li>
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329 ··</dd>329 ··</dd>
330 </dl>330 </dl>
331 <dl·class="section·return"><dt>Returns</dt><dd><a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·</dd></dl>331 <dl·class="section·return"><dt>Returns</dt><dd><a·class="el"·href="a04540.html">NonlinearFactorGraph</a>·</dd></dl>
  
332 </div>332 </div>
333 </div>333 </div>
334 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>334 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
335 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01226_source.html">SfmData.h</a></li>335 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01187_source.html">SfmData.h</a></li>
336 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01223.html">SfmData.cpp</a></li>336 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01223.html">SfmData.cpp</a></li>
337 </ul>337 </ul>
338 </div><!--·contents·-->338 </div><!--·contents·-->
339 </div><!--·doc-content·-->339 </div><!--·doc-content·-->
340 <!--·start·footer·part·-->340 <!--·start·footer·part·-->
341 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->341 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
342 ··<ul>342 ··<ul>
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04704.html">SfmData</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04704.html">SfmData</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>128 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">129 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04704.html">SfmData</a>·&amp;m1,·const·<a·class="el"·href="a04704.html">SfmData</a>·&amp;m2,·double·tol=1e-8)</td></tr>130 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04704.html">SfmData</a>·&amp;m1,·const·<a·class="el"·href="a04704.html">SfmData</a>·&amp;m2,·double·tol=1e-8)</td></tr>
131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>131 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
132 </table>132 </table>
133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01226_source.html">SfmData.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01187_source.html">SfmData.h</a></li>
135 </ul>135 </ul>
136 </div><!--·contents·-->136 </div><!--·contents·-->
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138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04708.html">traits&lt;·SfmData·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04708.html">traits&lt;·SfmData·&gt;</a></li>
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930 B
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191 <p>Check·that·no·two·measurements·are·from·the·same·camera.·</p>191 <p>Check·that·no·two·measurements·are·from·the·same·camera.·</p>
192 <dl·class="section·return"><dt>Returns</dt><dd>boolean·result·of·the·validation.·</dd></dl>192 <dl·class="section·return"><dt>Returns</dt><dd>boolean·result·of·the·validation.·</dd></dl>
  
193 </div>193 </div>
194 </div>194 </div>
195 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>195 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
196 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01214_source.html">SfmTrack.h</a></li>196 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01226_source.html">SfmTrack.h</a></li>
197 </ul>197 </ul>
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200 <!--·start·footer·part·-->200 <!--·start·footer·part·-->
201 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->201 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
202 ··<ul>202 ··<ul>
203 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04712.html">SfmTrack2d</a></li>203 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04712.html">SfmTrack2d</a></li>
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207 <tr·class="separator:adb900552472345b3f993ad48fd6c20b9·inherit·pub_attribs_a04712"><td·class="memSeparator"·colspan="2">&#160;</td></tr>207 <tr·class="separator:adb900552472345b3f993ad48fd6c20b9·inherit·pub_attribs_a04712"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
208 <tr·class="memitem:a5c92bb2b24444a025cf93fc5bba23d99·inherit·pub_attribs_a04712"·id="r_a5c92bb2b24444a025cf93fc5bba23d99"><td·class="memItemLeft"·align="right"·valign="top">208 <tr·class="memitem:a5c92bb2b24444a025cf93fc5bba23d99·inherit·pub_attribs_a04712"·id="r_a5c92bb2b24444a025cf93fc5bba23d99"><td·class="memItemLeft"·align="right"·valign="top">
209 std::vector&lt;·<a·class="el"·href="a01428.html#a21a02e01a9608ce6cade24c1366b208c">SiftIndex</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>siftIndices</b></td></tr>209 std::vector&lt;·<a·class="el"·href="a01428.html#a21a02e01a9608ce6cade24c1366b208c">SiftIndex</a>·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>siftIndices</b></td></tr>
210 <tr·class="memdesc:a5c92bb2b24444a025cf93fc5bba23d99·inherit·pub_attribs_a04712"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·feature·descriptors·(optional)·<br·/></td></tr>210 <tr·class="memdesc:a5c92bb2b24444a025cf93fc5bba23d99·inherit·pub_attribs_a04712"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·feature·descriptors·(optional)·<br·/></td></tr>
211 <tr·class="separator:a5c92bb2b24444a025cf93fc5bba23d99·inherit·pub_attribs_a04712"><td·class="memSeparator"·colspan="2">&#160;</td></tr>211 <tr·class="separator:a5c92bb2b24444a025cf93fc5bba23d99·inherit·pub_attribs_a04712"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
212 </table>212 </table>
213 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>213 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·files:<ul>
214 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01214_source.html">SfmTrack.h</a></li>214 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01226_source.html">SfmTrack.h</a></li>
215 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01232.html">SfmTrack.cpp</a></li>215 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01193.html">SfmTrack.cpp</a></li>
216 </ul>216 </ul>
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218 </div><!--·doc-content·-->218 </div><!--·doc-content·-->
219 <!--·start·footer·part·-->219 <!--·start·footer·part·-->
220 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->220 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
221 ··<ul>221 ··<ul>
222 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04716.html">SfmTrack</a></li>222 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04716.html">SfmTrack</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04716.html">SfmTrack</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04716.html">SfmTrack</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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833 </dl>833 </dl>
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553 <p>print·with·optional·string·</p>553 <p>print·with·optional·string·</p>
  
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565 ··<ul>565 ··<ul>
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367 <p>linearize·to·a·<a·class="el"·href="a03780.html"·title="An·abstract·virtual·base·class·for·JacobianFactor·and·HessianFactor.">GaussianFactor</a>·</p>367 <p>linearize·to·a·<a·class="el"·href="a03780.html"·title="An·abstract·virtual·base·class·for·JacobianFactor·and·HessianFactor.">GaussianFactor</a>·</p>
  
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481 ··</dd>481 ··</dd>
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464 ··</dd>464 ··</dd>
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468 </div>468 </div>
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470 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01193_source.html">TranslationRecovery.h</a></li>470 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01232_source.html">TranslationRecovery.h</a></li>
471 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01199.html">TranslationRecovery.cpp</a></li>471 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/<a·class="el"·href="a01220.html">TranslationRecovery.cpp</a></li>
472 </ul>472 </ul>
473 </div><!--·contents·-->473 </div><!--·contents·-->
474 </div><!--·doc-content·-->474 </div><!--·doc-content·-->
475 <!--·start·footer·part·-->475 <!--·start·footer·part·-->
476 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->476 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
477 ··<ul>477 ··<ul>
478 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04756.html">TranslationRecovery</a></li>478 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04756.html">TranslationRecovery</a></li>
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525 <p>print·</p>525 <p>print·</p>
  
526 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>526 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
527 </div>527 </div>
528 </div>528 </div>
529 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>529 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
530 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01253_source.html">AntiFactor.h</a></li>530 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01238_source.html">AntiFactor.h</a></li>
531 </ul>531 </ul>
532 </div><!--·contents·-->532 </div><!--·contents·-->
533 </div><!--·doc-content·-->533 </div><!--·doc-content·-->
534 <!--·start·footer·part·-->534 <!--·start·footer·part·-->
535 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->535 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
536 ··<ul>536 ··<ul>
537 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04760.html">AntiFactor</a></li>537 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04760.html">AntiFactor</a></li>
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569 <p>print·with·optional·string·</p>569 <p>print·with·optional·string·</p>
  
570 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>570 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
571 </div>571 </div>
572 </div>572 </div>
573 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>573 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
574 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01283_source.html">BetweenFactor.h</a></li>574 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01316_source.html">BetweenFactor.h</a></li>
575 </ul>575 </ul>
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578 <!--·start·footer·part·-->578 <!--·start·footer·part·-->
579 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->579 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
580 ··<ul>580 ··<ul>
581 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04764.html">BetweenFactor</a></li>581 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04764.html">BetweenFactor</a></li>
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128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04764.html">BetweenFactor</a>&lt;·VALUE·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04764.html">BetweenFactor</a>&lt;·VALUE·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01283_source.html">BetweenFactor.h</a></li>135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01316_source.html">BetweenFactor.h</a></li>
136 </ul>136 </ul>
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138 </div><!--·doc-content·-->138 </div><!--·doc-content·-->
139 <!--·start·footer·part·-->139 <!--·start·footer·part·-->
140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
141 ··<ul>141 ··<ul>
142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04768.html">traits&lt;·BetweenFactor&lt;·VALUE·&gt;·&gt;</a></li>142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04768.html">traits&lt;·BetweenFactor&lt;·VALUE·&gt;·&gt;</a></li>
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1.65 KB
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453 <tr·class="inherit_header·pro_attribs_a03592"><td·colspan="2"·onclick="javascript:toggleInherit('pro_attribs_a03592')"><img·src="closed.png"·alt="-"/>&#160;Protected·Attributes·inherited·from·<a·class="el"·href="a03592.html">gtsam::Factor</a></td></tr>453 <tr·class="inherit_header·pro_attribs_a03592"><td·colspan="2"·onclick="javascript:toggleInherit('pro_attribs_a03592')"><img·src="closed.png"·alt="-"/>&#160;Protected·Attributes·inherited·from·<a·class="el"·href="a03592.html">gtsam::Factor</a></td></tr>
454 <tr·class="memitem:a10e886cc8b8a374e2fe864707e0b6278·inherit·pro_attribs_a03592"·id="r_a10e886cc8b8a374e2fe864707e0b6278"><td·class="memItemLeft"·align="right"·valign="top">454 <tr·class="memitem:a10e886cc8b8a374e2fe864707e0b6278·inherit·pro_attribs_a03592"·id="r_a10e886cc8b8a374e2fe864707e0b6278"><td·class="memItemLeft"·align="right"·valign="top">
455 <a·class="el"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>keys_</b></td></tr>455 <a·class="el"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>keys_</b></td></tr>
456 <tr·class="memdesc:a10e886cc8b8a374e2fe864707e0b6278·inherit·pro_attribs_a03592"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·keys·involved·in·this·factor.·<br·/></td></tr>456 <tr·class="memdesc:a10e886cc8b8a374e2fe864707e0b6278·inherit·pro_attribs_a03592"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·keys·involved·in·this·factor.·<br·/></td></tr>
457 <tr·class="separator:a10e886cc8b8a374e2fe864707e0b6278·inherit·pro_attribs_a03592"><td·class="memSeparator"·colspan="2">&#160;</td></tr>457 <tr·class="separator:a10e886cc8b8a374e2fe864707e0b6278·inherit·pro_attribs_a03592"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
458 </table>458 </table>
459 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>459 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
460 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01283_source.html">BetweenFactor.h</a></li>460 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01316_source.html">BetweenFactor.h</a></li>
461 </ul>461 </ul>
462 </div><!--·contents·-->462 </div><!--·contents·-->
463 </div><!--·doc-content·-->463 </div><!--·doc-content·-->
464 <!--·start·footer·part·-->464 <!--·start·footer·part·-->
465 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->465 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
466 ··<ul>466 ··<ul>
467 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04772.html">BetweenConstraint</a></li>467 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04772.html">BetweenConstraint</a></li>
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128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04772.html">BetweenConstraint</a>&lt;·VALUE·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04772.html">BetweenConstraint</a>&lt;·VALUE·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
129 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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131 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04772.html">BetweenConstraint</a>&lt;·VALUE·&gt;·&amp;m1,·const·<a·class="el"·href="a04772.html">BetweenConstraint</a>&lt;·VALUE·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>131 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04772.html">BetweenConstraint</a>&lt;·VALUE·&gt;·&amp;m1,·const·<a·class="el"·href="a04772.html">BetweenConstraint</a>&lt;·VALUE·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>
132 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>132 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
133 </table>133 </table>
134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01283_source.html">BetweenFactor.h</a></li>135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01316_source.html">BetweenFactor.h</a></li>
136 </ul>136 </ul>
137 </div><!--·contents·-->137 </div><!--·contents·-->
138 </div><!--·doc-content·-->138 </div><!--·doc-content·-->
139 <!--·start·footer·part·-->139 <!--·start·footer·part·-->
140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
141 ··<ul>141 ··<ul>
142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04776.html">traits&lt;·BetweenConstraint&lt;·VALUE·&gt;·&gt;</a></li>142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04776.html">traits&lt;·BetweenConstraint&lt;·VALUE·&gt;·&gt;</a></li>
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973 B
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485 <p>active·when·constraint·<em>NOT</em>·met·</p>485 <p>active·when·constraint·<em>NOT</em>·met·</p>
  
486 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a84901748b435ae9b39908abf57d5620c">gtsam::NonlinearFactor</a>.</p>486 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a84901748b435ae9b39908abf57d5620c">gtsam::NonlinearFactor</a>.</p>
  
487 </div>487 </div>
488 </div>488 </div>
489 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>489 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
490 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01280_source.html">BoundingConstraint.h</a></li>490 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01250_source.html">BoundingConstraint.h</a></li>
491 </ul>491 </ul>
492 </div><!--·contents·-->492 </div><!--·contents·-->
493 </div><!--·doc-content·-->493 </div><!--·doc-content·-->
494 <!--·start·footer·part·-->494 <!--·start·footer·part·-->
495 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->495 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
496 ··<ul>496 ··<ul>
497 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04780.html">BoundingConstraint1</a></li>497 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04780.html">BoundingConstraint1</a></li>
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973 B
./usr/share/doc/libgtsam-dev/html/a04784.html
    
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487 <p>active·when·constraint·<em>NOT</em>·met·</p>487 <p>active·when·constraint·<em>NOT</em>·met·</p>
  
488 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a84901748b435ae9b39908abf57d5620c">gtsam::NonlinearFactor</a>.</p>488 <p>Reimplemented·from·<a·class="el"·href="a04496.html#a84901748b435ae9b39908abf57d5620c">gtsam::NonlinearFactor</a>.</p>
  
489 </div>489 </div>
490 </div>490 </div>
491 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>491 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
492 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01280_source.html">BoundingConstraint.h</a></li>492 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01250_source.html">BoundingConstraint.h</a></li>
493 </ul>493 </ul>
494 </div><!--·contents·-->494 </div><!--·contents·-->
495 </div><!--·doc-content·-->495 </div><!--·doc-content·-->
496 <!--·start·footer·part·-->496 <!--·start·footer·part·-->
497 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->497 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
498 ··<ul>498 ··<ul>
499 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04784.html">BoundingConstraint2</a></li>499 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04784.html">BoundingConstraint2</a></li>
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1.18 KB
./usr/share/doc/libgtsam-dev/html/a04808.html
    
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658 <p>print·</p>658 <p>print·</p>
  
659 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>659 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
660 </div>660 </div>
661 </div>661 </div>
662 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>662 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
663 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01274_source.html">EssentialMatrixConstraint.h</a></li>663 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01235_source.html">EssentialMatrixConstraint.h</a></li>
664 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01316.html">EssentialMatrixConstraint.cpp</a></li>664 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01310.html">EssentialMatrixConstraint.cpp</a></li>
665 </ul>665 </ul>
666 </div><!--·contents·-->666 </div><!--·contents·-->
667 </div><!--·doc-content·-->667 </div><!--·doc-content·-->
668 <!--·start·footer·part·-->668 <!--·start·footer·part·-->
669 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->669 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
670 ··<ul>670 ··<ul>
671 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04808.html">EssentialMatrixConstraint</a></li>671 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04808.html">EssentialMatrixConstraint</a></li>
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937 B
./usr/share/doc/libgtsam-dev/html/a04812.html
    
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612 <p>print·</p>612 <p>print·</p>
  
613 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>613 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
614 </div>614 </div>
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616 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>616 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
617 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01244_source.html">EssentialMatrixFactor.h</a></li>617 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01247_source.html">EssentialMatrixFactor.h</a></li>
618 </ul>618 </ul>
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622 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->622 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
623 ··<ul>623 ··<ul>
624 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04812.html">EssentialMatrixFactor</a></li>624 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04812.html">EssentialMatrixFactor</a></li>
⊟
1.03 KB
./usr/share/doc/libgtsam-dev/html/a04816.html
    
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630 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>630 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
631 <p>Reimplemented·in·<a·class="el"·href="a04820.html#a05ae686a11ef96e135c712e9410c92f8">gtsam::EssentialMatrixFactor3</a>.</p>631 <p>Reimplemented·in·<a·class="el"·href="a04820.html#a05ae686a11ef96e135c712e9410c92f8">gtsam::EssentialMatrixFactor3</a>.</p>
  
632 </div>632 </div>
633 </div>633 </div>
634 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>634 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
635 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01244_source.html">EssentialMatrixFactor.h</a></li>635 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01247_source.html">EssentialMatrixFactor.h</a></li>
636 </ul>636 </ul>
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639 <!--·start·footer·part·-->639 <!--·start·footer·part·-->
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641 ··<ul>641 ··<ul>
642 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04816.html">EssentialMatrixFactor2</a></li>642 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04816.html">EssentialMatrixFactor2</a></li>
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954 B
./usr/share/doc/libgtsam-dev/html/a04820.html
    
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650 <p>print·</p>650 <p>print·</p>
  
651 <p>Reimplemented·from·<a·class="el"·href="a04816.html#ae8bdfa51681961bb730e2f9b9b3615c6">gtsam::EssentialMatrixFactor2</a>.</p>651 <p>Reimplemented·from·<a·class="el"·href="a04816.html#ae8bdfa51681961bb730e2f9b9b3615c6">gtsam::EssentialMatrixFactor2</a>.</p>
  
652 </div>652 </div>
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654 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>654 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
655 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01244_source.html">EssentialMatrixFactor.h</a></li>655 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01247_source.html">EssentialMatrixFactor.h</a></li>
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660 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->660 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
661 ··<ul>661 ··<ul>
662 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04820.html">EssentialMatrixFactor3</a></li>662 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04820.html">EssentialMatrixFactor3</a></li>
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938 B
./usr/share/doc/libgtsam-dev/html/a04824.html
    
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617 <p>print·</p>617 <p>print·</p>
  
618 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>618 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
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628 ··<ul>628 ··<ul>
629 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04824.html">EssentialMatrixFactor4</a></li>629 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04824.html">EssentialMatrixFactor4</a></li>
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1.65 KB
./usr/share/doc/libgtsam-dev/html/a04828.html
    
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424 ··<ul>424 ··<ul>
425 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04828.html">FrobeniusPrior</a></li>425 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04828.html">FrobeniusPrior</a></li>
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1.65 KB
./usr/share/doc/libgtsam-dev/html/a04832.html
    
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412 <tr·class="inherit_header·pro_attribs_a03592"><td·colspan="2"·onclick="javascript:toggleInherit('pro_attribs_a03592')"><img·src="closed.png"·alt="-"/>&#160;Protected·Attributes·inherited·from·<a·class="el"·href="a03592.html">gtsam::Factor</a></td></tr>412 <tr·class="inherit_header·pro_attribs_a03592"><td·colspan="2"·onclick="javascript:toggleInherit('pro_attribs_a03592')"><img·src="closed.png"·alt="-"/>&#160;Protected·Attributes·inherited·from·<a·class="el"·href="a03592.html">gtsam::Factor</a></td></tr>
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425 ··<ul>425 ··<ul>
426 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04832.html">FrobeniusFactor</a></li>426 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04832.html">FrobeniusFactor</a></li>
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947 B
./usr/share/doc/libgtsam-dev/html/a04836.html
    
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505 <p>print·with·optional·string·</p>505 <p>print·with·optional·string·</p>
  
506 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>506 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
507 </div>507 </div>
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516 ··<ul>516 ··<ul>
517 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04836.html">FrobeniusBetweenFactor</a></li>517 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04836.html">FrobeniusBetweenFactor</a></li>
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914 B
./usr/share/doc/libgtsam-dev/html/a04840.html
    
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714 </dl>714 </dl>
  
715 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>715 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
716 </div>716 </div>
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725 ··<ul>725 ··<ul>
726 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04840.html">GeneralSFMFactor</a></li>726 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04840.html">GeneralSFMFactor</a></li>
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1.78 KB
./usr/share/doc/libgtsam-dev/html/a04844.html
    
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131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01262_source.html">GeneralSFMFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01256_source.html">GeneralSFMFactor.h</a></li>
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136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
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138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04844.html">traits&lt;·GeneralSFMFactor&lt;·CAMERA,·LANDMARK·&gt;·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04844.html">traits&lt;·GeneralSFMFactor&lt;·CAMERA,·LANDMARK·&gt;·&gt;</a></li>
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653 </dl>653 </dl>
  
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665 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04848.html">GeneralSFMFactor2</a></li>665 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04848.html">GeneralSFMFactor2</a></li>
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131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01262_source.html">GeneralSFMFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01256_source.html">GeneralSFMFactor.h</a></li>
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138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04852.html">traits&lt;·GeneralSFMFactor2&lt;·CALIBRATION·&gt;·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04852.html">traits&lt;·GeneralSFMFactor2&lt;·CALIBRATION·&gt;·&gt;</a></li>
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191 <ul>191 <ul>
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202 <!--·start·footer·part·-->202 <!--·start·footer·part·-->
203 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->203 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
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550 <!--·start·footer·part·-->550 <!--·start·footer·part·-->
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552 ··<ul>552 ··<ul>
553 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04860.html">JacobianFactorQ</a></li>553 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04860.html">JacobianFactorQ</a></li>
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1.73 KB
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04860.html">JacobianFactorQ</a>&lt;·D,·ZDim·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04860.html">JacobianFactorQ</a>&lt;·D,·ZDim·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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138 ··<ul>138 ··<ul>
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539 </ul>539 </ul>
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543 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->543 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
544 ··<ul>544 ··<ul>
545 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04868.html">JacobianFactorQR</a></li>545 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04868.html">JacobianFactorQR</a></li>
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609 ··</table>609 ··</table>
610 ··</dd>610 ··</dd>
611 </dl>611 </dl>
  
612 </div>612 </div>
613 </div>613 </div>
614 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>614 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
615 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01337_source.html">JacobianFactorSVD.h</a></li>615 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01253_source.html">JacobianFactorSVD.h</a></li>
616 </ul>616 </ul>
617 </div><!--·contents·-->617 </div><!--·contents·-->
618 </div><!--·doc-content·-->618 </div><!--·doc-content·-->
619 <!--·start·footer·part·-->619 <!--·start·footer·part·-->
620 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->620 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
621 ··<ul>621 ··<ul>
622 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04872.html">JacobianFactorSVD</a></li>622 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04872.html">JacobianFactorSVD</a></li>
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415 <p>linearize·to·a·<a·class="el"·href="a03780.html"·title="An·abstract·virtual·base·class·for·JacobianFactor·and·HessianFactor.">GaussianFactor</a>·</p>415 <p>linearize·to·a·<a·class="el"·href="a03780.html"·title="An·abstract·virtual·base·class·for·JacobianFactor·and·HessianFactor.">GaussianFactor</a>·</p>
  
416 <p>Implements·<a·class="el"·href="a04496.html#a1381d89840dd9f0ce41a45899d6ab8ac">gtsam::NonlinearFactor</a>.</p>416 <p>Implements·<a·class="el"·href="a04496.html#a1381d89840dd9f0ce41a45899d6ab8ac">gtsam::NonlinearFactor</a>.</p>
  
417 </div>417 </div>
418 </div>418 </div>
419 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>419 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
420 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01331_source.html">KarcherMeanFactor.h</a></li>420 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01271_source.html">KarcherMeanFactor.h</a></li>
421 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01325_source.html">KarcherMeanFactor-inl.h</a></li>421 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01325_source.html">KarcherMeanFactor-inl.h</a></li>
422 </ul>422 </ul>
423 </div><!--·contents·-->423 </div><!--·contents·-->
424 </div><!--·doc-content·-->424 </div><!--·doc-content·-->
425 <!--·start·footer·part·-->425 <!--·start·footer·part·-->
426 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->426 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
427 ··<ul>427 ··<ul>
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885 B
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526 <p>print·</p>526 <p>print·</p>
  
527 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>527 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>
  
528 </div>528 </div>
529 </div>529 </div>
530 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>530 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
531 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01250_source.html">OrientedPlane3Factor.h</a></li>531 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01304_source.html">OrientedPlane3Factor.h</a></li>
532 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<b>OrientedPlane3Factor.cpp</b></li>532 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<b>OrientedPlane3Factor.cpp</b></li>
533 </ul>533 </ul>
534 </div><!--·contents·-->534 </div><!--·contents·-->
535 </div><!--·doc-content·-->535 </div><!--·doc-content·-->
536 <!--·start·footer·part·-->536 <!--·start·footer·part·-->
537 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->537 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
538 ··<ul>538 ··<ul>
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511 <p>print·</p>511 <p>print·</p>
  
512 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>512 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>
  
513 </div>513 </div>
514 </div>514 </div>
515 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>515 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
516 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01250_source.html">OrientedPlane3Factor.h</a></li>516 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01304_source.html">OrientedPlane3Factor.h</a></li>
517 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<b>OrientedPlane3Factor.cpp</b></li>517 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<b>OrientedPlane3Factor.cpp</b></li>
518 </ul>518 </ul>
519 </div><!--·contents·-->519 </div><!--·contents·-->
520 </div><!--·doc-content·-->520 </div><!--·doc-content·-->
521 <!--·start·footer·part·-->521 <!--·start·footer·part·-->
522 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->522 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
523 ··<ul>523 ··<ul>
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944 B
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574 <p>print·contents·</p>574 <p>print·contents·</p>
  
575 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>575 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>
  
576 </div>576 </div>
577 </div>577 </div>
578 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>578 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
579 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01247_source.html">PoseRotationPrior.h</a></li>579 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01337_source.html">PoseRotationPrior.h</a></li>
580 </ul>580 </ul>
581 </div><!--·contents·-->581 </div><!--·contents·-->
582 </div><!--·doc-content·-->582 </div><!--·doc-content·-->
583 <!--·start·footer·part·-->583 <!--·start·footer·part·-->
584 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->584 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
585 ··<ul>585 ··<ul>
586 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04888.html">PoseRotationPrior</a></li>586 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04888.html">PoseRotationPrior</a></li>
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953 B
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567 <p>print·contents·</p>567 <p>print·contents·</p>
  
568 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>568 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>
  
569 </div>569 </div>
570 </div>570 </div>
571 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>571 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
572 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01235_source.html">PoseTranslationPrior.h</a></li>572 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01292_source.html">PoseTranslationPrior.h</a></li>
573 </ul>573 </ul>
574 </div><!--·contents·-->574 </div><!--·contents·-->
575 </div><!--·doc-content·-->575 </div><!--·doc-content·-->
576 <!--·start·footer·part·-->576 <!--·start·footer·part·-->
577 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->577 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
578 ··<ul>578 ··<ul>
579 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04892.html">PoseTranslationPrior</a></li>579 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04892.html">PoseTranslationPrior</a></li>
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921 B
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798 </dl>798 </dl>
  
799 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>799 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
800 </div>800 </div>
801 </div>801 </div>
802 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>802 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
803 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01304_source.html">ProjectionFactor.h</a></li>803 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01313_source.html">ProjectionFactor.h</a></li>
804 </ul>804 </ul>
805 </div><!--·contents·-->805 </div><!--·contents·-->
806 </div><!--·doc-content·-->806 </div><!--·doc-content·-->
807 <!--·start·footer·part·-->807 <!--·start·footer·part·-->
808 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->808 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
809 ··<ul>809 ··<ul>
810 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04896.html">GenericProjectionFactor</a></li>810 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04896.html">GenericProjectionFactor</a></li>
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1.85 KB
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128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04896.html">GenericProjectionFactor</a>&lt;·POSE,·LANDMARK,·CALIBRATION·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04896.html">GenericProjectionFactor</a>&lt;·POSE,·LANDMARK,·CALIBRATION·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
129 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">130 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
131 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04896.html">GenericProjectionFactor</a>&lt;·POSE,·LANDMARK,·CALIBRATION·&gt;·&amp;m1,·const·<a·class="el"·href="a04896.html">GenericProjectionFactor</a>&lt;·POSE,·LANDMARK,·CALIBRATION·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>131 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04896.html">GenericProjectionFactor</a>&lt;·POSE,·LANDMARK,·CALIBRATION·&gt;·&amp;m1,·const·<a·class="el"·href="a04896.html">GenericProjectionFactor</a>&lt;·POSE,·LANDMARK,·CALIBRATION·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>
132 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>132 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
133 </table>133 </table>
134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01304_source.html">ProjectionFactor.h</a></li>135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01313_source.html">ProjectionFactor.h</a></li>
136 </ul>136 </ul>
137 </div><!--·contents·-->137 </div><!--·contents·-->
138 </div><!--·doc-content·-->138 </div><!--·doc-content·-->
139 <!--·start·footer·part·-->139 <!--·start·footer·part·-->
140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
141 ··<ul>141 ··<ul>
142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04900.html">traits&lt;·GenericProjectionFactor&lt;·POSE,·LANDMARK,·CALIBRATION·&gt;·&gt;</a></li>142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04900.html">traits&lt;·GenericProjectionFactor&lt;·POSE,·LANDMARK,·CALIBRATION·&gt;·&gt;</a></li>
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536 <p>Print.·</p>536 <p>Print.·</p>
  
537 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>537 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>
  
538 </div>538 </div>
539 </div>539 </div>
540 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>540 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
541 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01334_source.html">ReferenceFrameFactor.h</a></li>541 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01265_source.html">ReferenceFrameFactor.h</a></li>
542 </ul>542 </ul>
543 </div><!--·contents·-->543 </div><!--·contents·-->
544 </div><!--·doc-content·-->544 </div><!--·doc-content·-->
545 <!--·start·footer·part·-->545 <!--·start·footer·part·-->
546 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->546 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
547 ··<ul>547 ··<ul>
548 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04904.html">ReferenceFrameFactor</a></li>548 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04904.html">ReferenceFrameFactor</a></li>
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1.76 KB
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128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04904.html">ReferenceFrameFactor</a>&lt;·T1,·T2·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04904.html">ReferenceFrameFactor</a>&lt;·T1,·T2·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
129 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">130 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
131 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04904.html">ReferenceFrameFactor</a>&lt;·T1,·T2·&gt;·&amp;m1,·const·<a·class="el"·href="a04904.html">ReferenceFrameFactor</a>&lt;·T1,·T2·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>131 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04904.html">ReferenceFrameFactor</a>&lt;·T1,·T2·&gt;·&amp;m1,·const·<a·class="el"·href="a04904.html">ReferenceFrameFactor</a>&lt;·T1,·T2·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>
132 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>132 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
133 </table>133 </table>
134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01334_source.html">ReferenceFrameFactor.h</a></li>135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01265_source.html">ReferenceFrameFactor.h</a></li>
136 </ul>136 </ul>
137 </div><!--·contents·-->137 </div><!--·contents·-->
138 </div><!--·doc-content·-->138 </div><!--·doc-content·-->
139 <!--·start·footer·part·-->139 <!--·start·footer·part·-->
140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
141 ··<ul>141 ··<ul>
142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04908.html">traits&lt;·ReferenceFrameFactor&lt;·T1,·T2·&gt;·&gt;</a></li>142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04908.html">traits&lt;·ReferenceFrameFactor&lt;·T1,·T2·&gt;·&gt;</a></li>
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1226 </dl>1226 </dl>
  
1227 <p>Implements·<a·class="el"·href="a03780.html#acc9a428ca38e8899654ddf4394e07336">gtsam::GaussianFactor</a>.</p>1227 <p>Implements·<a·class="el"·href="a03780.html#acc9a428ca38e8899654ddf4394e07336">gtsam::GaussianFactor</a>.</p>
  
1228 </div>1228 </div>
1229 </div>1229 </div>
1230 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>1230 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
1231 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01310_source.html">RegularImplicitSchurFactor.h</a></li>1231 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01295_source.html">RegularImplicitSchurFactor.h</a></li>
1232 </ul>1232 </ul>
1233 </div><!--·contents·-->1233 </div><!--·contents·-->
1234 </div><!--·doc-content·-->1234 </div><!--·doc-content·-->
1235 <!--·start·footer·part·-->1235 <!--·start·footer·part·-->
1236 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->1236 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
1237 ··<ul>1237 ··<ul>
1238 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04912.html">RegularImplicitSchurFactor</a></li>1238 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04912.html">RegularImplicitSchurFactor</a></li>
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125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04912.html">RegularImplicitSchurFactor</a>&lt;·CAMERA·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>125 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04912.html">RegularImplicitSchurFactor</a>&lt;·CAMERA·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>126 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">127 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04912.html">RegularImplicitSchurFactor</a>&lt;·CAMERA·&gt;·&amp;m1,·const·<a·class="el"·href="a04912.html">RegularImplicitSchurFactor</a>&lt;·CAMERA·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>128 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04912.html">RegularImplicitSchurFactor</a>&lt;·CAMERA·&gt;·&amp;m1,·const·<a·class="el"·href="a04912.html">RegularImplicitSchurFactor</a>&lt;·CAMERA·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>
129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
130 </table>130 </table>
131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>131 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01310_source.html">RegularImplicitSchurFactor.h</a></li>132 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01295_source.html">RegularImplicitSchurFactor.h</a></li>
133 </ul>133 </ul>
134 </div><!--·contents·-->134 </div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04916.html">traits&lt;·RegularImplicitSchurFactor&lt;·CAMERA·&gt;·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04916.html">traits&lt;·RegularImplicitSchurFactor&lt;·CAMERA·&gt;·&gt;</a></li>
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475 <p>print·</p>475 <p>print·</p>
  
476 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>476 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>
  
477 </div>477 </div>
478 </div>478 </div>
479 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>479 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
480 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01289_source.html">RotateFactor.h</a></li>480 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01286_source.html">RotateFactor.h</a></li>
481 </ul>481 </ul>
482 </div><!--·contents·-->482 </div><!--·contents·-->
483 </div><!--·doc-content·-->483 </div><!--·doc-content·-->
484 <!--·start·footer·part·-->484 <!--·start·footer·part·-->
485 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->485 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
486 ··<ul>486 ··<ul>
487 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04920.html">RotateFactor</a></li>487 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04920.html">RotateFactor</a></li>
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483 <p>print·</p>483 <p>print·</p>
  
484 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>484 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>
  
485 </div>485 </div>
486 </div>486 </div>
487 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>487 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
488 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01289_source.html">RotateFactor.h</a></li>488 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01286_source.html">RotateFactor.h</a></li>
489 </ul>489 </ul>
490 </div><!--·contents·-->490 </div><!--·contents·-->
491 </div><!--·doc-content·-->491 </div><!--·doc-content·-->
492 <!--·start·footer·part·-->492 <!--·start·footer·part·-->
493 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->493 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
494 ··<ul>494 ··<ul>
495 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04924.html">RotateDirectionsFactor</a></li>495 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04924.html">RotateDirectionsFactor</a></li>
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326 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>FillDiagonalF</b>·(const·FBlocks·&amp;Fs,·Matrix·&amp;F)</td></tr>326 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>FillDiagonalF</b>·(const·FBlocks·&amp;Fs,·Matrix·&amp;F)</td></tr>
327 <tr·class="memdesc:a69e2d616ed38d08c1ce16150e95475c0"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Create·BIG·block-diagonal·matrix·F·from·Fblocks.·<br·/></td></tr>327 <tr·class="memdesc:a69e2d616ed38d08c1ce16150e95475c0"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Create·BIG·block-diagonal·matrix·F·from·Fblocks.·<br·/></td></tr>
328 <tr·class="separator:a69e2d616ed38d08c1ce16150e95475c0"><td·class="memSeparator"·colspan="2">&#160;</td></tr>328 <tr·class="separator:a69e2d616ed38d08c1ce16150e95475c0"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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330 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-attribs"·name="pub-attribs"></a>330 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-attribs"·name="pub-attribs"></a>
331 Public·Attributes</h2></td></tr>331 Public·Attributes</h2></td></tr>
332 <tr·class="memitem:a9c7c1b1b20e43c2020593873f94c732e"·id="r_a9c7c1b1b20e43c2020593873f94c732e"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a9c7c1b1b20e43c2020593873f94c732e"·name="a9c7c1b1b20e43c2020593873f94c732e"></a>332 <tr·class="memitem:a9c7c1b1b20e43c2020593873f94c732e"·id="r_a9c7c1b1b20e43c2020593873f94c732e"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a9c7c1b1b20e43c2020593873f94c732e"·name="a9c7c1b1b20e43c2020593873f94c732e"></a>
333 <a·class="el"·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a>·typedef·boost::shared_ptr&lt;·This·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>shared_ptr</b></td></tr>333 <a·class="el"·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a>·typedef·boost::shared_ptr&lt;·This·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>shared_ptr</b></td></tr>
334 <tr·class="memdesc:a9c7c1b1b20e43c2020593873f94c732e"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">shorthand·for·a·smart·pointer·to·a·factor.·<br·/></td></tr>334 <tr·class="memdesc:a9c7c1b1b20e43c2020593873f94c732e"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">shorthand·for·a·smart·pointer·to·a·factor.·<br·/></td></tr>
335 <tr·class="separator:a9c7c1b1b20e43c2020593873f94c732e"><td·class="memSeparator"·colspan="2">&#160;</td></tr>335 <tr·class="separator:a9c7c1b1b20e43c2020593873f94c732e"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
336 </table><table·class="memberdecls">336 </table><table·class="memberdecls">
337 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-static-attribs"·name="pub-static-attribs"></a>337 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-static-attribs"·name="pub-static-attribs"></a>
338 Static·Public·Attributes</h2></td></tr>338 Static·Public·Attributes</h2></td></tr>
339 <tr·class="memitem:a407fa000777864d9142f3e3742f7e9cd"·id="r_a407fa000777864d9142f3e3742f7e9cd"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a407fa000777864d9142f3e3742f7e9cd"·name="a407fa000777864d9142f3e3742f7e9cd"></a>339 <tr·class="memitem:a407fa000777864d9142f3e3742f7e9cd"·id="r_a407fa000777864d9142f3e3742f7e9cd"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a407fa000777864d9142f3e3742f7e9cd"·name="a407fa000777864d9142f3e3742f7e9cd"></a>
340 static·const·int&#160;</td><td·class="memItemRight"·valign="bottom"><b>Dim</b>·=·<a·class="el"·href="a02276.html">traits</a>&lt;CAMERA&gt;::dimension</td></tr>340 static·const·int&#160;</td><td·class="memItemRight"·valign="bottom"><b>Dim</b>·=·<a·class="el"·href="a02276.html">traits</a>&lt;CAMERA&gt;::dimension</td></tr>
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1107 <p>As·of·Feb·22,·2015,·the·noise·model·is·the·same·for·all·measurements·and·is·isotropic.·</p>1107 <p>As·of·Feb·22,·2015,·the·noise·model·is·the·same·for·all·measurements·and·is·isotropic.·</p>
1108 <p>This·allows·for·moving·most·calculations·of·Schur·complement·etc.·to·be·easily·moved·to·<a·class="el"·href="a03044.html"·title="A·set·of·cameras,·all·with·their·own·calibration.">CameraSet</a>,·and·also·agrees·pragmatically·with·what·is·normally·done.·</p>1108 <p>This·allows·for·moving·most·calculations·of·Schur·complement·etc.·to·be·easily·moved·to·<a·class="el"·href="a03044.html"·title="A·set·of·cameras,·all·with·their·own·calibration.">CameraSet</a>,·and·also·agrees·pragmatically·with·what·is·normally·done.·</p>
  
1109 </div>1109 </div>
1110 </div>1110 </div>
1111 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>1111 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
1112 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01265_source.html">SmartFactorBase.h</a></li>1112 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01307_source.html">SmartFactorBase.h</a></li>
1113 </ul>1113 </ul>
1114 </div><!--·contents·-->1114 </div><!--·contents·-->
1115 </div><!--·doc-content·-->1115 </div><!--·doc-content·-->
1116 <!--·start·footer·part·-->1116 <!--·start·footer·part·-->
1117 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->1117 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
1118 ··<ul>1118 ··<ul>
1119 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04928.html">SmartFactorBase</a></li>1119 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04928.html">SmartFactorBase</a></li>
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186 Friends</h2></td></tr>186 Friends</h2></td></tr>
187 <tr·class="memitem:ac98d07dd8f7b70e16ccb9a01abf56b9c"·id="r_ac98d07dd8f7b70e16ccb9a01abf56b9c"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac98d07dd8f7b70e16ccb9a01abf56b9c"·name="ac98d07dd8f7b70e16ccb9a01abf56b9c"></a>187 <tr·class="memitem:ac98d07dd8f7b70e16ccb9a01abf56b9c"·id="r_ac98d07dd8f7b70e16ccb9a01abf56b9c"><td·class="memItemLeft"·align="right"·valign="top"><a·id="ac98d07dd8f7b70e16ccb9a01abf56b9c"·name="ac98d07dd8f7b70e16ccb9a01abf56b9c"></a>
188 class&#160;</td><td·class="memItemRight"·valign="bottom"><b>boost::serialization::access</b></td></tr>188 class&#160;</td><td·class="memItemRight"·valign="bottom"><b>boost::serialization::access</b></td></tr>
189 <tr·class="memdesc:ac98d07dd8f7b70e16ccb9a01abf56b9c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Serialization·function.·<br·/></td></tr>189 <tr·class="memdesc:ac98d07dd8f7b70e16ccb9a01abf56b9c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Serialization·function.·<br·/></td></tr>
190 <tr·class="separator:ac98d07dd8f7b70e16ccb9a01abf56b9c"><td·class="memSeparator"·colspan="2">&#160;</td></tr>190 <tr·class="separator:ac98d07dd8f7b70e16ccb9a01abf56b9c"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
191 </table>191 </table>
192 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>192 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
193 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01295_source.html">SmartFactorParams.h</a></li>193 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01298_source.html">SmartFactorParams.h</a></li>
194 </ul>194 </ul>
195 </div><!--·contents·-->195 </div><!--·contents·-->
196 </div><!--·doc-content·-->196 </div><!--·doc-content·-->
197 <!--·start·footer·part·-->197 <!--·start·footer·part·-->
198 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->198 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
199 ··<ul>199 ··<ul>
200 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04932.html">SmartProjectionParams</a></li>200 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04932.html">SmartProjectionParams</a></li>
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1088 ··</dd>1088 ··</dd>
1089 </dl>1089 </dl>
1090 <dl·class="section·return"><dt>Returns</dt><dd><a·class="el"·href="a03376.html"·title="TriangulationResult·is·an·optional·point,·along·with·the·reasons·why·it·is·invalid.">TriangulationResult</a>·</dd></dl>1090 <dl·class="section·return"><dt>Returns</dt><dd><a·class="el"·href="a03376.html"·title="TriangulationResult·is·an·optional·point,·along·with·the·reasons·why·it·is·invalid.">TriangulationResult</a>·</dd></dl>
  
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128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04936.html">SmartProjectionFactor</a>&lt;·CAMERA·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04936.html">SmartProjectionFactor</a>&lt;·CAMERA·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01241_source.html">SmartProjectionFactor.h</a></li>135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01268_source.html">SmartProjectionFactor.h</a></li>
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855 </dl>855 </dl>
  
856 <p>Reimplemented·from·<a·class="el"·href="a04936.html#a47bd3f901807f2820c9ce8f01882c053">gtsam::SmartProjectionFactor&lt;·PinholePose&lt;·CALIBRATION·&gt;·&gt;</a>.</p>856 <p>Reimplemented·from·<a·class="el"·href="a04936.html#a47bd3f901807f2820c9ce8f01882c053">gtsam::SmartProjectionFactor&lt;·PinholePose&lt;·CALIBRATION·&gt;·&gt;</a>.</p>
  
857 </div>857 </div>
858 </div>858 </div>
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860 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01322_source.html">SmartProjectionPoseFactor.h</a></li>860 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01328_source.html">SmartProjectionPoseFactor.h</a></li>
861 </ul>861 </ul>
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864 <!--·start·footer·part·-->864 <!--·start·footer·part·-->
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866 ··<ul>866 ··<ul>
867 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04944.html">SmartProjectionPoseFactor</a></li>867 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04944.html">SmartProjectionPoseFactor</a></li>
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134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01322_source.html">SmartProjectionPoseFactor.h</a></li>135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01328_source.html">SmartProjectionPoseFactor.h</a></li>
136 </ul>136 </ul>
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139 <!--·start·footer·part·-->139 <!--·start·footer·part·-->
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141 ··<ul>141 ··<ul>
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461 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-attribs"·name="pub-attribs"></a>461 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-attribs"·name="pub-attribs"></a>
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467 <tr·class="memitem:a9c7c1b1b20e43c2020593873f94c732e·inherit·pub_attribs_a04928"·id="r_a9c7c1b1b20e43c2020593873f94c732e"><td·class="memItemLeft"·align="right"·valign="top">467 <tr·class="memitem:a9c7c1b1b20e43c2020593873f94c732e·inherit·pub_attribs_a04928"·id="r_a9c7c1b1b20e43c2020593873f94c732e"><td·class="memItemLeft"·align="right"·valign="top">
468 <a·class="el"·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a>·typedef·boost::shared_ptr&lt;·This·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>shared_ptr</b></td></tr>468 <a·class="el"·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a>·typedef·boost::shared_ptr&lt;·This·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>shared_ptr</b></td></tr>
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471 </table><table·class="memberdecls">471 </table><table·class="memberdecls">
472 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>472 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="pub-types"·name="pub-types"></a>
473 Public·Types</h2></td></tr>473 Public·Types</h2></td></tr>
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475 typedef·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·CAMERA·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Cameras</b></td></tr>475 typedef·<a·class="el"·href="a03044.html">CameraSet</a>&lt;·CAMERA·&gt;&#160;</td><td·class="memItemRight"·valign="bottom"><b>Cameras</b></td></tr>
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1079 </dl>1079 </dl>
  
1080 <p>Reimplemented·from·<a·class="el"·href="a04936.html#a47bd3f901807f2820c9ce8f01882c053">gtsam::SmartProjectionFactor&lt;·CAMERA·&gt;</a>.</p>1080 <p>Reimplemented·from·<a·class="el"·href="a04936.html#a47bd3f901807f2820c9ce8f01882c053">gtsam::SmartProjectionFactor&lt;·CAMERA·&gt;</a>.</p>
  
1081 </div>1081 </div>
1082 </div>1082 </div>
1083 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>1083 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
1084 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01328_source.html">SmartProjectionRigFactor.h</a></li>1084 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01289_source.html">SmartProjectionRigFactor.h</a></li>
1085 </ul>1085 </ul>
1086 </div><!--·contents·-->1086 </div><!--·contents·-->
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1088 <!--·start·footer·part·-->1088 <!--·start·footer·part·-->
1089 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->1089 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
1090 ··<ul>1090 ··<ul>
1091 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04952.html">SmartProjectionRigFactor</a></li>1091 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04952.html">SmartProjectionRigFactor</a></li>
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128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04952.html">SmartProjectionRigFactor</a>&lt;·CAMERA·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04952.html">SmartProjectionRigFactor</a>&lt;·CAMERA·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
129 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>129 <tr·class="separator:a27b246d77898916925c676895348fedf·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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131 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04952.html">SmartProjectionRigFactor</a>&lt;·CAMERA·&gt;·&amp;m1,·const·<a·class="el"·href="a04952.html">SmartProjectionRigFactor</a>&lt;·CAMERA·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>131 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04952.html">SmartProjectionRigFactor</a>&lt;·CAMERA·&gt;·&amp;m1,·const·<a·class="el"·href="a04952.html">SmartProjectionRigFactor</a>&lt;·CAMERA·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>
132 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>132 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
133 </table>133 </table>
134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01328_source.html">SmartProjectionRigFactor.h</a></li>135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01289_source.html">SmartProjectionRigFactor.h</a></li>
136 </ul>136 </ul>
137 </div><!--·contents·-->137 </div><!--·contents·-->
138 </div><!--·doc-content·-->138 </div><!--·doc-content·-->
139 <!--·start·footer·part·-->139 <!--·start·footer·part·-->
140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
141 ··<ul>141 ··<ul>
142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04956.html">traits&lt;·SmartProjectionRigFactor&lt;·CAMERA·&gt;·&gt;</a></li>142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04956.html">traits&lt;·SmartProjectionRigFactor&lt;·CAMERA·&gt;·&gt;</a></li>
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757 </dl>757 </dl>
  
758 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>758 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a5388ca5d908a0cdfbfdd7dcd9021ade6">gtsam::Factor</a>.</p>
  
759 </div>759 </div>
760 </div>760 </div>
761 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>761 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
762 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01313_source.html">StereoFactor.h</a></li>762 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01301_source.html">StereoFactor.h</a></li>
763 </ul>763 </ul>
764 </div><!--·contents·-->764 </div><!--·contents·-->
765 </div><!--·doc-content·-->765 </div><!--·doc-content·-->
766 <!--·start·footer·part·-->766 <!--·start·footer·part·-->
767 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->767 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
768 ··<ul>768 ··<ul>
769 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04960.html">GenericStereoFactor</a></li>769 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04960.html">GenericStereoFactor</a></li>
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128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04960.html">GenericStereoFactor</a>&lt;·T1,·T2·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>128 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04960.html">GenericStereoFactor</a>&lt;·T1,·T2·&gt;·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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130 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">130 <tr·class="memitem:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"·id="r_a29a5699453b92070b31ca7fa42609d98"><td·class="memItemLeft"·align="right"·valign="top">
131 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04960.html">GenericStereoFactor</a>&lt;·T1,·T2·&gt;·&amp;m1,·const·<a·class="el"·href="a04960.html">GenericStereoFactor</a>&lt;·T1,·T2·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>131 static·bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>Equals</b>·(const·<a·class="el"·href="a04960.html">GenericStereoFactor</a>&lt;·T1,·T2·&gt;·&amp;m1,·const·<a·class="el"·href="a04960.html">GenericStereoFactor</a>&lt;·T1,·T2·&gt;·&amp;m2,·double·tol=1e-8)</td></tr>
132 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>132 <tr·class="separator:a29a5699453b92070b31ca7fa42609d98·inherit·pub_static_methods_a02492"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
133 </table>133 </table>
134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>134 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01313_source.html">StereoFactor.h</a></li>135 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01301_source.html">StereoFactor.h</a></li>
136 </ul>136 </ul>
137 </div><!--·contents·-->137 </div><!--·contents·-->
138 </div><!--·doc-content·-->138 </div><!--·doc-content·-->
139 <!--·start·footer·part·-->139 <!--·start·footer·part·-->
140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->140 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
141 ··<ul>141 ··<ul>
142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04964.html">traits&lt;·GenericStereoFactor&lt;·T1,·T2·&gt;·&gt;</a></li>142 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04964.html">traits&lt;·GenericStereoFactor&lt;·T1,·T2·&gt;·&gt;</a></li>
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727 </dl>727 </dl>
  
728 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>728 <p>Reimplemented·from·<a·class="el"·href="a04504.html#a135c932f15f3d6701a2f9fabf4105490">gtsam::NoiseModelFactor</a>.</p>
  
729 </div>729 </div>
730 </div>730 </div>
731 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>731 <hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
732 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01286_source.html">TriangulationFactor.h</a></li>732 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/<a·class="el"·href="a01274_source.html">TriangulationFactor.h</a></li>
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546 <p>print·</p>546 <p>print·</p>
  
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140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04988.html">traits&lt;·SymbolicBayesTreeClique·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04988.html">traits&lt;·SymbolicBayesTreeClique·&gt;</a></li>
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138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04992.html">traits&lt;·SymbolicBayesTree·&gt;</a></li>139 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a04992.html">traits&lt;·SymbolicBayesTree·&gt;</a></li>
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630 <p>Print·with·optional·formatter.·</p>630 <p>Print·with·optional·formatter.·</p>
  
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636 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01361.html">SymbolicConditional.cpp</a></li>636 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01355.html">SymbolicConditional.cpp</a></li>
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04996.html">SymbolicConditional</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a04996.html">SymbolicConditional</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01346_source.html">SymbolicConditional.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01388_source.html">SymbolicConditional.h</a></li>
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324 ··</table>324 ··</table>
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329 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>329 <hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
330 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01349_source.html">SymbolicEliminationTree.h</a></li>330 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01364_source.html">SymbolicEliminationTree.h</a></li>
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133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>133 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01349_source.html">SymbolicEliminationTree.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01364_source.html">SymbolicEliminationTree.h</a></li>
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138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
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140 ··<ul>140 ··<ul>
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420 <p>print·only·keys·</p>420 <p>print·only·keys·</p>
  
421 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a52cdda1b64d2d584b1012362963b76f3">gtsam::Factor</a>.</p>421 <p>Reimplemented·from·<a·class="el"·href="a03592.html#a52cdda1b64d2d584b1012362963b76f3">gtsam::Factor</a>.</p>
  
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427 </ul>427 </ul>
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429 </div><!--·doc-content·-->429 </div><!--·doc-content·-->
430 <!--·start·footer·part·-->430 <!--·start·footer·part·-->
431 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->431 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
432 ··<ul>432 ··<ul>
433 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a05012.html">SymbolicFactor</a></li>433 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a05012.html">SymbolicFactor</a></li>
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a05012.html">SymbolicFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a05012.html">SymbolicFactor</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01388_source.html">SymbolicFactor.h</a></li>134 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01343_source.html">SymbolicFactor.h</a></li>
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138 <!--·start·footer·part·-->138 <!--·start·footer·part·-->
139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
140 ··<ul>140 ··<ul>
141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a05016.html">traits&lt;·SymbolicFactor·&gt;</a></li>141 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a05016.html">traits&lt;·SymbolicFactor·&gt;</a></li>
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144 <tr·class="separator:af52148826369afe47436ed5f6e89f9bc"><td·class="memSeparator"·colspan="2">&#160;</td></tr>144 <tr·class="separator:af52148826369afe47436ed5f6e89f9bc"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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146 typedef·<a·class="el"·href="a05036.html">SymbolicJunctionTree</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>JunctionTreeType</b></td></tr>146 typedef·<a·class="el"·href="a05036.html">SymbolicJunctionTree</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>JunctionTreeType</b></td></tr>
147 <tr·class="memdesc:af3f9ccb100f0c9ab446683896228ff7c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Type·of·Junction·tree.·<br·/></td></tr>147 <tr·class="memdesc:af3f9ccb100f0c9ab446683896228ff7c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Type·of·Junction·tree.·<br·/></td></tr>
148 <tr·class="separator:af3f9ccb100f0c9ab446683896228ff7c"><td·class="memSeparator"·colspan="2">&#160;</td></tr>148 <tr·class="separator:af3f9ccb100f0c9ab446683896228ff7c"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
149 </table>149 </table>
150 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>150 <hr/>The·documentation·for·this·struct·was·generated·from·the·following·file:<ul>
151 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01367_source.html">SymbolicFactorGraph.h</a></li>151 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/<a·class="el"·href="a01382_source.html">SymbolicFactorGraph.h</a></li>
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155 <!--·start·footer·part·-->155 <!--·start·footer·part·-->
156 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->156 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
157 ··<ul>157 ··<ul>
158 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a05020.html">EliminationTraits&lt;·SymbolicFactorGraph·&gt;</a></li>158 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a05020.html">EliminationTraits&lt;·SymbolicFactorGraph·&gt;</a></li>
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1.2 KB
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593 <p>print·</p>593 <p>print·</p>
  
594 <p>Reimplemented·from·<a·class="el"·href="a03524.html#a06c9c6d855c390743bd4a4472c730687">gtsam::FactorGraph&lt;·SymbolicFactor·&gt;</a>.</p>594 <p>Reimplemented·from·<a·class="el"·href="a03524.html#a06c9c6d855c390743bd4a4472c730687">gtsam::FactorGraph&lt;·SymbolicFactor·&gt;</a>.</p>
  
595 </div>595 </div>
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127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a05024.html">SymbolicFactorGraph</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>127 static·void&#160;</td><td·class="memItemRight"·valign="bottom"><b>Print</b>·(const·<a·class="el"·href="a05024.html">SymbolicFactorGraph</a>·&amp;m,·const·std::string·&amp;str=&quot;&quot;)</td></tr>
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139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->139 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
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328 ··</dd>328 ··</dd>
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339 <!--·start·footer·part·-->339 <!--·start·footer·part·-->
340 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->340 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
341 ··<ul>341 ··<ul>
342 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a05036.html">SymbolicJunctionTree</a></li>342 ····<li·class="navelem"><a·class="el"·href="a01428.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a05036.html">SymbolicJunctionTree</a></li>
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99 <div·class="header">99 <div·class="header">
100 ··<div·class="headertitle"><div·class="title">DiscreteValues·Class·Reference</div></div>100 ··<div·class="headertitle"><div·class="title">DiscreteValues·Class·Reference</div></div>
101 </div><!--header-->101 </div><!--header-->
102 <div·class="contents">102 <div·class="contents">
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104 <div·class="textblock"><p>The·Factor::error·simply·extracts·the.·</p>104 <div·class="textblock"><p>The·Factor::error·simply·extracts·the.·</p>
105 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>105 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
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110 <!--·start·footer·part·-->110 <!--·start·footer·part·-->
111 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->111 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
112 ··<ul>112 ··<ul>
113 ····<li·class="navelem"><a·class="el"·href="a05040.html">DiscreteValues</a></li>113 ····<li·class="navelem"><a·class="el"·href="a05040.html">DiscreteValues</a></li>
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99 <div·class="header">99 <div·class="header">
100 ··<div·class="headertitle"><div·class="title">HybridValues·Class·Reference</div></div>100 ··<div·class="headertitle"><div·class="title">HybridValues·Class·Reference</div></div>
101 </div><!--header-->101 </div><!--header-->
102 <div·class="contents">102 <div·class="contents">
103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
104 <div·class="textblock"><p>the·error.·</p>104 <div·class="textblock"><p>the·error.·</p>
105 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>105 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
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107 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00815_source.html">GaussianFactor.h</a></li>107 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00737_source.html">GaussianFactor.h</a></li>
108 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01133_source.html">NonlinearFactor.h</a></li>108 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01013_source.html">NonlinearFactor.h</a></li>
109 </ul>109 </ul>
110 </div><!--·contents·-->110 </div><!--·contents·-->
111 </div><!--·doc-content·-->111 </div><!--·doc-content·-->
112 <!--·start·footer·part·-->112 <!--·start·footer·part·-->
113 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->113 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
114 ··<ul>114 ··<ul>
115 ····<li·class="navelem"><a·class="el"·href="a05044.html">HybridValues</a></li>115 ····<li·class="navelem"><a·class="el"·href="a05044.html">HybridValues</a></li>
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100 ··<div·class="headertitle"><div·class="title">Only·Class·Reference</div></div>100 ··<div·class="headertitle"><div·class="title">Only·Class·Reference</div></div>
101 </div><!--header-->101 </div><!--header-->
102 <div·class="contents">102 <div·class="contents">
103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
104 <div·class="textblock"><p>symbolic·elimination·etc.·</p>104 <div·class="textblock"><p>symbolic·elimination·etc.·</p>
105 <p>Derived·classes·<em>must</em>·redefine·the·Factor·and·shared_ptr·typedefs·to·refer·to·the·associated·factor·type·and·shared_ptr·type·of·the·derived·class.·See·SymbolicConditional·and·<a·class="el"·href="a05068.html"·title="is·the·normalization·constant.">GaussianConditional</a>·for·examples.·</p>105 <p>Derived·classes·<em>must</em>·redefine·the·Factor·and·shared_ptr·typedefs·to·refer·to·the·associated·factor·type·and·shared_ptr·type·of·the·derived·class.·See·SymbolicConditional·and·<a·class="el"·href="a05068.html"·title="is·the·normalization·constant.">GaussianConditional</a>·for·examples.·</p>
106 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>106 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
107 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00605_source.html">Conditional.h</a></li>107 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/<a·class="el"·href="a00686_source.html">Conditional.h</a></li>
108 </ul>108 </ul>
109 </div><!--·contents·-->109 </div><!--·contents·-->
110 </div><!--·doc-content·-->110 </div><!--·doc-content·-->
111 <!--·start·footer·part·-->111 <!--·start·footer·part·-->
112 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->112 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
113 ··<ul>113 ··<ul>
114 ····<li·class="navelem"><a·class="el"·href="a05060.html">Only</a></li>114 ····<li·class="navelem"><a·class="el"·href="a05060.html">Only</a></li>
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99 <div·class="header">99 <div·class="header">
100 ··<div·class="headertitle"><div·class="title">JacobianFactor·Class·Reference</div></div>100 ··<div·class="headertitle"><div·class="title">JacobianFactor·Class·Reference</div></div>
101 </div><!--header-->101 </div><!--header-->
102 <div·class="contents">102 <div·class="contents">
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105 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>105 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
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108 </div><!--·contents·-->108 </div><!--·contents·-->
109 </div><!--·doc-content·-->109 </div><!--·doc-content·-->
110 <!--·start·footer·part·-->110 <!--·start·footer·part·-->
111 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->111 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
112 ··<ul>112 ··<ul>
113 ····<li·class="navelem"><a·class="el"·href="a05064.html">JacobianFactor</a></li>113 ····<li·class="navelem"><a·class="el"·href="a05064.html">JacobianFactor</a></li>
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99 <div·class="header">99 <div·class="header">
100 ··<div·class="headertitle"><div·class="title">GaussianConditional·Class·Reference</div></div>100 ··<div·class="headertitle"><div·class="title">GaussianConditional·Class·Reference</div></div>
101 </div><!--header-->101 </div><!--header-->
102 <div·class="contents">102 <div·class="contents">
103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
104 <div·class="textblock"><p>is·the·normalization·constant.·</p>104 <div·class="textblock"><p>is·the·normalization·constant.·</p>
105 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>105 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
106 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00815_source.html">GaussianFactor.h</a></li>106 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00737_source.html">GaussianFactor.h</a></li>
107 </ul>107 </ul>
108 </div><!--·contents·-->108 </div><!--·contents·-->
109 </div><!--·doc-content·-->109 </div><!--·doc-content·-->
110 <!--·start·footer·part·-->110 <!--·start·footer·part·-->
111 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->111 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
112 ··<ul>112 ··<ul>
113 ····<li·class="navelem"><a·class="el"·href="a05068.html">GaussianConditional</a></li>113 ····<li·class="navelem"><a·class="el"·href="a05068.html">GaussianConditional</a></li>
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101 </div><!--header-->101 </div><!--header-->
102 <div·class="contents">102 <div·class="contents">
103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
104 <div·class="textblock"><p>The·Factor::error·simply·extracts·the.·</p>104 <div·class="textblock"><p>The·Factor::error·simply·extracts·the.·</p>
105 <p>(A*x-b)/sigma</p>105 <p>(A*x-b)/sigma</p>
106 <p><a·class="el"·href="a05044.html"·title="the·error.">HybridValues</a>·simply·extracts·the·error.·</p>106 <p><a·class="el"·href="a05044.html"·title="the·error.">HybridValues</a>·simply·extracts·the·error.·</p>
107 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>107 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·files:<ul>
108 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00815_source.html">GaussianFactor.h</a></li>108 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00737_source.html">GaussianFactor.h</a></li>
109 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00752_source.html">HessianFactor.h</a></li>109 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00830_source.html">HessianFactor.h</a></li>
110 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00731_source.html">JacobianFactor.h</a></li>110 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/<a·class="el"·href="a00824_source.html">JacobianFactor.h</a></li>
111 </ul>111 </ul>
112 </div><!--·contents·-->112 </div><!--·contents·-->
113 </div><!--·doc-content·-->113 </div><!--·doc-content·-->
114 <!--·start·footer·part·-->114 <!--·start·footer·part·-->
115 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->115 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
116 ··<ul>116 ··<ul>
117 ····<li·class="navelem"><a·class="el"·href="a05072.html">VectorValues</a></li>117 ····<li·class="navelem"><a·class="el"·href="a05072.html">VectorValues</a></li>
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102 <div·class="contents">102 <div·class="contents">
103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
104 <div·class="textblock"><p>In·nonlinear·factors,·the·error·function·returns·the·negative·log-likelihood·as·a·non-linear·function·of·the·values·in·a.·</p>104 <div·class="textblock"><p>In·nonlinear·factors,·the·error·function·returns·the·negative·log-likelihood·as·a·non-linear·function·of·the·values·in·a.·</p>
105 <p>The·Factor::error·simply·extracts·the.</p>105 <p>The·Factor::error·simply·extracts·the.</p>
106 <p>The·idea·is·that·Gaussian·factors·have·a·quadratic·error·function·that·locally·approximates·the·negative·log-likelihood,·and·are·obtained·by·<b>linearizing</b>·the·nonlinear·error·function·at·a·given·linearization.</p>106 <p>The·idea·is·that·Gaussian·factors·have·a·quadratic·error·function·that·locally·approximates·the·negative·log-likelihood,·and·are·obtained·by·<b>linearizing</b>·the·nonlinear·error·function·at·a·given·linearization.</p>
107 <p>The·derived·class,·</p>107 <p>The·derived·class,·</p>
108 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>108 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
109 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01133_source.html">NonlinearFactor.h</a></li>109 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01013_source.html">NonlinearFactor.h</a></li>
110 </ul>110 </ul>
111 </div><!--·contents·-->111 </div><!--·contents·-->
112 </div><!--·doc-content·-->112 </div><!--·doc-content·-->
113 <!--·start·footer·part·-->113 <!--·start·footer·part·-->
114 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->114 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
115 ··<ul>115 ··<ul>
116 ····<li·class="navelem"><a·class="el"·href="a05076.html">Values</a></li>116 ····<li·class="navelem"><a·class="el"·href="a05076.html">Values</a></li>
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102 <div·class="contents">102 <div·class="contents">
103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>103 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
104 <div·class="textblock"><p>noise·model·to·the·factor,·and·calculates·the·error·by·asking·the·user·to·implement·the·method·</p>104 <div·class="textblock"><p>noise·model·to·the·factor,·and·calculates·the·error·by·asking·the·user·to·implement·the·method·</p>
105 <div·class="fragment"><div·class="line"><span·class="keywordtype">double</span>·evaluateError(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05076.html">Values</a>&amp;·c)·<span·class="keyword">const</span>·</div>105 <div·class="fragment"><div·class="line"><span·class="keywordtype">double</span>·evaluateError(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05076.html">Values</a>&amp;·c)·<span·class="keyword">const</span>·</div>
106 <div·class="ttc"·id="aa05076_html"><div·class="ttname"><a·href="a05076.html">Values</a></div><div·class="ttdoc">In·nonlinear·factors,·the·error·function·returns·the·negative·log-likelihood·as·a·non-linear·function...</div></div>106 <div·class="ttc"·id="aa05076_html"><div·class="ttname"><a·href="a05076.html">Values</a></div><div·class="ttdoc">In·nonlinear·factors,·the·error·function·returns·the·negative·log-likelihood·as·a·non-linear·function...</div></div>
107 </div><!--·fragment·--><p>.·</p>107 </div><!--·fragment·--><p>.·</p>
108 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>108 </div><hr/>The·documentation·for·this·class·was·generated·from·the·following·file:<ul>
109 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01133_source.html">NonlinearFactor.h</a></li>109 <li>/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/nonlinear/<a·class="el"·href="a01013_source.html">NonlinearFactor.h</a></li>
110 </ul>110 </ul>
111 </div><!--·contents·-->111 </div><!--·contents·-->
112 </div><!--·doc-content·-->112 </div><!--·doc-content·-->
113 <!--·start·footer·part·-->113 <!--·start·footer·part·-->
114 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->114 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
115 ··<ul>115 ··<ul>
116 ····<li·class="navelem"><a·class="el"·href="a05080.html">NoiseModelFactor</a></li>116 ····<li·class="navelem"><a·class="el"·href="a05080.html">NoiseModelFactor</a></li>
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114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>114 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>120 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
121 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>122 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>
123 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>123 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
124 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>125 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
126 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·POSE&gt;</div>126 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·POSE&gt;</div>
127 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};">127 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};">
128 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03056.html">···39</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03056.html">PoseConcept</a>·{</div>128 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03056.html">···39</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03056.html">PoseConcept</a>·{</div>
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150 </div>150 </div>
151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
152 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>}·<span·class="comment">//·\namespace·gtsam</span></div>152 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>}·<span·class="comment">//·\namespace·gtsam</span></div>
153 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>153 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
154 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno"><a·class="line"·href="a08128.html#a1ac1dbb1c81293b35cbab7722ac657ac">···74</a></span><span·class="preprocessor">#define·GTSAM_CONCEPT_POSE_INST(T)·template·class·gtsam::PoseConcept&lt;T&gt;;</span></div>154 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno"><a·class="line"·href="a08128.html#a1ac1dbb1c81293b35cbab7722ac657ac">···74</a></span><span·class="preprocessor">#define·GTSAM_CONCEPT_POSE_INST(T)·template·class·gtsam::PoseConcept&lt;T&gt;;</span></div>
155 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span><span·class="preprocessor">#define·GTSAM_CONCEPT_POSE_TYPE(T)·using·_gtsam_PoseConcept##T·=·gtsam::PoseConcept&lt;T&gt;;</span></div>155 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span><span·class="preprocessor">#define·GTSAM_CONCEPT_POSE_TYPE(T)·using·_gtsam_PoseConcept##T·=·gtsam::PoseConcept&lt;T&gt;;</span></div>
156 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>156 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
157 <div·class="ttc"·id="aa00095_html"><div·class="ttname"><a·href="a00095.html">Matrix.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·MatrixXd</div></div>157 <div·class="ttc"·id="aa00044_html"><div·class="ttname"><a·href="a00044.html">Matrix.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·MatrixXd</div></div>
158 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>158 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
159 <div·class="ttc"·id="aa03056_html"><div·class="ttname"><a·href="a03056.html">gtsam::PoseConcept</a></div><div·class="ttdoc">Pose·Concept·A·must·contain·a·translation·and·a·rotation,·with·each·structure·accessable·directly·and...</div><div·class="ttdef"><b>Definition</b>·concepts.h:39</div></div>159 <div·class="ttc"·id="aa03056_html"><div·class="ttname"><a·href="a03056.html">gtsam::PoseConcept</a></div><div·class="ttdoc">Pose·Concept·A·must·contain·a·translation·and·a·rotation,·with·each·structure·accessable·directly·and...</div><div·class="ttdef"><b>Definition</b>·concepts.h:39</div></div>
160 </div><!--·fragment·--></div><!--·contents·-->160 </div><!--·fragment·--></div><!--·contents·-->
161 </div><!--·doc-content·-->161 </div><!--·doc-content·-->
162 <!--·start·footer·part·-->162 <!--·start·footer·part·-->
163 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->163 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
164 ··<ul>164 ··<ul>
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115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08137.html">gtsam/inference/Symbol.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08137.html">gtsam/inference/Symbol.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01304.html">gtsam/slam/ProjectionFactor.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01313.html">gtsam/slam/ProjectionFactor.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00764.html">gtsam/linear/Sampler.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00833.html">gtsam/linear/Sampler.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00890.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01157.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
127 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01073.html">gtsam/nonlinear/Values.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01121.html">gtsam/nonlinear/Values.h</a>&gt;</span></div>
128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div>128 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00416.html">gtsam/geometry/Point2.h</a>&gt;</span></div>
129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Point3.h</a>&gt;</span></div>129 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00455.html">gtsam/geometry/Point3.h</a>&gt;</span></div>
130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00329.html">gtsam/geometry/Pose2.h</a>&gt;</span></div>130 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00413.html">gtsam/geometry/Pose2.h</a>&gt;</span></div>
131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00296.html">gtsam/geometry/Pose3.h</a>&gt;</span></div>131 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00437.html">gtsam/geometry/Pose3.h</a>&gt;</span></div>
132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00398.html">gtsam/geometry/Cal3_S2.h</a>&gt;</span></div>132 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00446.html">gtsam/geometry/Cal3_S2.h</a>&gt;</span></div>
133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00422.html">gtsam/geometry/PinholeCamera.h</a>&gt;</span></div>133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00440.html">gtsam/geometry/PinholeCamera.h</a>&gt;</span></div>
134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#include·&lt;exception&gt;</span></div>135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#include·&lt;exception&gt;</span></div>
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138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="keyword">namespace·</span>utilities·{</div>139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="keyword">namespace·</span>utilities·{</div>
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438 <div·class="line"><a·id="l00348"·name="l00348"></a><span·class="lineno">··348</span>·</div>438 <div·class="line"><a·id="l00348"·name="l00348"></a><span·class="lineno">··348</span>·</div>
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 441 <div·class="ttc"·id="aa00413_html"><div·class="ttname"><a·href="a00413.html">Pose2.h</a></div><div·class="ttdoc">2D·Pose</div></div>
441 <div·class="ttc"·id="aa00284_html"><div·class="ttname"><a·href="a00284.html">Point2.h</a></div><div·class="ttdoc">2D·Point</div></div>442 <div·class="ttc"·id="aa00416_html"><div·class="ttname"><a·href="a00416.html">Point2.h</a></div><div·class="ttdoc">2D·Point</div></div>
442 <div·class="ttc"·id="aa00296_html"><div·class="ttname"><a·href="a00296.html">Pose3.h</a></div><div·class="ttdoc">3D·Pose</div></div>443 <div·class="ttc"·id="aa00437_html"><div·class="ttname"><a·href="a00437.html">Pose3.h</a></div><div·class="ttdoc">3D·Pose</div></div>
443 <div·class="ttc"·id="aa00329_html"><div·class="ttname"><a·href="a00329.html">Pose2.h</a></div><div·class="ttdoc">2D·Pose</div></div> 
444 <div·class="ttc"·id="aa00332_html"><div·class="ttname"><a·href="a00332.html">Point3.h</a></div><div·class="ttdoc">3D·Point</div></div> 
445 <div·class="ttc"·id="aa00398_html"><div·class="ttname"><a·href="a00398.html">Cal3_S2.h</a></div><div·class="ttdoc">The·most·common·5DOF·3D-&gt;2D·calibration.</div></div> 
446 <div·class="ttc"·id="aa00422_html"><div·class="ttname"><a·href="a00422.html">PinholeCamera.h</a></div><div·class="ttdoc">Base·class·for·all·pinhole·cameras.</div></div>444 <div·class="ttc"·id="aa00440_html"><div·class="ttname"><a·href="a00440.html">PinholeCamera.h</a></div><div·class="ttdoc">Base·class·for·all·pinhole·cameras.</div></div>
 445 <div·class="ttc"·id="aa00446_html"><div·class="ttname"><a·href="a00446.html">Cal3_S2.h</a></div><div·class="ttdoc">The·most·common·5DOF·3D-&gt;2D·calibration.</div></div>
 446 <div·class="ttc"·id="aa00455_html"><div·class="ttname"><a·href="a00455.html">Point3.h</a></div><div·class="ttdoc">3D·Point</div></div>
447 <div·class="ttc"·id="aa00764_html"><div·class="ttname"><a·href="a00764.html">Sampler.h</a></div><div·class="ttdoc">sampling·from·a·NoiseModel</div></div>447 <div·class="ttc"·id="aa00833_html"><div·class="ttname"><a·href="a00833.html">Sampler.h</a></div><div·class="ttdoc">sampling·from·a·NoiseModel</div></div>
448 <div·class="ttc"·id="aa00884_html"><div·class="ttname"><a·href="a00884.html">VectorValues.h</a></div><div·class="ttdoc">Factor·Graph·Values.</div></div>448 <div·class="ttc"·id="aa00890_html"><div·class="ttname"><a·href="a00890.html">VectorValues.h</a></div><div·class="ttdoc">Factor·Graph·Values.</div></div>
449 <div·class="ttc"·id="aa01073_html"><div·class="ttname"><a·href="a01073.html">Values.h</a></div><div·class="ttdoc">A·non-templated·config·holding·any·types·of·Manifold-group·elements.</div></div> 
450 <div·class="ttc"·id="aa01133_html"><div·class="ttname"><a·href="a01133.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>449 <div·class="ttc"·id="aa01013_html"><div·class="ttname"><a·href="a01013.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>
 450 <div·class="ttc"·id="aa01121_html"><div·class="ttname"><a·href="a01121.html">Values.h</a></div><div·class="ttdoc">A·non-templated·config·holding·any·types·of·Manifold-group·elements.</div></div>
451 <div·class="ttc"·id="aa01145_html"><div·class="ttname"><a·href="a01145.html">NonlinearFactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·consisting·of·non-linear·factors.</div></div>451 <div·class="ttc"·id="aa01157_html"><div·class="ttname"><a·href="a01157.html">NonlinearFactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·consisting·of·non-linear·factors.</div></div>
452 <div·class="ttc"·id="aa01304_html"><div·class="ttname"><a·href="a01304.html">ProjectionFactor.h</a></div><div·class="ttdoc">Reprojection·of·a·LANDMARK·to·a·2D·point.</div></div>452 <div·class="ttc"·id="aa01313_html"><div·class="ttname"><a·href="a01313.html">ProjectionFactor.h</a></div><div·class="ttdoc">Reprojection·of·a·LANDMARK·to·a·2D·point.</div></div>
453 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>453 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
454 <div·class="ttc"·id="aa01428_html_a1c320e42b033352fbbd8266e3bd5faad"><div·class="ttname"><a·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">gtsam::KeyVector</a></div><div·class="ttdeci">FastVector&lt;·Key·&gt;·KeyVector</div><div·class="ttdoc">Define·collection·type·once·and·for·all·-·also·used·in·wrappers.</div><div·class="ttdef"><b>Definition</b>·Key.h:86</div></div>454 <div·class="ttc"·id="aa01428_html_a1c320e42b033352fbbd8266e3bd5faad"><div·class="ttname"><a·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">gtsam::KeyVector</a></div><div·class="ttdeci">FastVector&lt;·Key·&gt;·KeyVector</div><div·class="ttdoc">Define·collection·type·once·and·for·all·-·also·used·in·wrappers.</div><div·class="ttdef"><b>Definition</b>·Key.h:86</div></div>
455 <div·class="ttc"·id="aa01428_html_a3bfdb8456463015b2dda092a5805a745"><div·class="ttname"><a·href="a01428.html#a3bfdb8456463015b2dda092a5805a745">gtsam::symbol</a></div><div·class="ttdeci">Key·symbol(unsigned·char·c,·std::uint64_t·j)</div><div·class="ttdoc">Create·a·symbol·key·from·a·character·and·index,·i.e.</div><div·class="ttdef"><b>Definition</b>·Symbol.h:135</div></div>455 <div·class="ttc"·id="aa01428_html_a3bfdb8456463015b2dda092a5805a745"><div·class="ttname"><a·href="a01428.html#a3bfdb8456463015b2dda092a5805a745">gtsam::symbol</a></div><div·class="ttdeci">Key·symbol(unsigned·char·c,·std::uint64_t·j)</div><div·class="ttdoc">Create·a·symbol·key·from·a·character·and·index,·i.e.</div><div·class="ttdef"><b>Definition</b>·Symbol.h:135</div></div>
456 <div·class="ttc"·id="aa01428_html_a6ede8384dee0353a0ce5fb54ea50c21d"><div·class="ttname"><a·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a></div><div·class="ttdeci">Vector2·Point2</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point2·to·Vector2...</div><div·class="ttdef"><b>Definition</b>·Point2.h:27</div></div>456 <div·class="ttc"·id="aa01428_html_a6ede8384dee0353a0ce5fb54ea50c21d"><div·class="ttname"><a·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a></div><div·class="ttdeci">Vector2·Point2</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point2·to·Vector2...</div><div·class="ttdef"><b>Definition</b>·Point2.h:27</div></div>
457 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>457 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>
458 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>458 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>
459 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>459 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
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119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
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121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;cstdint&gt;</span></div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;cstdint&gt;</span></div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;functional&gt;</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;functional&gt;</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
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268 <div·class="line"><a·id="l00179"·name="l00179"></a><span·class="lineno">··179</span>··<span·class="keyword">constexpr</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·chr()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·c_;·}</div>268 <div·class="line"><a·id="l00179"·name="l00179"></a><span·class="lineno">··179</span>··<span·class="keyword">constexpr</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·chr()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·c_;·}</div>
269 <div·class="line"><a·id="l00180"·name="l00180"></a><span·class="lineno">··180</span>};</div>269 <div·class="line"><a·id="l00180"·name="l00180"></a><span·class="lineno">··180</span>};</div>
270 </div>270 </div>
271 <div·class="line"><a·id="l00181"·name="l00181"></a><span·class="lineno">··181</span>·</div>271 <div·class="line"><a·id="l00181"·name="l00181"></a><span·class="lineno">··181</span>·</div>
272 <div·class="line"><a·id="l00183"·name="l00183"></a><span·class="lineno"><a·class="line"·href="a03696.html">··183</a></span><span·class="keyword">template</span>&lt;&gt;·<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03688.html">Symbol</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;Symbol&gt;·{};</div>272 <div·class="line"><a·id="l00183"·name="l00183"></a><span·class="lineno"><a·class="line"·href="a03696.html">··183</a></span><span·class="keyword">template</span>&lt;&gt;·<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03688.html">Symbol</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;Symbol&gt;·{};</div>
273 <div·class="line"><a·id="l00184"·name="l00184"></a><span·class="lineno">··184</span>·</div>273 <div·class="line"><a·id="l00184"·name="l00184"></a><span·class="lineno">··184</span>·</div>
274 <div·class="line"><a·id="l00185"·name="l00185"></a><span·class="lineno">··185</span>}·<span·class="comment">//·\·namespace·gtsam</span></div>274 <div·class="line"><a·id="l00185"·name="l00185"></a><span·class="lineno">··185</span>}·<span·class="comment">//·\·namespace·gtsam</span></div>
275 <div·class="ttc"·id="aa00071_html"><div·class="ttname"><a·href="a00071.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>275 <div·class="ttc"·id="aa00107_html"><div·class="ttname"><a·href="a00107.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>
276 <div·class="ttc"·id="aa00611_html"><div·class="ttname"><a·href="a00611.html">Key.h</a></div></div>276 <div·class="ttc"·id="aa00590_html"><div·class="ttname"><a·href="a00590.html">Key.h</a></div></div>
277 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>277 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
278 <div·class="ttc"·id="aa01428_html_a2f4d98c5186046db873a6c05aebbdf9c"><div·class="ttname"><a·href="a01428.html#a2f4d98c5186046db873a6c05aebbdf9c">gtsam::symbolIndex</a></div><div·class="ttdeci">std::uint64_t·symbolIndex(Key·key)</div><div·class="ttdoc">Return·the·index·portion·of·a·symbol·key.</div><div·class="ttdef"><b>Definition</b>·Symbol.h:141</div></div>278 <div·class="ttc"·id="aa01428_html_a2f4d98c5186046db873a6c05aebbdf9c"><div·class="ttname"><a·href="a01428.html#a2f4d98c5186046db873a6c05aebbdf9c">gtsam::symbolIndex</a></div><div·class="ttdeci">std::uint64_t·symbolIndex(Key·key)</div><div·class="ttdoc">Return·the·index·portion·of·a·symbol·key.</div><div·class="ttdef"><b>Definition</b>·Symbol.h:141</div></div>
279 <div·class="ttc"·id="aa01428_html_a3bfdb8456463015b2dda092a5805a745"><div·class="ttname"><a·href="a01428.html#a3bfdb8456463015b2dda092a5805a745">gtsam::symbol</a></div><div·class="ttdeci">Key·symbol(unsigned·char·c,·std::uint64_t·j)</div><div·class="ttdoc">Create·a·symbol·key·from·a·character·and·index,·i.e.</div><div·class="ttdef"><b>Definition</b>·Symbol.h:135</div></div>279 <div·class="ttc"·id="aa01428_html_a3bfdb8456463015b2dda092a5805a745"><div·class="ttname"><a·href="a01428.html#a3bfdb8456463015b2dda092a5805a745">gtsam::symbol</a></div><div·class="ttdeci">Key·symbol(unsigned·char·c,·std::uint64_t·j)</div><div·class="ttdoc">Create·a·symbol·key·from·a·character·and·index,·i.e.</div><div·class="ttdef"><b>Definition</b>·Symbol.h:135</div></div>
280 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>280 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>
281 <div·class="ttc"·id="aa01428_html_a9ca9499e881d22361b4833c2854d941f"><div·class="ttname"><a·href="a01428.html#a9ca9499e881d22361b4833c2854d941f">gtsam::symbolChr</a></div><div·class="ttdeci">unsigned·char·symbolChr(Key·key)</div><div·class="ttdoc">Return·the·character·portion·of·a·symbol·key.</div><div·class="ttdef"><b>Definition</b>·Symbol.h:138</div></div>281 <div·class="ttc"·id="aa01428_html_a9ca9499e881d22361b4833c2854d941f"><div·class="ttname"><a·href="a01428.html#a9ca9499e881d22361b4833c2854d941f">gtsam::symbolChr</a></div><div·class="ttdeci">unsigned·char·symbolChr(Key·key)</div><div·class="ttdoc">Return·the·character·portion·of·a·symbol·key.</div><div·class="ttdef"><b>Definition</b>·Symbol.h:138</div></div>
282 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>282 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
283 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>283 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
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104 <div·class="header">104 <div·class="header">
105 ··<div·class="headertitle"><div·class="title">expressions.h</div></div>105 ··<div·class="headertitle"><div·class="title">expressions.h</div></div>
106 </div><!--header-->106 </div><!--header-->
107 <div·class="contents">107 <div·class="contents">
108 <a·href="a08143.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span>·</div>108 <a·href="a08143.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span>·</div>
109 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="preprocessor">#pragma·once</span></div>109 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="preprocessor">#pragma·once</span></div>
110 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span>·</div>110 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span>·</div>
111 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00278.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>111 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>
112 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00908.html">gtsam/navigation/NavState.h</a>&gt;</span></div>112 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00980.html">gtsam/navigation/NavState.h</a>&gt;</span></div>
113 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08146.html">gtsam/nonlinear/expressions.h</a>&gt;</span></div>113 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08146.html">gtsam/nonlinear/expressions.h</a>&gt;</span></div>
114 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08149.html">gtsam/slam/expressions.h</a>&gt;</span></div>114 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08149.html">gtsam/slam/expressions.h</a>&gt;</span></div>
115 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span>·</div>115 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span>·</div>
116 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>116 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
117 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div>117 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div>
118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="keyword">typedef</span>·Expression&lt;NavState&gt;·NavState_;</div>118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="keyword">typedef</span>·Expression&lt;NavState&gt;·NavState_;</div>
119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="keyword">typedef</span>·Expression&lt;Velocity3&gt;·Velocity3_;</div>119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="keyword">typedef</span>·Expression&lt;Velocity3&gt;·Velocity3_;</div>
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139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keywordflow">return</span>·Point3_(internal::position,·X);</div>139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keywordflow">return</span>·Point3_(internal::position,·X);</div>
140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>}</div>140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>}</div>
141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">inline</span>·Velocity3_·velocity(<span·class="keyword">const</span>·NavState_&amp;·X)·{</div>141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">inline</span>·Velocity3_·velocity(<span·class="keyword">const</span>·NavState_&amp;·X)·{</div>
142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordflow">return</span>·Velocity3_(internal::velocity,·X);</div>142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordflow">return</span>·Velocity3_(internal::velocity,·X);</div>
143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>}</div>143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>}</div>
144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>}··<span·class="comment">//·namespace·gtsam</span></div>145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>}··<span·class="comment">//·namespace·gtsam</span></div>
146 <div·class="ttc"·id="aa00278_html"><div·class="ttname"><a·href="a00278.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div>146 <div·class="ttc"·id="aa00332_html"><div·class="ttname"><a·href="a00332.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div>
147 <div·class="ttc"·id="aa00908_html"><div·class="ttname"><a·href="a00908.html">NavState.h</a></div><div·class="ttdoc">Navigation·state·composing·of·attitude,·position,·and·velocity.</div></div>147 <div·class="ttc"·id="aa00980_html"><div·class="ttname"><a·href="a00980.html">NavState.h</a></div><div·class="ttdoc">Navigation·state·composing·of·attitude,·position,·and·velocity.</div></div>
148 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>148 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
149 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>149 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>
150 <div·class="ttc"·id="aa01428_html_ad6ba0a40d5dd8936f4ca53f7bb3ef53b"><div·class="ttname"><a·href="a01428.html#ad6ba0a40d5dd8936f4ca53f7bb3ef53b">gtsam::Velocity3</a></div><div·class="ttdeci">Vector3·Velocity3</div><div·class="ttdoc">Velocity·is·currently·typedef'd·to·Vector3.</div><div·class="ttdef"><b>Definition</b>·NavState.h:28</div></div>150 <div·class="ttc"·id="aa01428_html_ad6ba0a40d5dd8936f4ca53f7bb3ef53b"><div·class="ttname"><a·href="a01428.html#ad6ba0a40d5dd8936f4ca53f7bb3ef53b">gtsam::Velocity3</a></div><div·class="ttdeci">Vector3·Velocity3</div><div·class="ttdoc">Velocity·is·currently·typedef'd·to·Vector3.</div><div·class="ttdef"><b>Definition</b>·NavState.h:28</div></div>
151 <div·class="ttc"·id="aa08146_html"><div·class="ttname"><a·href="a08146.html">expressions.h</a></div><div·class="ttdoc">Common·expressions,·both·linear·and·non-linear.</div></div>151 <div·class="ttc"·id="aa08146_html"><div·class="ttname"><a·href="a08146.html">expressions.h</a></div><div·class="ttdoc">Common·expressions,·both·linear·and·non-linear.</div></div>
152 <div·class="ttc"·id="aa08149_html"><div·class="ttname"><a·href="a08149.html">expressions.h</a></div><div·class="ttdoc">Common·expressions·for·solving·geometry/slam/sfm·problems.</div></div>152 <div·class="ttc"·id="aa08149_html"><div·class="ttname"><a·href="a08149.html">expressions.h</a></div><div·class="ttdoc">Common·expressions·for·solving·geometry/slam/sfm·problems.</div></div>
153 </div><!--·fragment·--></div><!--·contents·-->153 </div><!--·fragment·--></div><!--·contents·-->
154 </div><!--·doc-content·-->154 </div><!--·doc-content·-->
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104 <div·class="header">104 <div·class="header">
105 ··<div·class="headertitle"><div·class="title">expressions.h</div></div>105 ··<div·class="headertitle"><div·class="title">expressions.h</div></div>
106 </div><!--header-->106 </div><!--header-->
107 <div·class="contents">107 <div·class="contents">
108 <a·href="a08146.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span>·</div>108 <a·href="a08146.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span>·</div>
109 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="preprocessor">#pragma·once</span></div>109 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="preprocessor">#pragma·once</span></div>
110 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span>·</div>110 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span>·</div>
111 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01034.html">gtsam/nonlinear/Expression.h</a>&gt;</span></div>111 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01094.html">gtsam/nonlinear/Expression.h</a>&gt;</span></div>
112 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00128.html">gtsam/base/Lie.h</a>&gt;</span></div>112 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00002.html">gtsam/base/Lie.h</a>&gt;</span></div>
113 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span>·</div>113 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span>·</div>
114 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>114 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
115 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span>·</div>115 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span>·</div>
116 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">//·Generic·between,·assumes·existence·of·traits&lt;T&gt;::Between</span></div>116 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">//·Generic·between,·assumes·existence·of·traits&lt;T&gt;::Between</span></div>
117 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;</div>117 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;</div>
118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>Expression&lt;T&gt;·<a·class="code·hl_function"·href="a00149.html#a72a7c561cc91f437a22023297fb7f658">between</a>(<span·class="keyword">const</span>·Expression&lt;T&gt;&amp;·t1,·<span·class="keyword">const</span>·Expression&lt;T&gt;&amp;·t2)·{</div>118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>Expression&lt;T&gt;·<a·class="code·hl_function"·href="a00017.html#a72a7c561cc91f437a22023297fb7f658">between</a>(<span·class="keyword">const</span>·Expression&lt;T&gt;&amp;·t1,·<span·class="keyword">const</span>·Expression&lt;T&gt;&amp;·t2)·{</div>
119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>··<span·class="keywordflow">return</span>·Expression&lt;T&gt;(traits&lt;T&gt;::Between,·t1,·t2);</div>119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>··<span·class="keywordflow">return</span>·Expression&lt;T&gt;(traits&lt;T&gt;::Between,·t1,·t2);</div>
120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>}</div>120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>}</div>
121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="comment">//·Generic·compose,·assumes·existence·of·traits&lt;T&gt;::Compose</span></div>122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="comment">//·Generic·compose,·assumes·existence·of·traits&lt;T&gt;::Compose</span></div>
123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;</div>123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;</div>
124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>Expression&lt;T&gt;·compose(<span·class="keyword">const</span>·Expression&lt;T&gt;&amp;·t1,·<span·class="keyword">const</span>·Expression&lt;T&gt;&amp;·t2)·{</div>124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>Expression&lt;T&gt;·compose(<span·class="keyword">const</span>·Expression&lt;T&gt;&amp;·t1,·<span·class="keyword">const</span>·Expression&lt;T&gt;&amp;·t2)·{</div>
125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>··<span·class="keywordflow">return</span>·Expression&lt;T&gt;(traits&lt;T&gt;::Compose,·t1,·t2);</div>125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>··<span·class="keywordflow">return</span>·Expression&lt;T&gt;(traits&lt;T&gt;::Compose,·t1,·t2);</div>
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134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">typedef</span>·Expression&lt;Vector5&gt;·Vector5_;</div>134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">typedef</span>·Expression&lt;Vector5&gt;·Vector5_;</div>
135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">typedef</span>·Expression&lt;Vector6&gt;·Vector6_;</div>135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">typedef</span>·Expression&lt;Vector6&gt;·Vector6_;</div>
136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">typedef</span>·Expression&lt;Vector7&gt;·Vector7_;</div>136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">typedef</span>·Expression&lt;Vector7&gt;·Vector7_;</div>
137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">typedef</span>·Expression&lt;Vector8&gt;·Vector8_;</div>137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">typedef</span>·Expression&lt;Vector8&gt;·Vector8_;</div>
138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">typedef</span>·Expression&lt;Vector9&gt;·Vector9_;</div>138 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">typedef</span>·Expression&lt;Vector9&gt;·Vector9_;</div>
139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>139 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>}··<span·class="comment">//·\namespace·gtsam</span></div>140 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>}··<span·class="comment">//·\namespace·gtsam</span></div>
141 <div·class="ttc"·id="aa00128_html"><div·class="ttname"><a·href="a00128.html">Lie.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Lie·types.</div></div>141 <div·class="ttc"·id="aa00002_html"><div·class="ttname"><a·href="a00002.html">Lie.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Lie·types.</div></div>
142 <div·class="ttc"·id="aa00149_html_a72a7c561cc91f437a22023297fb7f658"><div·class="ttname"><a·href="a00149.html#a72a7c561cc91f437a22023297fb7f658">gtsam::testing::between</a></div><div·class="ttdeci">T·between(const·T·&amp;t1,·const·T·&amp;t2)</div><div·class="ttdoc">binary·functions</div><div·class="ttdef"><b>Definition</b>·lieProxies.h:36</div></div>142 <div·class="ttc"·id="aa00017_html_a72a7c561cc91f437a22023297fb7f658"><div·class="ttname"><a·href="a00017.html#a72a7c561cc91f437a22023297fb7f658">gtsam::testing::between</a></div><div·class="ttdeci">T·between(const·T·&amp;t1,·const·T·&amp;t2)</div><div·class="ttdoc">binary·functions</div><div·class="ttdef"><b>Definition</b>·lieProxies.h:36</div></div>
143 <div·class="ttc"·id="aa01034_html"><div·class="ttname"><a·href="a01034.html">Expression.h</a></div><div·class="ttdoc">Expressions·for·Block·Automatic·Differentiation.</div></div>143 <div·class="ttc"·id="aa01094_html"><div·class="ttname"><a·href="a01094.html">Expression.h</a></div><div·class="ttdoc">Expressions·for·Block·Automatic·Differentiation.</div></div>
144 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>144 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
145 </div><!--·fragment·--></div><!--·contents·-->145 </div><!--·fragment·--></div><!--·contents·-->
146 </div><!--·doc-content·-->146 </div><!--·doc-content·-->
147 <!--·start·footer·part·-->147 <!--·start·footer·part·-->
148 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->148 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
149 ··<ul>149 ··<ul>
150 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a08146.html">expressions.h</a></li>150 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a08146.html">expressions.h</a></li>
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105 ··<div·class="headertitle"><div·class="title">expressions.h</div></div>105 ··<div·class="headertitle"><div·class="title">expressions.h</div></div>
106 </div><!--header-->106 </div><!--header-->
107 <div·class="contents">107 <div·class="contents">
108 <a·href="a08149.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span>·</div>108 <a·href="a08149.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span>·</div>
109 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="preprocessor">#pragma·once</span></div>109 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="preprocessor">#pragma·once</span></div>
110 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span>·</div>110 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span>·</div>
111 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08146.html">gtsam/nonlinear/expressions.h</a>&gt;</span></div>111 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08146.html">gtsam/nonlinear/expressions.h</a>&gt;</span></div>
112 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00329.html">gtsam/geometry/Pose2.h</a>&gt;</span></div>112 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00413.html">gtsam/geometry/Pose2.h</a>&gt;</span></div>
113 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00398.html">gtsam/geometry/Cal3_S2.h</a>&gt;</span></div>113 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00446.html">gtsam/geometry/Cal3_S2.h</a>&gt;</span></div>
114 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00380.html">gtsam/geometry/Cal3Bundler.h</a>&gt;</span></div>114 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00350.html">gtsam/geometry/Cal3Bundler.h</a>&gt;</span></div>
115 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00281.html">gtsam/geometry/Line3.h</a>&gt;</span></div>115 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00308.html">gtsam/geometry/Line3.h</a>&gt;</span></div>
116 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="preprocessor">#include·&lt;gtsam/geometry/OrientedPlane3.h&gt;</span></div>116 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="preprocessor">#include·&lt;gtsam/geometry/OrientedPlane3.h&gt;</span></div>
117 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00422.html">gtsam/geometry/PinholeCamera.h</a>&gt;</span></div>117 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00440.html">gtsam/geometry/PinholeCamera.h</a>&gt;</span></div>
118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>
119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="comment">//·2D·Geometry</span></div>121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="comment">//·2D·Geometry</span></div>
122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">typedef</span>·Expression&lt;Point2&gt;·Point2_;</div>123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">typedef</span>·Expression&lt;Point2&gt;·Point2_;</div>
124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">typedef</span>·Expression&lt;Rot2&gt;·Rot2_;</div>124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">typedef</span>·Expression&lt;Rot2&gt;·Rot2_;</div>
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191 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··<span·class="keywordflow">return</span>·Rot3_(internal::rotation,·pose);</div>191 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··<span·class="keywordflow">return</span>·Rot3_(internal::rotation,·pose);</div>
192 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>}</div>192 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>}</div>
193 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div>193 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div>
194 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span><span·class="keyword">inline</span>·Point3_·translation(<span·class="keyword">const</span>·Pose3_&amp;·pose)·{</div>194 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span><span·class="keyword">inline</span>·Point3_·translation(<span·class="keyword">const</span>·Pose3_&amp;·pose)·{</div>
195 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··<span·class="keywordflow">return</span>·Point3_(internal::translation,·pose);</div>195 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··<span·class="keywordflow">return</span>·Point3_(internal::translation,·pose);</div>
196 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>}</div>196 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>}</div>
197 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·</div>197 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·</div>
198 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span><span·class="keyword">inline</span>·Point3_·<a·class="code·hl_function"·href="a00149.html#a644bbe6719d8dd756e11e8b3d2fd229a">rotate</a>(<span·class="keyword">const</span>·Rot3_&amp;·x,·<span·class="keyword">const</span>·Point3_&amp;·p)·{</div>198 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span><span·class="keyword">inline</span>·Point3_·<a·class="code·hl_function"·href="a00017.html#a644bbe6719d8dd756e11e8b3d2fd229a">rotate</a>(<span·class="keyword">const</span>·Rot3_&amp;·x,·<span·class="keyword">const</span>·Point3_&amp;·p)·{</div>
199 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··<span·class="keywordflow">return</span>·Point3_(x,·&amp;<a·class="code·hl_function"·href="a03228.html#a89483be3c6be7b7aca15eea0be0f2bdd">Rot3::rotate</a>,·p);</div>199 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··<span·class="keywordflow">return</span>·Point3_(x,·&amp;<a·class="code·hl_function"·href="a03228.html#a89483be3c6be7b7aca15eea0be0f2bdd">Rot3::rotate</a>,·p);</div>
200 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>}</div>200 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>}</div>
201 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>·</div>201 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>·</div>
202 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span><span·class="keyword">inline</span>·Point3_·point3(<span·class="keyword">const</span>·Unit3_&amp;·v)·{</div>202 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span><span·class="keyword">inline</span>·Point3_·point3(<span·class="keyword">const</span>·Unit3_&amp;·v)·{</div>
203 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>··<span·class="keywordflow">return</span>·Point3_(&amp;<a·class="code·hl_function"·href="a03380.html#a4564930d54700b7cb2cabf83112c8e33">Unit3::point3</a>,·v);</div>203 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>··<span·class="keywordflow">return</span>·Point3_(&amp;<a·class="code·hl_function"·href="a03380.html#a4564930d54700b7cb2cabf83112c8e33">Unit3::point3</a>,·v);</div>
204 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>}</div>204 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>}</div>
205 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>·</div>205 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>·</div>
206 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span><span·class="keyword">inline</span>·Unit3_·<a·class="code·hl_function"·href="a00149.html#a644bbe6719d8dd756e11e8b3d2fd229a">rotate</a>(<span·class="keyword">const</span>·Rot3_&amp;·x,·<span·class="keyword">const</span>·Unit3_&amp;·p)·{</div>206 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span><span·class="keyword">inline</span>·Unit3_·<a·class="code·hl_function"·href="a00017.html#a644bbe6719d8dd756e11e8b3d2fd229a">rotate</a>(<span·class="keyword">const</span>·Rot3_&amp;·x,·<span·class="keyword">const</span>·Unit3_&amp;·p)·{</div>
207 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>··<span·class="keywordflow">return</span>·Unit3_(x,·&amp;<a·class="code·hl_function"·href="a03228.html#a89483be3c6be7b7aca15eea0be0f2bdd">Rot3::rotate</a>,·p);</div>207 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>··<span·class="keywordflow">return</span>·Unit3_(x,·&amp;<a·class="code·hl_function"·href="a03228.html#a89483be3c6be7b7aca15eea0be0f2bdd">Rot3::rotate</a>,·p);</div>
208 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>}</div>208 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>}</div>
209 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>·</div>209 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>·</div>
210 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span><span·class="keyword">inline</span>·Point3_·unrotate(<span·class="keyword">const</span>·Rot3_&amp;·x,·<span·class="keyword">const</span>·Point3_&amp;·p)·{</div>210 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span><span·class="keyword">inline</span>·Point3_·unrotate(<span·class="keyword">const</span>·Rot3_&amp;·x,·<span·class="keyword">const</span>·Point3_&amp;·p)·{</div>
211 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>··<span·class="keywordflow">return</span>·Point3_(x,·&amp;<a·class="code·hl_function"·href="a03228.html#a39890aed76e02db7071b3989358cddae">Rot3::unrotate</a>,·p);</div>211 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>··<span·class="keywordflow">return</span>·Point3_(x,·&amp;<a·class="code·hl_function"·href="a03228.html#a39890aed76e02db7071b3989358cddae">Rot3::unrotate</a>,·p);</div>
212 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>}</div>212 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>}</div>
213 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>·</div>213 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>·</div>
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295 <div·class="line"><a·id="l00193"·name="l00193"></a><span·class="lineno">··193</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04292.html">gtsam::Expression&lt;T&gt;</a>·&amp;x1,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04292.html">gtsam::Expression&lt;T&gt;</a>·&amp;x2)·{</div>295 <div·class="line"><a·id="l00193"·name="l00193"></a><span·class="lineno">··193</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04292.html">gtsam::Expression&lt;T&gt;</a>·&amp;x1,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04292.html">gtsam::Expression&lt;T&gt;</a>·&amp;x2)·{</div>
296 <div·class="line"><a·id="l00194"·name="l00194"></a><span·class="lineno">··194</span>··<span·class="keywordflow">return</span>·<a·class="code·hl_class"·href="a04292.html">Expression&lt;typename·gtsam::traits&lt;T&gt;::TangentVector</a>&gt;(</div>296 <div·class="line"><a·id="l00194"·name="l00194"></a><span·class="lineno">··194</span>··<span·class="keywordflow">return</span>·<a·class="code·hl_class"·href="a04292.html">Expression&lt;typename·gtsam::traits&lt;T&gt;::TangentVector</a>&gt;(</div>
297 <div·class="line"><a·id="l00195"·name="l00195"></a><span·class="lineno">··195</span>······<a·class="code·hl_struct"·href="a02276.html">gtsam::traits&lt;T&gt;::Logmap</a>,·between(x1,·x2));</div>297 <div·class="line"><a·id="l00195"·name="l00195"></a><span·class="lineno">··195</span>······<a·class="code·hl_struct"·href="a02276.html">gtsam::traits&lt;T&gt;::Logmap</a>,·between(x1,·x2));</div>
298 <div·class="line"><a·id="l00196"·name="l00196"></a><span·class="lineno">··196</span>}</div>298 <div·class="line"><a·id="l00196"·name="l00196"></a><span·class="lineno">··196</span>}</div>
299 </div>299 </div>
300 <div·class="line"><a·id="l00197"·name="l00197"></a><span·class="lineno">··197</span>·</div>300 <div·class="line"><a·id="l00197"·name="l00197"></a><span·class="lineno">··197</span>·</div>
301 <div·class="line"><a·id="l00198"·name="l00198"></a><span·class="lineno">··198</span>}··<span·class="comment">//·\namespace·gtsam</span></div>301 <div·class="line"><a·id="l00198"·name="l00198"></a><span·class="lineno">··198</span>}··<span·class="comment">//·\namespace·gtsam</span></div>
302 <div·class="ttc"·id="aa00149_html_a644bbe6719d8dd756e11e8b3d2fd229a"><div·class="ttname"><a·href="a00149.html#a644bbe6719d8dd756e11e8b3d2fd229a">gtsam::testing::rotate</a></div><div·class="ttdeci">P·rotate(const·T·&amp;r,·const·P·&amp;pt)</div><div·class="ttdoc">rotation·functions</div><div·class="ttdef"><b>Definition</b>·lieProxies.h:47</div></div>302 <div·class="ttc"·id="aa00017_html_a644bbe6719d8dd756e11e8b3d2fd229a"><div·class="ttname"><a·href="a00017.html#a644bbe6719d8dd756e11e8b3d2fd229a">gtsam::testing::rotate</a></div><div·class="ttdeci">P·rotate(const·T·&amp;r,·const·P·&amp;pt)</div><div·class="ttdoc">rotation·functions</div><div·class="ttdef"><b>Definition</b>·lieProxies.h:47</div></div>
303 <div·class="ttc"·id="aa00281_html"><div·class="ttname"><a·href="a00281.html">Line3.h</a></div><div·class="ttdoc">4·dimensional·manifold·of·3D·lines</div></div>303 <div·class="ttc"·id="aa00308_html"><div·class="ttname"><a·href="a00308.html">Line3.h</a></div><div·class="ttdoc">4·dimensional·manifold·of·3D·lines</div></div>
304 <div·class="ttc"·id="aa00329_html"><div·class="ttname"><a·href="a00329.html">Pose2.h</a></div><div·class="ttdoc">2D·Pose</div></div> 
305 <div·class="ttc"·id="aa00380_html"><div·class="ttname"><a·href="a00380.html">Cal3Bundler.h</a></div><div·class="ttdoc">Calibration·used·by·Bundler.</div></div>304 <div·class="ttc"·id="aa00350_html"><div·class="ttname"><a·href="a00350.html">Cal3Bundler.h</a></div><div·class="ttdoc">Calibration·used·by·Bundler.</div></div>
306 <div·class="ttc"·id="aa00398_html"><div·class="ttname"><a·href="a00398.html">Cal3_S2.h</a></div><div·class="ttdoc">The·most·common·5DOF·3D-&gt;2D·calibration.</div></div>305 <div·class="ttc"·id="aa00413_html"><div·class="ttname"><a·href="a00413.html">Pose2.h</a></div><div·class="ttdoc">2D·Pose</div></div>
307 <div·class="ttc"·id="aa00422_html"><div·class="ttname"><a·href="a00422.html">PinholeCamera.h</a></div><div·class="ttdoc">Base·class·for·all·pinhole·cameras.</div></div>306 <div·class="ttc"·id="aa00440_html"><div·class="ttname"><a·href="a00440.html">PinholeCamera.h</a></div><div·class="ttdoc">Base·class·for·all·pinhole·cameras.</div></div>
 307 <div·class="ttc"·id="aa00446_html"><div·class="ttname"><a·href="a00446.html">Cal3_S2.h</a></div><div·class="ttdoc">The·most·common·5DOF·3D-&gt;2D·calibration.</div></div>
308 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>308 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
309 <div·class="ttc"·id="aa01428_html_a1af6e019faaedfddc234925b2e50ad2b"><div·class="ttname"><a·href="a01428.html#a1af6e019faaedfddc234925b2e50ad2b">gtsam::logmap</a></div><div·class="ttdeci">gtsam::Expression&lt;·typename·gtsam::traits&lt;·T·&gt;::TangentVector·&gt;·logmap(const·gtsam::Expression&lt;·T·&gt;·&amp;x1,·const·gtsam::Expression&lt;·T·&gt;·&amp;x2)</div><div·class="ttdoc">logmap</div><div·class="ttdef"><b>Definition</b>·expressions.h:192</div></div>309 <div·class="ttc"·id="aa01428_html_a1af6e019faaedfddc234925b2e50ad2b"><div·class="ttname"><a·href="a01428.html#a1af6e019faaedfddc234925b2e50ad2b">gtsam::logmap</a></div><div·class="ttdeci">gtsam::Expression&lt;·typename·gtsam::traits&lt;·T·&gt;::TangentVector·&gt;·logmap(const·gtsam::Expression&lt;·T·&gt;·&amp;x1,·const·gtsam::Expression&lt;·T·&gt;·&amp;x2)</div><div·class="ttdoc">logmap</div><div·class="ttdef"><b>Definition</b>·expressions.h:192</div></div>
310 <div·class="ttc"·id="aa01428_html_a6ede8384dee0353a0ce5fb54ea50c21d"><div·class="ttname"><a·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a></div><div·class="ttdeci">Vector2·Point2</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point2·to·Vector2...</div><div·class="ttdef"><b>Definition</b>·Point2.h:27</div></div>310 <div·class="ttc"·id="aa01428_html_a6ede8384dee0353a0ce5fb54ea50c21d"><div·class="ttname"><a·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a></div><div·class="ttdeci">Vector2·Point2</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point2·to·Vector2...</div><div·class="ttdef"><b>Definition</b>·Point2.h:27</div></div>
311 <div·class="ttc"·id="aa01428_html_a86bf6ed2ffb0ecc42a7deb8922f4ca4f"><div·class="ttname"><a·href="a01428.html#a86bf6ed2ffb0ecc42a7deb8922f4ca4f">gtsam::cross</a></div><div·class="ttdeci">Point3·cross(const·Point3·&amp;p,·const·Point3·&amp;q,·OptionalJacobian&lt;·3,·3·&gt;·H1,·OptionalJacobian&lt;·3,·3·&gt;·H2)</div><div·class="ttdoc">cross·product</div><div·class="ttdef"><b>Definition</b>·Point3.cpp:64</div></div>311 <div·class="ttc"·id="aa01428_html_a86bf6ed2ffb0ecc42a7deb8922f4ca4f"><div·class="ttname"><a·href="a01428.html#a86bf6ed2ffb0ecc42a7deb8922f4ca4f">gtsam::cross</a></div><div·class="ttdeci">Point3·cross(const·Point3·&amp;p,·const·Point3·&amp;q,·OptionalJacobian&lt;·3,·3·&gt;·H1,·OptionalJacobian&lt;·3,·3·&gt;·H2)</div><div·class="ttdoc">cross·product</div><div·class="ttdef"><b>Definition</b>·Point3.cpp:64</div></div>
312 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>312 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>
313 <div·class="ttc"·id="aa01428_html_aae9294b064e306ac7993dea546c0d8fb"><div·class="ttname"><a·href="a01428.html#aae9294b064e306ac7993dea546c0d8fb">gtsam::transformTo</a></div><div·class="ttdeci">Line3·transformTo(const·Pose3·&amp;wTc,·const·Line3·&amp;wL,·OptionalJacobian&lt;·4,·6·&gt;·Dpose,·OptionalJacobian&lt;·4,·4·&gt;·Dline)</div><div·class="ttdoc">Transform·a·line·from·world·to·camera·frame.</div><div·class="ttdef"><b>Definition</b>·Line3.cpp:94</div></div>313 <div·class="ttc"·id="aa01428_html_aae9294b064e306ac7993dea546c0d8fb"><div·class="ttname"><a·href="a01428.html#aae9294b064e306ac7993dea546c0d8fb">gtsam::transformTo</a></div><div·class="ttdeci">Line3·transformTo(const·Pose3·&amp;wTc,·const·Line3·&amp;wL,·OptionalJacobian&lt;·4,·6·&gt;·Dpose,·OptionalJacobian&lt;·4,·4·&gt;·Dline)</div><div·class="ttdoc">Transform·a·line·from·world·to·camera·frame.</div><div·class="ttdef"><b>Definition</b>·Line3.cpp:94</div></div>
314 <div·class="ttc"·id="aa01428_html_abb52bb00c68909fc1147e5d112e8c2ae"><div·class="ttname"><a·href="a01428.html#abb52bb00c68909fc1147e5d112e8c2ae">gtsam::normalize</a></div><div·class="ttdeci">Point3·normalize(const·Point3·&amp;p,·OptionalJacobian&lt;·3,·3·&gt;·H)</div><div·class="ttdoc">normalize,·with·optional·Jacobian</div><div·class="ttdef"><b>Definition</b>·Point3.cpp:52</div></div>314 <div·class="ttc"·id="aa01428_html_abb52bb00c68909fc1147e5d112e8c2ae"><div·class="ttname"><a·href="a01428.html#abb52bb00c68909fc1147e5d112e8c2ae">gtsam::normalize</a></div><div·class="ttdeci">Point3·normalize(const·Point3·&amp;p,·OptionalJacobian&lt;·3,·3·&gt;·H)</div><div·class="ttdoc">normalize,·with·optional·Jacobian</div><div·class="ttdef"><b>Definition</b>·Point3.cpp:52</div></div>
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115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>120 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>
121 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>123 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
124 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>124 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
125 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>125 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
126 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>126 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
127 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>127 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·VALUE&gt;</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·VALUE&gt;</div>
129 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">129 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">
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206 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>··········boost::serialization::base_object&lt;Base&gt;(*<span·class="keyword">this</span>));</div>206 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>··········boost::serialization::base_object&lt;Base&gt;(*<span·class="keyword">this</span>));</div>
207 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>······ar·&amp;·BOOST_SERIALIZATION_NVP(prior_);</div>207 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>······ar·&amp;·BOOST_SERIALIZATION_NVP(prior_);</div>
208 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>····}</div>208 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>····}</div>
209 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno">··113</span>·</div>209 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno">··113</span>·</div>
210 <div·class="line"><a·id="l00114"·name="l00114"></a><span·class="lineno">··114</span>········<span·class="comment">//·Alignment,·see·https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html</span></div>210 <div·class="line"><a·id="l00114"·name="l00114"></a><span·class="lineno">··114</span>········<span·class="comment">//·Alignment,·see·https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html</span></div>
211 <div·class="line"><a·id="l00115"·name="l00115"></a><span·class="lineno">··115</span>········<span·class="keyword">enum</span>·{·NeedsToAlign·=·(<span·class="keyword">sizeof</span>(T)·%·16)·==·0·};</div>211 <div·class="line"><a·id="l00115"·name="l00115"></a><span·class="lineno">··115</span>········<span·class="keyword">enum</span>·{·NeedsToAlign·=·(<span·class="keyword">sizeof</span>(T)·%·16)·==·0·};</div>
212 <div·class="line"><a·id="l00116"·name="l00116"></a><span·class="lineno">··116</span>··<span·class="keyword">public</span>:</div>212 <div·class="line"><a·id="l00116"·name="l00116"></a><span·class="lineno">··116</span>··<span·class="keyword">public</span>:</div>
213 <div·class="line"><a·id="l00117"·name="l00117"></a><span·class="lineno">··117</span>········<a·class="code·hl_define"·href="a00125.html#a352ab46cee3a766e30b049690802fb0a">GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF</a>(NeedsToAlign)</div>213 <div·class="line"><a·id="l00117"·name="l00117"></a><span·class="lineno">··117</span>········<a·class="code·hl_define"·href="a00146.html#a352ab46cee3a766e30b049690802fb0a">GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF</a>(NeedsToAlign)</div>
214 <div·class="line"><a·id="l00118"·name="l00118"></a><span·class="lineno">··118</span>··};</div>214 <div·class="line"><a·id="l00118"·name="l00118"></a><span·class="lineno">··118</span>··};</div>
215 </div>215 </div>
216 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>·</div>216 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>·</div>
217 <div·class="line"><a·id="l00121"·name="l00121"></a><span·class="lineno">··121</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·VALUE&gt;</div>217 <div·class="line"><a·id="l00121"·name="l00121"></a><span·class="lineno">··121</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·VALUE&gt;</div>
218 <div·class="line"><a·id="l00122"·name="l00122"></a><span·class="lineno"><a·class="line"·href="a04564.html">··122</a></span>··<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a04560.html">PriorFactor</a>&lt;VALUE&gt;·&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;PriorFactor&lt;VALUE&gt;·&gt;·{};</div>218 <div·class="line"><a·id="l00122"·name="l00122"></a><span·class="lineno"><a·class="line"·href="a04564.html">··122</a></span>··<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a04560.html">PriorFactor</a>&lt;VALUE&gt;·&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;PriorFactor&lt;VALUE&gt;·&gt;·{};</div>
219 <div·class="line"><a·id="l00123"·name="l00123"></a><span·class="lineno">··123</span>·</div>219 <div·class="line"><a·id="l00123"·name="l00123"></a><span·class="lineno">··123</span>·</div>
220 <div·class="line"><a·id="l00124"·name="l00124"></a><span·class="lineno">··124</span>·</div>220 <div·class="line"><a·id="l00124"·name="l00124"></a><span·class="lineno">··124</span>·</div>
221 <div·class="line"><a·id="l00125"·name="l00125"></a><span·class="lineno">··125</span>}·</div>221 <div·class="line"><a·id="l00125"·name="l00125"></a><span·class="lineno">··125</span>}·</div>
222 <div·class="ttc"·id="aa00071_html"><div·class="ttname"><a·href="a00071.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>222 <div·class="ttc"·id="aa00107_html"><div·class="ttname"><a·href="a00107.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>
223 <div·class="ttc"·id="aa00125_html_a352ab46cee3a766e30b049690802fb0a"><div·class="ttname"><a·href="a00125.html#a352ab46cee3a766e30b049690802fb0a">GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:317</div></div>223 <div·class="ttc"·id="aa00146_html_a352ab46cee3a766e30b049690802fb0a"><div·class="ttname"><a·href="a00146.html#a352ab46cee3a766e30b049690802fb0a">GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:317</div></div>
224 <div·class="ttc"·id="aa01133_html"><div·class="ttname"><a·href="a01133.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>224 <div·class="ttc"·id="aa01013_html"><div·class="ttname"><a·href="a01013.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>
225 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>225 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
226 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>226 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:724</div></div>
227 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>227 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
228 <div·class="ttc"·id="aa01428_html_ae4b4e8e7f0d745882c6a02b507d5bffe"><div·class="ttname"><a·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">gtsam::KeyFormatter</a></div><div·class="ttdeci">std::function&lt;·std::string(Key)&gt;·KeyFormatter</div><div·class="ttdoc">Typedef·for·a·function·to·format·a·key,·i.e.·to·convert·it·to·a·string.</div><div·class="ttdef"><b>Definition</b>·Key.h:35</div></div>228 <div·class="ttc"·id="aa01428_html_ae4b4e8e7f0d745882c6a02b507d5bffe"><div·class="ttname"><a·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">gtsam::KeyFormatter</a></div><div·class="ttdeci">std::function&lt;·std::string(Key)&gt;·KeyFormatter</div><div·class="ttdoc">Typedef·for·a·function·to·format·a·key,·i.e.·to·convert·it·to·a·string.</div><div·class="ttdef"><b>Definition</b>·Key.h:35</div></div>
229 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>229 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
230 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>230 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>
231 <div·class="ttc"·id="aa03592_html_a5cc62be07fbcde6678f8b346ab3a3f78"><div·class="ttname"><a·href="a03592.html#a5cc62be07fbcde6678f8b346ab3a3f78">gtsam::Factor::equals</a></div><div·class="ttdeci">bool·equals(const·This·&amp;other,·double·tol=1e-9)·const</div><div·class="ttdoc">check·equality</div><div·class="ttdef"><b>Definition</b>·Factor.cpp:42</div></div>231 <div·class="ttc"·id="aa03592_html_a5cc62be07fbcde6678f8b346ab3a3f78"><div·class="ttname"><a·href="a03592.html#a5cc62be07fbcde6678f8b346ab3a3f78">gtsam::Factor::equals</a></div><div·class="ttdeci">bool·equals(const·This·&amp;other,·double·tol=1e-9)·const</div><div·class="ttdoc">check·equality</div><div·class="ttdef"><b>Definition</b>·Factor.cpp:42</div></div>
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115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>115 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>116 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/nonlinear/ExpressionFactor.h&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/nonlinear/ExpressionFactor.h&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00425.html">gtsam/geometry/BearingRange.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00314.html">gtsam/geometry/BearingRange.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/concept/assert.hpp&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/concept/assert.hpp&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
127 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·A1,·<span·class="keyword">typename</span>·A2,</div>127 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·A1,·<span·class="keyword">typename</span>·A2,</div>
128 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··········<span·class="keyword">typename</span>·B·=·<span·class="keyword">typename</span>·Bearing&lt;A1,·A2&gt;::result_type,</div>128 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··········<span·class="keyword">typename</span>·B·=·<span·class="keyword">typename</span>·Bearing&lt;A1,·A2&gt;::result_type,</div>
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105 <p>typedef·and·functions·to·augment·Eigen's·Vectors·· 
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115 Functions</h2></td></tr>115 Functions</h2></td></tr>
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117 <tr·class="memdesc:ae19c359190a379cba44bf818a2293f7c"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Ensure·we·are·not·including·a·different·version·of·Eigen·in·user·code·than·while·compiling·gtsam,·since·it·can·lead·to·hard-to-understand·runtime·crashes.··<br·/></td></tr> 
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120 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::print</b>·(const·Vector·&amp;v,·const·std::string·&amp;s,·std::ostream·&amp;stream)</td></tr> 
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123 <tr·class="memitem:a5e5d8018a0f44a6a299406aeda27d44b"·id="r_a5e5d8018a0f44a6a299406aeda27d44b"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a5e5d8018a0f44a6a299406aeda27d44b"·name="a5e5d8018a0f44a6a299406aeda27d44b"></a> 
124 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::print</b>·(const·Vector·&amp;v,·const·std::string·&amp;s=&quot;&quot;)</td></tr> 
125 <tr·class="memdesc:a5e5d8018a0f44a6a299406aeda27d44b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">print·with·optional·string·to·cout·<br·/></td></tr> 
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128 void&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::save</b>·(const·Vector·&amp;A,·const·std::string·&amp;s,·const·std::string·&amp;filename)</td></tr> 
129 <tr·class="memdesc:a09f2bbdb9f9d633542362dbe8d79f9ab"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">save·a·vector·to·file,·which·can·be·loaded·by·matlab·<br·/></td></tr> 
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132 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::operator==</b>·(const·Vector·&amp;vec1,·const·Vector·&amp;vec2)</td></tr> 
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136 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::greaterThanOrEqual</b>·(const·Vector·&amp;v1,·const·Vector·&amp;v2)</td></tr> 
137 <tr·class="memdesc:a368ee40bd9c0124d572d2e49bcb077bf"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Greater·than·or·equal·to·operation·returns·true·if·all·elements·in·v1·are·greater·than·corresponding·elements·in·v2.·<br·/></td></tr> 
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140 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::equal_with_abs_tol</b>·(const·Vector·&amp;vec1,·const·Vector·&amp;vec2,·double·tol=1e-9)</td></tr> 
141 <tr·class="memdesc:a8bdced1844ffd6a53af0396d82eaa6da"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">VecA·==·VecB·up·to·tolerance.·<br·/></td></tr> 
142 <tr·class="separator:a8bdced1844ffd6a53af0396d82eaa6da"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
143 <tr·class="memitem:a14034da7e28c95db712ec344d4a2ffaf"·id="r_a14034da7e28c95db712ec344d4a2ffaf"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a14034da7e28c95db712ec344d4a2ffaf"·name="a14034da7e28c95db712ec344d4a2ffaf"></a> 
144 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::equal_with_abs_tol</b>·(const·SubVector·&amp;vec1,·const·SubVector·&amp;vec2,·double·tol)</td></tr> 
145 <tr·class="separator:a14034da7e28c95db712ec344d4a2ffaf"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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147 <tr·class="memdesc:a9f3ee662d25ffb8c04b4e35c4b02e90b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Same,·prints·if·error.··<br·/></td></tr> 
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150 <tr·class="memdesc:a2ca3db47b15350977c1f03c5560ab332"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Not·the·same,·prints·if·error.··<br·/></td></tr> 
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 128 template&lt;class·T·&gt;·</td></tr>
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152 <tr·class="memitem:ac3cf8e8e70cd696d9c789c31bc1e89a7"·id="r_ac3cf8e8e70cd696d9c789c31bc1e89a7"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#ac3cf8e8e70cd696d9c789c31bc1e89a7">gtsam::assert_equal</a>·(const·SubVector·&amp;vec1,·const·SubVector·&amp;vec2,·double·tol=1e-9)</td></tr> 
153 <tr·class="memdesc:ac3cf8e8e70cd696d9c789c31bc1e89a7"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Same,·prints·if·error.··<br·/></td></tr> 
154 <tr·class="separator:ac3cf8e8e70cd696d9c789c31bc1e89a7"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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156 bool&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::assert_equal</b>·(const·ConstSubVector·&amp;expected,·const·ConstSubVector·&amp;actual,·double·tol)</td></tr> 
157 <tr·class="separator:ac95292df1087c65aa5b5388bf4c11842"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
158 <tr·class="memitem:a2a0cfd7908b06491df49b6a9c9186775"·id="r_a2a0cfd7908b06491df49b6a9c9186775"><td·class="memItemLeft"·align="right"·valign="top">bool&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a2a0cfd7908b06491df49b6a9c9186775">gtsam::linear_dependent</a>·(const·Vector·&amp;vec1,·const·Vector·&amp;vec2,·double·tol=1e-9)</td></tr> 
159 <tr·class="memdesc:a2a0cfd7908b06491df49b6a9c9186775"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">check·whether·two·vectors·are·linearly·dependent··<br·/></td></tr> 
160 <tr·class="separator:a2a0cfd7908b06491df49b6a9c9186775"><td·class="memSeparator"·colspan="2">&#160;</td></tr>130 <tr·class="separator:a1ce0a0efd90fbaa99a33267d0b5497f2"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
161 <tr·class="memitem:a14844c96706dc362917e0d5e76d65fbe"·id="r_a14844c96706dc362917e0d5e76d65fbe"><td·class="memItemLeft"·align="right"·valign="top">Vector&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html#a14844c96706dc362917e0d5e76d65fbe">gtsam::ediv_</a>·(const·Vector·&amp;a,·const·Vector·&amp;b)</td></tr> 
162 <tr·class="memdesc:a14844c96706dc362917e0d5e76d65fbe"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">elementwise·division,·but·0/0·=·0,·not·inf··<br·/></td></tr>131 <tr·class="memitem:a7716234e0ed8a78aa754d86770bf7cd2"·id="r_a7716234e0ed8a78aa754d86770bf7cd2"><td·class="memTemplParams"·colspan="2"><a·id="a7716234e0ed8a78aa754d86770bf7cd2"·name="a7716234e0ed8a78aa754d86770bf7cd2"></a>
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163 <tr·class="separator:a14844c96706dc362917e0d5e76d65fbe"><td·class="memSeparator"·colspan="2">&#160;</td></tr>134 <tr·class="separator:a7716234e0ed8a78aa754d86770bf7cd2"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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165 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::houseInPlace</b>·(Vector·&amp;x)</td></tr> 
166 <tr·class="memdesc:ac9c0c05b0198ec0fb6e4115edb755910"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">beta·=·house(x)·computes·the·HouseHolder·vector·in·place·<br·/></td></tr>135 <tr·class="memitem:a211403c98907c641fbbd04c09087948d"·id="r_a211403c98907c641fbbd04c09087948d"><td·class="memTemplParams"·colspan="2"><a·id="a211403c98907c641fbbd04c09087948d"·name="a211403c98907c641fbbd04c09087948d"></a>
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106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00020.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01211.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2020,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div> 
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Vector.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/serialization/array.hpp&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/serialization/split_free.hpp&gt;</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span>boost·{</div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span>serialization·{</div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·split·version·-·copies·into·an·STL·vector·for·serialization</span></div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Archive&gt;</div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a3eb7eed9019d3fda8fcf74fbf85b85c9">save</a>(Archive&amp;·ar,·<span·class="keyword">const</span>·gtsam::Vector&amp;·v,·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div> 
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·size·=·v.size();</div> 
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··ar·&lt;&lt;·BOOST_SERIALIZATION_NVP(size);</div> 
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··ar·&lt;&lt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(v.data(),·v.size()));</div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>}</div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Unit3.h&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01205.html">gtsam/sfm/BinaryMeasurement.h</a>&gt;</span></div>
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Archive&gt;</div> 
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keywordtype">void</span>·load(Archive&amp;·ar,·gtsam::Vector&amp;·v,·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div> 
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keywordtype">size_t</span>·size;</div> 
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··ar·&gt;&gt;·BOOST_SERIALIZATION_NVP(size);</div> 
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··v.resize(size);</div> 
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··ar·&gt;&gt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(v.data(),·v.size()));</div> 
143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>}</div> 
144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;memory&gt;</span></div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;unordered_map&gt;</span></div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="comment">//·split·version·-·copies·into·an·STL·vector·for·serialization</span></div> 
146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Archive,·<span·class="keywordtype">int</span>·D&gt;</div> 
147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a3eb7eed9019d3fda8fcf74fbf85b85c9">save</a>(Archive&amp;·ar,·<span·class="keyword">const</span>·Eigen::Matrix&lt;double,·D,·1&gt;&amp;·v,</div> 
148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··········<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div> 
149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··ar·&lt;&lt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(v.data(),·v.RowsAtCompileTime));</div> 
150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>}</div> 
151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Archive,·<span·class="keywordtype">int</span>·D&gt;</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 130 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="};">
 131 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a04700.html">···51</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04700.html">MFAS</a>·{</div>
 132 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·<span·class="keyword">public</span>:</div>
 133 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="comment">//·used·to·represent·edges·between·two·nodes·in·the·graph.·When·used·in</span></div>
 134 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="comment">//·translation·averaging·for·global·SfM</span></div>
153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keywordtype">void</span>·load(Archive&amp;·ar,·Eigen::Matrix&lt;double,·D,·1&gt;&amp;·v,</div>135 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keyword">using·</span>KeyPair·=·std::pair&lt;Key,·Key&gt;;</div>
 136 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">using·</span>TranslationEdges·=·std::vector&lt;BinaryMeasurement&lt;Unit3&gt;&gt;;</div>
154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··········<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div> 
155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··ar·&gt;&gt;·make_nvp(<span·class="stringliteral">&quot;data&quot;</span>,·make_array(v.data(),·v.RowsAtCompileTime));</div> 
156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>}</div>137 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div> 
158 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>}··<span·class="comment">//·namespace·serialization</span></div>138 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·<span·class="keyword">private</span>:</div>
 139 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="comment">//·edges·with·a·direction·such·that·all·weights·are·positive</span></div>
159 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>}··<span·class="comment">//·namespace·boost</span></div>140 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="comment">//·i.e,·edges·that·originally·had·negative·weights·are·flipped</span></div>
 141 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··std::map&lt;KeyPair,·double&gt;·edgeWeights_;</div>
160 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>142 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 143 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·<span·class="keyword">public</span>:</div>
 144 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}">
 145 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a04700.html#a0fbe57d306aa53ff9f9ef6b4dd5f4ca2">···69</a></span>··<a·class="code·hl_function"·href="a04700.html#a0fbe57d306aa53ff9f9ef6b4dd5f4ca2">MFAS</a>(<span·class="keyword">const</span>·std::map&lt;KeyPair,·double&gt;·&amp;edgeWeights)</div>
 146 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······:·edgeWeights_(edgeWeights)·{}</div>
 147 </div>
 148 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 149 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<a·class="code·hl_class"·href="a04700.html">MFAS</a>(<span·class="keyword">const</span>·TranslationEdges·&amp;relativeTranslations,</div>
 150 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03380.html">Unit3</a>·&amp;projectionDirection);</div>
161 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector)</div>151 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>
162 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector2)</div> 
163 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector3)</div> 
164 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Vector6)</div> 
165 <div·class="ttc"·id="aa00014_html"><div·class="ttname"><a·href="a00014.html">Vector.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·VectorXd</div></div> 
166 <div·class="ttc"·id="aa01428_html_a3eb7eed9019d3fda8fcf74fbf85b85c9"><div·class="ttname"><a·href="a01428.html#a3eb7eed9019d3fda8fcf74fbf85b85c9">gtsam::save</a></div><div·class="ttdeci">void·save(const·Matrix·&amp;A,·const·string·&amp;s,·const·string·&amp;filename)</d[·...·truncated·by·diffoscope;·len:·137,·SHA:·fa5ec98f3f85eb83a16f2b653da47231f9adc0aebb2d209d52829930448f63b7·...·]</div>152 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·computeOrdering()·<span·class="keyword">const</span>;</div>
 153 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
 154 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··std::map&lt;KeyPair,·double&gt;·computeOutlierWeights()·<span·class="keyword">const</span>;</div>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">serializationTestHelpers.h</div></div>104 ··<div·class="headertitle"><div·class="title">iterative-inl.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00029.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00710.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00893.html">gtsam/linear/iterative.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/ConjugateGradientSolver.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;sstream&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00023.html">gtsam/base/serialization.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;boost/serialization/serialization.hpp&gt;</span></div> 
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;boost/filesystem.hpp&gt;</span></div> 
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="comment">//·state·for·CG·method</span></div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·S,·<span·class="keyword">class</span>·V,·<span·class="keyword">class</span>·E&gt;</div>
 129 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a03820.html">···30</a></span>··<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03820.html">CGState</a>·{</div>
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">//·whether·to·print·the·serialized·text·to·stdout</span></div> 
131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">const</span>·<span·class="keywordtype">bool</span>·verbose·=·<span·class="keyword">false</span>;</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03728.html">ConjugateGradientParameters</a>·<a·class="code·hl_class"·href="a03728.html">Parameters</a>;</div>
 133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03728.html">Parameters</a>·&amp;parameters_;</div>
132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">namespace·</span>serializationTestHelpers·{</div>135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03820.html#a57ba7e407a63bdc77e53e8ff76985ab3">···35</a></span>····<span·class="keywordtype">int</span>·<a·class="code·hl_variable"·href="a03820.html#a57ba7e407a63bdc77e53e8ff76985ab3">k</a>;·[·...·truncated·by·diffoscope;·len:·20,·SHA:·1e8a105dbcab2f5d6b30a670c0ff91942f4db62401e669331037101e94198250·...·]</div>
 136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03820.html#a0ec86902a54fdd09f879a398b60fb585">···36</a></span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a03820.html#a0ec86902a54fdd09f879a398b60fb585">steepest</a>;·············</div>
 137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">···37</a></span>····V·g,·<a·class="code·hl_variable"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">d</a>;····················</div>
 138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03820.html#a377969b240efda1b91aec68ac0fd1273">···38</a></span>····<span·class="keywordtype">double</span>·gamma,·<a·class="code·hl_variable"·href="a03820.html#a377969b240efda1b91aec68ac0fd1273">threshold</a>;···</div>
135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····E·Ad;</div>
136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="comment">//·templated·default·object·creation·so·we·only·need·to·declare·one·friend·(if·applicable)</span></div> 
137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div> 
138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>T·create()·{</div> 
139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordflow">return</span>·T();</div> 
140 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>}</div> 
141 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>140 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="comment">//·Creates·or·empties·a·folder·in·the·build·folder·and·returns·the·relative·path</span></div> 
143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="keyword">inline</span>·boost::filesystem::path·resetFilesystem(</div> 
144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····boost::filesystem::path·folder·=·<span·class="stringliteral">&quot;actual&quot;</span>)·{</div>141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="comment">/*·*************************************************************************·*/</span></div>
 142 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="comment">//·Constructor</span></div>
 143 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<a·class="code·hl_struct"·href="a03820.html">CGState</a>(<span·class="keyword">const</span>·S&amp;·Ab,·<span·class="keyword">const</span>·V&amp;·x,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03728.html">Parameters</a>·&amp;parameters,·<span·class="keywordtype">bool</span>·steep):</div>
 144 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····parameters_(parameters),<a·class="code·hl_variable"·href="a03820.html#a57ba7e407a63bdc77e53e8ff76985ab3">k</a>(0),<a·class="code·hl_variable"·href="a03820.html#a0ec86902a54fdd09f879a398b60fb585">steepest</a>(steep)·{</div>
145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··boost::filesystem::remove_all(folder);</div>145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 146 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>······<span·class="comment">//·Start·with·g0·=·A&#39;*(A*x0-b),·d0·=·-·g0</span></div>
 147 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······<span·class="comment">//·i.e.,·first·step·is·in·direction·of·negative·gradient</span></div>
146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··boost::filesystem::create_directory(folder);</div>148 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······g·=·Ab.gradient(x);</div>
147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keywordflow">return</span>·folder;</div>149 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······<a·class="code·hl_variable"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">d</a>·=·g;·<span·class="comment">//·instead·of·negating·gradient,·alpha·will·be·negated</span></div>
148 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>}</div>150 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······<span·class="comment">//·init·gamma·and·calculate·threshold</span></div>
 152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······gamma·=·<a·class="code·hl_function"·href="a01428.html#ad80249acf12bbea741e755cd8fc73042">dot</a>(g,g);</div>
 153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······<a·class="code·hl_variable"·href="a03820.html#a377969b240efda1b91aec68ac0fd1273">threshold</a>·=·std::max(parameters_.epsilon_abs(),·parameters_.epsilon()·*·parameters_.epsilon()·*·gamma);</div>
149 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>154 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
150 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span><span·class="comment">//·Templated·round-trip·serialization</span></div>155 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······<span·class="comment">//·Allocate·and·calculate·A*d·for·first·iteration</span></div>
 156 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<span·class="keywordflow">if</span>·(gamma·&gt;·parameters_.epsilon_abs())·Ad·=·Ab·*·<a·class="code·hl_variable"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">d</a>;</div>
 157 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····}</div>
151 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div> 
152 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keywordtype">void</span>·roundtrip(<span·class="keyword">const</span>·T&amp;·input,·T&amp;·output)·{</div> 
153 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··std::string·serialized·=·<a·class="code·hl_function"·href="a01428.html#a332bad7d1e70d3c04ceca35adce7a134">serialize</a>(input);</div> 
154 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keywordflow">if</span>·(verbose)·std::cout·&lt;&lt;·serialized·&lt;&lt;·std::endl·&lt;&lt;·std::endl;</div> 
155 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<a·class="code·hl_function"·href="a01428.html#aa4d516d0d98946341ad2766521011d1b">deserialize</a>(serialized,·output);</div> 
156 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>}</div>158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 159 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="comment">/*·*************************************************************************·*/</span></div>
 160 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="comment">//·print</span></div>
 161 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<span·class="keywordtype">void</span>·print(<span·class="keyword">const</span>·V&amp;·x)·{</div>
 162 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······std::cout·&lt;&lt;·<span·class="stringliteral">&quot;iteration·=·&quot;</span>·&lt;&lt;·<a·class="code·hl_variable"·href="a03820.html#a57ba7e407a63bdc77e53e8ff76985ab3">k</a>·&lt;&lt;·std::endl;</div>
 163 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(x,<span·class="stringliteral">&quot;x&quot;</span>);</div>
 164 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(g,·<span·class="stringliteral">&quot;g&quot;</span>);</div>
 165 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······std::cout·&lt;&lt;·<span·class="stringliteral">&quot;dotg·=·&quot;</span>·&lt;&lt;·gamma·&lt;&lt;·std::endl;</div>
 166 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(<a·class="code·hl_variable"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">d</a>,·<span·class="stringliteral">&quot;d&quot;</span>);</div>
 167 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(Ad,·<span·class="stringliteral">&quot;Ad&quot;</span>);</div>
 168 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····}</div>
157 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>169 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 170 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="comment">/*·*************************************************************************·*/</span></div>
158 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="comment">//·Templated·round-trip·serialization·using·a·file</span></div>171 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="comment">//·step·the·solution</span></div>
 172 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="keywordtype">double</span>·takeOptimalStep(V&amp;·x)·{</div>
 173 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······<span·class="comment">//·TODO:·can·we·use·gamma·instead·of·dot(d,g)·?????·Answer·not·trivial</span></div>
 174 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······<span·class="keywordtype">double</span>·alpha·=·-<a·class="code·hl_function"·href="a01428.html#ad80249acf12bbea741e755cd8fc73042">dot</a>(<a·class="code·hl_variable"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">d</a>,·g)·/·<a·class="code·hl_function"·href="a01428.html#ad80249acf12bbea741e755cd8fc73042">dot</a>(Ad,·Ad);·<span·class="comment">//·calculate·optimal·step-size</span></div>
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2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">
3 <head>3 <head>
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6 <meta·name="generator"·content="Doxygen·1.9.8"/>6 <meta·name="generator"·content="Doxygen·1.9.8"/>
7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/FastList.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/Scatter.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>12 <link·href="navtree.css"·rel="stylesheet"·type="text/css"/>
13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
14 <script·type="text/javascript"·src="navtreedata.js"></script>14 <script·type="text/javascript"·src="navtreedata.js"></script>
15 <script·type="text/javascript"·src="navtree.js"></script>15 <script·type="text/javascript"·src="navtree.js"></script>
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
79 $(document).ready(function(){initNavTree('a00047_source.html','');·initResizable();·});79 $(document).ready(function(){initNavTree('a00809_source.html','');·initResizable();·});
80 /*·@license-end·*/80 /*·@license-end·*/
81 </script>81 </script>
82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">FastList.h</div></div>104 ··<div·class="headertitle"><div·class="title">Scatter.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00047.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00809.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00008.html">gtsam/base/FastDefaultAllocator.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00137.html">gtsam/base/FastMap.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;list&gt;</span></div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/utility/enable_if.hpp&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/serialization/version.hpp&gt;</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/serialization/optional.hpp&gt;</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/serialization/list.hpp&gt;</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
 126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">class·</span>GaussianFactorGraph;</div>
 127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">class·</span>Ordering;</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
130 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·VALUE&gt;</div> 
131 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="};">129 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">
132 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a02312.html">···40</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a02312.html">FastList</a>:·<span·class="keyword">public</span>·std::list&lt;VALUE,·typename·inte[·...·truncated·by·diffoscope;·len:·49,·SHA:·6b7ccefc093faa3aec2ea251e29e9de8c2634ae6c5f2dfc95b0ccfbd9323d607·...·]·{</div>130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04024.html">···32</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04024.html">SlotEntry</a>·{</div>
 131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key;</div>
 132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keywordtype">size_t</span>·dimension;</div>
 133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<a·class="code·hl_struct"·href="a04024.html">SlotEntry</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·_key,·<span·class="keywordtype">size_t</span>·_dimension)·:·key(_key),·dimension(_dimension)·{}</div>
 134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··std::string·toString()·<span·class="keyword">const</span>;</div>
 135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">friend</span>·<span·class="keywordtype">bool</span>·operator&lt;(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04024.html">SlotEntry</a>&amp;·p,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04024.html">SlotEntry</a>&amp;·q)·{</div>
 136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="keywordflow">return</span>·p.key·&lt;·q.key;</div>
 137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··}</div>
 138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">static</span>·<span·class="keywordtype">bool</span>·Zero(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04024.html">SlotEntry</a>&amp;·p)·{·<span·class="keywordflow">return</span>·p.dimension==0;}</div>
133 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>};</div>
134 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="keyword">public</span>:</div> 
135 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div> 
136 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">typedef</span>·std::list&lt;VALUE,·typename·internal::FastDefaultAllocator&lt;VALUE&gt;::type&gt;·Base;</div> 
137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div> 
138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a02312.html#a4ddfad84c21aa8e028650085d28e64e1">···47</a></span>··<a·class="code·hl_function"·href="a02312.html#a4ddfad84c21aa8e028650085d28e64e1">FastList</a>()·{}</div> 
139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
140 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·INPUTITERATOR&gt;</div> 
141 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02312.html#a4b392c0cdea93c6af52956ccf6282f44">···51</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02312.html#a4b392c0cdea93c6af52956ccf6282f44">FastList</a>(INPUTITERATOR·first,·INPUTITERATOR·last)·:·Base(first,·last)·{}</div> 
142 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
143 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a02312.html#a64ede4dd260eb040bf895828796af872">···54</a></span>··<a·class="code·hl_function"·href="a02312.html#a64ede4dd260eb040bf895828796af872">FastList</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">FastList&lt;VALUE&gt;</a>&amp;·x)·:·Base(x)·{}</div> 
144 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
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148 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div> 
149 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span><span·class="preprocessor">#ifdef·GTSAM_ALLOCATOR_BOOSTPOOL</span></div> 
150 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<a·class="code·hl_function"·href="a02312.html#a4ddfad84c21aa8e028650085d28e64e1">FastList</a>(<span·class="keyword">const</span>·std::list&lt;VALUE&gt;&amp;·x)·{</div> 
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152 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="comment">//·STL·vector·where·if·the·size·is·zero,·the·pool·allocator·will·allocate</span></div> 
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105 <div·class="contents">104 <div·class="contents">
  
106 <p>Global·debugging·flags.··105 <p>Calibrated·camera·with·spherical·projection.··
107 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
 107 <p><a·href="a00392_source.html">Go·to·the·source·code·of·this·file.</a></p>
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 129 <div·class="textblock"><p>Calibrated·camera·with·spherical·projection.·</p>
134 <div·class="textblock"><p>Global·debugging·flags.·</p> 
135 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
136 <dl·class="section·date"><dt>Date</dt><dd>Feb·1,·2011·</dd></dl>130 <dl·class="section·date"><dt>Date</dt><dd>Aug·26,·2021·</dd></dl>
 131 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd></dl>
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131 template&lt;typename·T·,·typename·...·Args&gt;·</td></tr> 
132 <tr·class="memitem:a6f805b32c5544e5552d702d5e2b4e801"><td·class="memTemplItemLeft"·align="right"·valign="top"><a·class="el"·href="a01428.html#a47e06cd29f4e8a20a8a7842e4045845f">gtsam::enable_if_t</a>&lt;!<a·class="el"·href="a02560.html">needs_eigen_aligned_allocator</a>&lt;·T·&gt;::value,·boost::shared_ptr&lt;·T·&gt;·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::make_shared</b>·(Args·&amp;&amp;...·args)</td></tr> 
133 <tr·class="memdesc:a6f805b32c5544e5552d702d5e2b4e801"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Fall·back·to·the·boost·version·if·no·need·for·alignment.·<br·/></td></tr> 
134 <tr·class="separator:a6f805b32c5544e5552d702d5e2b4e801"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
135 </table>133 </table>
136 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>134 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
137 <div·class="textblock"><p>make_shared·trampoline·function·to·ensure·proper·alignment·</p>135 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·14,·2011·</dd></dl>
138 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang·</dd></dl>136 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd>
 137 <dd>
 138 Frank·Dellaert·</dd></dl>
139 </div></div><!--·contents·-->139 </div></div><!--·contents·-->
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141 <!--·start·footer·part·-->141 <!--·start·footer·part·-->
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143 ··<ul>143 ··<ul>
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145 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>145 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Value.h</div></div>104 ··<div·class="headertitle"><div·class="title">Signature.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00068.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00185.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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138 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>129 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">public</span>:</div>
139 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a02596.html#a74edb2709fe745b6d09087f6aacf507f">···50</a></span>····<span·class="keyword">virtual</span>·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a02596.html#a74edb2709fe745b6d09087f6aacf507f">equals_</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>·=·0;</div> 
140 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>130 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 131 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a02912.html#a058b129adfd1cdb887c88efedf2c8ca3">···59</a></span>····<span·class="keyword">typedef</span>·std::vector&lt;double&gt;·<a·class="code·hl_typedef"·href="a02912.html#a058b129adfd1cdb887c88efedf2c8ca3">Row</a>;</div>
 132 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keyword">typedef</span>·std::vector&lt;Row&gt;·Table;</div>
141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a02596.html#ac338307bb9f00cd29a70a48058069458">···53</a></span>····<span·class="keyword">virtual</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a02596.html#ac338307bb9f00cd29a70a48058069458">print</a>(<span·class="keyword">const</span>·std::string&amp;·str·=·<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const</span>·=·0;</div> 
142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div> 
143 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a02596.html#a21e0a839ddaabd4c56559684ff887efe">···60</a></span>····<span·class="keyword">virtual</span>·<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a02596.html#a21e0a839ddaabd4c56559684ff887efe">dim</a>()·<span·class="keyword">const</span>·=·0;</div> 
144 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>133 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
145 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno"><a·class="line"·href="a02596.html#a2b95d3ec328cbad775490fa15dae27d5">···68</a></span>····<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>*·<a·class="code·hl_function"·href=[·...·truncated·by·diffoscope;·len:·154,·SHA:·cfebca2ebec015428ac7d80b0b53dbc2d1cfc58bd44a1cab84bc14c6b071d753·...·]</div>134 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keyword">private</span>:</div>
 135 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
 136 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>·key_;</div>
 137 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
 138 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·parents_;</div>
146 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>139 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
147 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno"><a·class="line"·href="a02596.html#a83429f15b4f68ed92e976649ea52da97">···76</a></span>····<span·class="keyword">virtual</span>·Vector·<a·class="code·hl_function"·href="a02596.html#a83429f15b4f68ed92e976649ea52da97">[·...·truncated·by·diffoscope;·len:·162,·SHA:·ee736a1b53db702086c2ecd374d9f7f8e993d1f1668bee64d05504271efab793·...·]</div>140 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="comment">//·the·given·CPT·specification·string</span></div>
 141 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····boost::optional&lt;std::string&gt;·spec_;</div>
148 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>142 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
 143 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="comment">//·the·CPT·as·parsed,·if·successful</span></div>
149 <div·class="foldopen"·id="foldopen00079"·data-start="{"·data-end="}"> 
150 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno"><a·class="line"·href="a02596.html#abefd5e7e205863119c1f88075070f5df">···79</a></span>····<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>&amp;·<a·class="code·hl_function"·href="a02596.html#abefd5e7e205863119c1f88075070f5df">operator=</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>&amp;·<span·class="comment">/*rhs*/</span>)·{</div> 
151 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······<span·class="comment">//needs·a·empty·definition·so·recursion·in·implicit·derived·assignment·operators·work</span></div> 
152 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·····<span·class="keywordflow">return</span>·*<span·class="keyword">this</span>;</div> 
153 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····}</div>144 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····boost::optional&lt;Table&gt;·table_;</div>
154 </div> 
155 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div> 
156 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·ValueType&gt;</div> 
157 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>····<span·class="keyword">const</span>·ValueType&amp;·cast()·<span·class="keyword">const</span>;</div> 
158 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>145 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
159 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno"><a·class="line"·href="a02596.html#a616a94e2ce8e99e732d5ceb9af00632c">···89</a></span>····<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a02596.html#a616a94e2ce8e99e732d5ceb9af00632c">~Value[·...·truncated·by·diffoscope;·len:·9,·SHA:·6bcc208acca03f2c5494429070a58dc6efb4907f8f8f3641d2aa30e2b58a8a81·...·]</div>146 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="keyword">public</span>:</div>
 147 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>···<a·class="code·hl_class"·href="a02912.html">Signature</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·parents,</div>
 148 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·············<span·class="keyword">const</span>·Table&amp;·table);</div>
160 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>149 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>
 150 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>···<a·class="code·hl_class"·href="a02912.html">Signature</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·parents,</div>
161 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··<span·class="keyword">private</span>:</div>151 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>·············<span·class="keyword">const</span>·std::string&amp;·spec);</div>
162 <div·class="line"><a·id="l00122"·name="l00122"></a><span·class="lineno"><a·class="line"·href="a02596.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">··122</a></span>····<span·class="keyword">friend</span>·<span·class="keyword">class·</span>boost::serialization::access;</div> 
163 <div·class="line"><a·id="l00123"·name="l00123"></a><span·class="lineno">··123</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div> 
164 <div·class="line"><a·id="l00124"·name="l00124"></a><span·class="lineno">··124</span>····<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·<span·class="comment">/*ar*/</span>,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordt[·...·truncated·by·diffoscope;·len:·59,·SHA:·221a83dd320057d3e9b7ddfb120142eea96eb5876446f2466831d2201db9ef68·...·]</div>152 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>·</div>
 153 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>···<a·class="code·hl_class"·href="a02912.html">Signature</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key);</div>
 154 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno">··113</span>·</div>
 155 <div·class="line"><a·id="l00115"·name="l00115"></a><span·class="lineno"><a·class="line"·href="a02912.html#a10c4bb368ec774f858fb8b285d8d3fd9">··115</a></span>···<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·<a·class="code·hl_function"·href="a02912.html#a10c4bb368ec774f858fb8b285d8d3fd9">key</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·key_;·}</div>
 156 <div·class="line"><a·id="l00116"·name="l00116"></a><span·class="lineno">··116</span>·</div>
 157 <div·class="line"><a·id="l00118"·name="l00118"></a><span·class="lineno"><a·class="line"·href="a02912.html#ad7f3050204ed5d3e880642817f5c18e6">··118</a></span>···<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·<a·class="code·hl_function"·href="a02912.html#ad7f3050204ed5d3e880642817f5c18e6">parents</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·parents_;·}</div>
 158 <div·class="line"><a·id="l00119"·name="l00119"></a><span·class="lineno">··119</span>·</div>
 159 <div·class="line"><a·id="l00121"·name="l00121"></a><span·class="lineno">··121</span>···<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·discreteKeys()·<span·class="keyword">const</span>;</div>
 160 <div·class="line"><a·id="l00122"·name="l00122"></a><span·class="lineno">··122</span>·</div>
 161 <div·class="line"><a·id="l00124"·name="l00124"></a><span·class="lineno">··124</span>···<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·indices()·<span·class="keyword">const</span>;</div>
165 <div·class="line"><a·id="l00125"·name="l00125"></a><span·class="lineno">··125</span>····}</div>162 <div·class="line"><a·id="l00125"·name="l00125"></a><span·class="lineno">··125</span>·</div>
 163 <div·class="line"><a·id="l00126"·name="l00126"></a><span·class="lineno">··126</span>···<span·class="comment">//·the·CPT·as·parsed,·if·successful</span></div>
 164 <div·class="line"><a·id="l00127"·name="l00127"></a><span·class="lineno">··127</span>···<span·class="keyword">const</span>·boost::optional&lt;Table&gt;&amp;·table()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·table_;·}</div>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Testable.h</div></div>104 ··<div·class="headertitle"><div·class="title">AcceleratedPowerMethod.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00071.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00743.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">//·\callgraph</span></div> 
119 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div> 
120 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
121 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
122 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="preprocessor">#include·&lt;boost/concept_check.hpp&gt;</span></div> 
123 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#include·&lt;functional&gt;</span></div> 
124 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div> 
125 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="preprocessor">#include·&lt;memory&gt;</span></div> 
126 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
127 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
128 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="preprocessor">#define·GTSAM_PRINT(x)((x).print(#x))</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00866.html">gtsam/linear/PowerMethod.h</a>&gt;</span></div>
129 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
130 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
131 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
 124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">using·</span>Sparse·=·Eigen::SparseMatrix&lt;double&gt;;</div>
132 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Forward·declaration</span></div> 
133 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;·<span·class="keyword">struct·</span>traits;</div> 
134 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
135 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T&gt;</div>126 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Operator&gt;</div>
136 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="};">127 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="};">
 128 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a03716.html">···51</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03716.html">AcceleratedPowerMethod</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03980.html">PowerMethod</a>&lt;Operator&gt;·{</div>
137 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a02476.html">···58</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a02476.html">IsTestable</a>·{</div> 
138 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····T·t;</div> 
139 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordtype">bool</span>·r1,r2;</div> 
140 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">public</span>:</div> 
141 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>129 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
142 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····BOOST_CONCEPT_USAGE(<a·class="code·hl_class"·href="a02476.html">IsTestable</a>)·{</div>130 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keywordtype">double</span>·beta_·=·0;··<span·class="comment">//·a·Polyak·momentum·term</span></div>
 131 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
143 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="comment">//·check·print·function,·with·optional·string</span></div>132 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··Vector·previousVector_;··<span·class="comment">//·store·previous·vector</span></div>
144 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Print</a>(t,·std::string());</div> 
145 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Print</a>(t);</div> 
146 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>133 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
147 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<span·class="comment">//·check·print,·with·optional·threshold</span></div>134 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·<span·class="keyword">public</span>:</div>
 135 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="}">
 136 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a03716.html#a1aae79479b85879cc10e97f081dcfd19">···62</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03716.html#a1aae79479b85879cc10e97f081dcfd19">AcceleratedPowerMethod</a>(</div>
 137 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<span·class="keyword">const</span>·Operator·&amp;A,·<span·class="keyword">const</span>·boost::optional&lt;Vector&gt;·initial·=·boost::none,</div>
148 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······<span·class="keywordtype">double</span>·tol·=·1.0;</div>138 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="keywordtype">double</span>·initialBeta·=·0.0)</div>
149 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······r1·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(t,t,tol);</div> 
150 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······r2·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(t,t);</div>139 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······:·<a·class="code·hl_class"·href="a03980.html">PowerMethod</a>&lt;Operator&gt;(A,·initial)·{</div>
 140 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<span·class="comment">//·initialize·Ritz·eigen·vector·and·previous·vector</span></div>
 141 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····this-&gt;ritzVector_·=·initial·?·initial.get()·:·Vector::Random(this-&gt;dim_);</div>
 142 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····this-&gt;ritzVector_.normalize();</div>
 143 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····previousVector_·=·Vector::Zero(this-&gt;dim_);</div>
 144 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
 145 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="comment">//·initialize·beta_</span></div>
 146 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····beta_·=·initialBeta;</div>
151 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····}</div>147 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··}</div>
152 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··};·<span·class="comment">//·\·Testable</span></div> 
153 </div>148 </div>
154 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>149 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
155 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keywordtype">float</span>·v,·<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·{</div> 
156 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····std::cout·&lt;&lt;·(s.empty()·?·s·:·s·+·<span·class="stringliteral">&quot;·&quot;</span>)·&lt;&lt;·v·&lt;&lt;·std::endl;</div> 
157 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··}</div> 
158 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keywordtype">double</span>·v,·<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·{</div> 
159 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····std::cout·&lt;&lt;·(s.empty()·?·s·:·s·+·<span·class="stringliteral">&quot;·&quot;</span>)·&lt;&lt;·v·&lt;&lt;·std::endl;</div> 
160 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··}</div> 
161 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div> 
162 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div> 
163 <div·class="foldopen"·id="foldopen00084"·data-start="{"·data-end="}">150 <div·class="foldopen"·id="foldopen00080"·data-start="{"·data-end="}">
164 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a01428.html#ad2dbee4a72127938c79162cc8b6d5152">···84</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#ad2dbee4a72127938c79162cc8b6d5152">equal</a>(<span·class="keyword">const</span>·T&amp;·obj1,·<span·class="keyword">const</span>·T&amp;·obj2,·<span·class="keywordtype">double</span>·tol)·{</div> 
165 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(obj1,obj2,·tol);</div>151 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a03716.html#a0d290aa81fbfb4db02d9f3a8790ceb85">···80</a></span>··Vector·<a·class="code·hl_function"·href="a03716.html#a0d290aa81fbfb4db02d9f3a8790ceb85">acceleratedPowerIteration</a>·(<span·cl[·...·truncated·by·diffoscope;·len:·93,·SHA:·7f208f04d750ebea934be6652e2240a45f26280508a85e409c2bf4f24c9beee2·...·]</div>
 152 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>························<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·beta)<span·class="keyword">·const·</span>{</div>
 153 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····Vector·y·=·this-&gt;<a·class="code·hl_variable"·href="a03980.html#a403a1a99553f905fb490b12c44be24f8">A_</a>·*·x1·-·beta·*·x0;</div>
 154 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····y.normalize();</div>
 155 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····<span·class="keywordflow">return</span>·y;</div>
166 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··}</div>156 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··}</div>
167 </div>157 </div>
168 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>158 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
169 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·T&gt;</div> 
170 <div·class="foldopen"·id="foldopen00090"·data-start="{"·data-end="}">159 <div·class="foldopen"·id="foldopen00092"·data-start="{"·data-end="}">
171 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno"><a·class="line"·href="a01428.html#a1f3dc67ad88b799c469088e428c583b1">···90</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#ad2dbee4a72127938c79162cc8b6d5152">equal</a>(<span·class="keyword">const</span>·T&amp;·obj1,·<span·class="keyword">const</span>·T&amp;·obj2)·{</div> 
172 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::Equals</a>(obj1,obj2);</div>160 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno"><a·class="line"·href="a03716.html#ac48562a928acf0285d918f0312e5f9f9">···92</a></span>··Vector·<a·class="code·hl_function"·href="a03716.html#ac48562a928acf0285d918f0312e5f9f9">acceleratedPowerIteration</a>·()<span·c[·...·truncated·by·diffoscope;·len:·30,·SHA:·5728b07b0f8ad7067cdabfabfb6bfbfaf80f6033255dbe2ff4a2d37a3012ec6f·...·]</div>
 161 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>····Vector·y·=·<a·class="code·hl_function"·href="a03716.html#ac48562a928acf0285d918f0312e5f9f9">acceleratedPowerIteration</a>(this-&gt;ritzVector_,·previousVector_,·beta_);</div>
 162 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>····<span·class="keywordflow">return</span>·y;</div>
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76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
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84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
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99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">FastVector.h</div></div>104 ··<div·class="headertitle"><div·class="title">global_includes.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00074.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01394.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;gtsam/config.h&gt;</span>······<span·class="comment">//·Configuration·from·CMake</span></div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00008.html">gtsam/base/FastDefaultAllocator.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00146.html">gtsam/base/types.h</a>&gt;</span>··<span·class="comment">//·Basic·types,·constants,·and·compatibility·functions</span></div>
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 123 <div·class="ttc"·id="aa00146_html"><div·class="ttname"><a·href="a00146.html">types.h</a></div><div·class="ttdoc">Typedefs·for·easier·changing·of·types.</div></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div> 
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div> 
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div> 
125 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;</div> 
126 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">···33</a></span><span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>·=</div> 
127 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>····std::vector&lt;T,·typename·internal::FastDefaultVectorAllocator&lt;T&gt;::type&gt;;</div> 
128 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
129 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>}··<span·class="comment">//·namespace·gtsam</span></div> 
130 <div·class="ttc"·id="aa00008_html"><div·class="ttname"><a·href="a00008.html">FastDefaultAllocator.h</a></div><div·class="ttdoc">An·easy·way·to·control·which·allocator·is·used·for·Fast*·collections.</div></div> 
131 <div·class="ttc"·id="aa01413_html_gafeaa7d82369f3ff952157586240273c8"><div·class="ttname"><a·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">gtsam::FastVector</a></div><div·class="ttdeci">std::vector&lt;·T,·typename·internal::FastDefaultVectorAllocator&lt;·T·&gt;::type·&gt;·FastVector</div><div·class="ttdoc">FastVector·is·a·type·alias·to·a·std::vector·with·a·custom·memory·allocator.</div><div·class="ttdef"><b>Definition</b>·FastVector.h:34</div></div> 
132 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div> 
133 </div><!--·fragment·--></div><!--·contents·-->124 </div><!--·fragment·--></div><!--·contents·-->
134 </div><!--·doc-content·-->125 </div><!--·doc-content·-->
135 <!--·start·footer·part·-->126 <!--·start·footer·part·-->
136 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->127 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
137 ··<ul>128 ··<ul>
138 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00074.html">FastVector.h</a></li>129 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="a01394.html">global_includes.h</a></li>
139 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>130 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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94 </div>94 </div>
95 </div>95 </div>
96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>·&#124;
 101 <a·href="#func-members">Functions</a>··</div>
101 ··<div·class="headertitle"><div·class="title">SymmetricBlockMatrix.cpp·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">Cal3DS2_Base.cpp·File·Reference</div></div>
102 </div><!--header-->103 </div><!--header-->
103 <div·class="contents">104 <div·class="contents">
  
104 <p>Access·to·matrices·via·blocks·of·pre-defined·sizes.·· 
105 <a·href="#details">More...</a></p> 
106 <table·class="memberdecls">105 <table·class="memberdecls">
107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>106 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
108 Namespaces</h2></td></tr>107 Namespaces</h2></td></tr>
109 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>108 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
110 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>109 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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 114 <tr·class="memitem:a7804979ad8bb1a32c54eff40daa76a4d"·id="r_a7804979ad8bb1a32c54eff40daa76a4d"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a7804979ad8bb1a32c54eff40daa76a4d"·name="a7804979ad8bb1a32c54eff40daa76a4d"></a>
 115 std::ostream·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::operator&lt;&lt;</b>·(std::ostream·&amp;os,·const·<a·class="el"·href="a02992.html">Cal3DS2_Base</a>·&amp;cal)</td></tr>
 116 <tr·class="separator:a7804979ad8bb1a32c54eff40daa76a4d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
112 </table>117 </table>
113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>118 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
114 <div·class="textblock"><p>Access·to·matrices·via·blocks·of·pre-defined·sizes.·</p> 
115 <p>Used·in·GaussianFactor·and·<a·class="el"·href="a05068.html"·title="is·the·normalization·constant.">GaussianConditional</a>.·</p><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
116 <dl·class="section·date"><dt>Date</dt><dd>Sep·18,·2010·</dd></dl>119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·28,·2010·</dd></dl>
 120 <dl·class="section·author"><dt>Author</dt><dd>ydjian·</dd>
 121 <dd>
 122 Varun·Agrawal·</dd></dl>
117 </div></div><!--·contents·-->123 </div></div><!--·contents·-->
118 </div><!--·doc-content·-->124 </div><!--·doc-content·-->
119 <!--·start·footer·part·-->125 <!--·start·footer·part·-->
120 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->126 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
121 ··<ul>127 ··<ul>
122 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00077.html">SymmetricBlockMatrix.cpp</a></li>128 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00458.html">Cal3DS2_Base.cpp</a></li>
123 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>129 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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98 <div·class="header">98 <div·class="header">
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108 <p>Concept·check·class·for·variable·types·with·Group·properties.··107 <p>3D·Point··
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110 <p><a·href="a00080_source.html">Go·to·the·source·code·of·this·file.</a></p>109 <p><a·href="a00455_source.html">Go·to·the·source·code·of·this·file.</a></p>
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115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">tag·to·assert·a·type·is·a·group··<a·href="a02332.html#details">More...</a><br·/></td></tr> 
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120 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02340.html">gtsam::additive_group_tag</a></td></tr> 
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128 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
129 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02356.html">gtsam::DirectSum&lt;·G,·H·&gt;</a></td></tr> 
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136 Namespaces</h2></td></tr>117 Namespaces</h2></td></tr>
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142 Macros</h2></td></tr> 
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144 <tr·class="memdesc:aac1ea136475ea605715c809f4b3f0156"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Macros·for·using·the·IsGroup.··<br·/></td></tr>123 Typedefs</h2></td></tr>
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146 <tr·class="memitem:a775f74787da8b717f1b6b9932e30701d"·id="r_a775f74787da8b717f1b6b9932e30701d"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a775f74787da8b717f1b6b9932e30701d"·name="a775f74787da8b717f1b6b9932e30701d"></a> 
147 #define&#160;</td><td·class="memItemRight"·valign="bottom"><b>GTSAM_CONCEPT_GROUP_TYPE</b>(T)&#160;&#160;&#160;typedef·<a·class="el"·href="a02344.html">gtsam::IsGroup</a>&lt;T&gt;·_gtsam_IsGroup_##T;</td></tr>128 <tr·class="memitem:af55c5ea4770c5895af35bc1e795e2c92"·id="r_af55c5ea4770c5895af35bc1e795e2c92"><td·class="memItemLeft"·align="right"·valign="top"><a·id="af55c5ea4770c5895af35bc1e795e2c92"·name="af55c5ea4770c5895af35bc1e795e2c92"></a>
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148 <tr·class="separator:a775f74787da8b717f1b6b9932e30701d"><td·class="memSeparator"·colspan="2">&#160;</td></tr>130 <tr·class="separator:af55c5ea4770c5895af35bc1e795e2c92"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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151 Functions</h2></td></tr>139 Functions</h2></td></tr>
 140 <tr·class="memitem:aa0cf4b44adc94a39066254a3ea63fbef"·id="r_aa0cf4b44adc94a39066254a3ea63fbef"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aa0cf4b44adc94a39066254a3ea63fbef"·name="aa0cf4b44adc94a39066254a3ea63fbef"></a>
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152 <tr·class="memitem:a2e95b5b5508cf3284107e979401bd1a4"·id="r_a2e95b5b5508cf3284107e979401bd1a4"><td·class="memTemplParams"·colspan="2"><a·id="a2e95b5b5508cf3284107e979401bd1a4"·name="a2e95b5b5508cf3284107e979401bd1a4"></a> 
153 template&lt;typename·G·&gt;·</td></tr> 
154 <tr·class="memitem:a2e95b5b5508cf3284107e979401bd1a4"><td·class="memTemplItemLeft"·align="right"·valign="top">&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::BOOST_CONCEPT_REQUIRES</b>·(((<a·class="el"·href="a02344.html">IsGroup</a>&lt;·G·&gt;)),(bool))·check_group_invariants(const·G·&amp;a</td></tr> 
155 <tr·class="memdesc:a2e95b5b5508cf3284107e979401bd1a4"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Check·invariants.·<br·/></td></tr> 
156 <tr·class="separator:a2e95b5b5508cf3284107e979401bd1a4"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
157 </table><table·class="memberdecls"> 
158 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="var-members"·name="var-members"></a> 
159 Variables</h2></td></tr> 
160 <tr·class="memitem:a8f65fe9bad84fc584a482382ebc754d7"·id="r_a8f65fe9bad84fc584a482382ebc754d7"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a8f65fe9bad84fc584a482382ebc754d7"·name="a8f65fe9bad84fc584a482382ebc754d7"></a> 
161 const·G·&amp;&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::b</b></td></tr> 
162 <tr·class="separator:a8f65fe9bad84fc584a482382ebc754d7"><td·class="memSeparator"·colspan="2">&#160;</td></tr>142 <tr·class="separator:aa0cf4b44adc94a39066254a3ea63fbef"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
163 <tr·class="memitem:a0e01ab7428d09a6c1eb42ee121fda6bc"·id="r_a0e01ab7428d09a6c1eb42ee121fda6bc"><td·class="memItemLeft"·align="right"·valign="top"><a·id="a0e01ab7428d09a6c1eb42ee121fda6bc"·name="a0e01ab7428d09a6c1eb42ee121fda6bc"></a> 
164 const·G·double&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::tol</b></td></tr>143 <tr·class="memitem:aa42f7ec660b7353de39f9c86a26711cc"·id="r_aa42f7ec660b7353de39f9c86a26711cc"><td·class="memItemLeft"·align="right"·valign="top"><a·id="aa42f7ec660b7353de39f9c86a26711cc"·name="aa42f7ec660b7353de39f9c86a26711cc"></a>
 144 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::distance3</b>·(const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;p1,·const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;q,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·1,·3·&gt;·H1=boost::none,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·1,·3·&gt;·H2=boost::none)</td></tr>
 145 <tr·class="memdesc:aa42f7ec660b7353de39f9c86a26711cc"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">distance·between·two·points·<br·/></td></tr>
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 148 double&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::norm3</b>·(const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;p,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·1,·3·&gt;·H=boost::none)</td></tr>
 149 <tr·class="memdesc:ac37b6f807985ffd25217e33f6136fe58"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Distance·of·the·point·from·the·origin,·with·Jacobian.·<br·/></td></tr>
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 152 <a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&#160;</td><td·class="memItemRight"·valign="bottom"><b>gtsam::normalize</b>·(const·<a·class="el"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·&amp;p,·<a·class="el"·href="a02448.html">OptionalJacobian</a>&lt;·3,·3·&gt;·H=boost::none)</td></tr>
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103 <div·class="contents">103 <div·class="contents">
  
104 <p>A·matrix·with·column·blocks·of·pre-defined·sizes.··104 <p>Parameters·for·iSAM·2.··
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113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 114 <div·class="textblock"><p>Parameters·for·iSAM·2.·</p>
 115 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert·</dd></dl>
114 <div·class="textblock"><p>A·matrix·with·column·blocks·of·pre-defined·sizes.·</p> 
115 <p>Used·in·<a·class="el"·href="a05064.html"·title="In·Gaussian·factors,·the·error·function·returns·either·the·negative·log-likelihood,...">JacobianFactor</a>·and·<a·class="el"·href="a05068.html"·title="is·the·normalization·constant.">GaussianConditional</a>.·</p><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
116 <dl·class="section·date"><dt>Date</dt><dd>Sep·18,·2010·</dd></dl> 
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105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00128.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00002.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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433 <div·class="ttc"·id="aa00080_html"><div·class="ttname"><a·href="a00080.html">Group.h</a></div><div·class="ttdoc">Concept·check·class·for·variable·types·with·Group·properties.</div></div>433 <div·class="ttc"·id="aa00014_html"><div·class="ttname"><a·href="a00014.html">Group.h</a></div><div·class="ttdoc">Concept·check·class·for·variable·types·with·Group·properties.</div></div>
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439 <div·class="ttc"·id="aa01428_html_adaf06b04fa93b050e99bc3d571d85d53"><div·class="ttname"><a·href="a01428.html#adaf06b04fa93b050e99bc3d571d85d53">gtsam::interpolate</a></div><div·class="ttdeci">T·interpolate(const·T·&amp;X,·const·T·&amp;Y,·double·t,·typename·MakeOptionalJacobian&lt;·T,·T·&gt;::type·Hx=boost::none,·typename·MakeOptionalJacobian&lt;·T,·T·&gt;::type·Hy=boost::none)</div><div·class="ttdoc">Linear·interpolation·between·X·and·Y·by·coefficient·t.</div><div·class="ttdef"><b>Definition</b>·Lie.h:327</div></div>439 <div·class="ttc"·id="aa01428_html_adaf06b04fa93b050e99bc3d571d85d53"><div·class="ttname"><a·href="a01428.html#adaf06b04fa93b050e99bc3d571d85d53">gtsam::interpolate</a></div><div·class="ttdeci">T·interpolate(const·T·&amp;X,·const·T·&amp;Y,·double·t,·typename·MakeOptionalJacobian&lt;·T,·T·&gt;::type·Hx=boost::none,·typename·MakeOptionalJacobian&lt;·T,·T·&gt;::type·Hy=boost::none)</div><div·class="ttdoc">Linear·interpolation·between·X·and·Y·by·coefficient·t.</div><div·class="ttdef"><b>Definition</b>·Lie.h:327</div></div>
440 <div·class="ttc"·id="aa01428_html_adbd55c711e6ceee791b595558eb3ec8a"><div·class="ttname"><a·href="a01428.html#adbd55c711e6ceee791b595558eb3ec8a">gtsam::BCH</a></div><div·class="ttdeci">T·BCH(const·T·&amp;X,·const·T·&amp;Y)</div><div·class="ttdoc">Three·term·approximation·of·the·Baker-Campbell-Hausdorff·formula·In·non-commutative·Lie·groups,...</div><div·class="ttdef"><b>Definition</b>·Lie.h:298</div></div>440 <div·class="ttc"·id="aa01428_html_adbd55c711e6ceee791b595558eb3ec8a"><div·class="ttname"><a·href="a01428.html#adbd55c711e6ceee791b595558eb3ec8a">gtsam::BCH</a></div><div·class="ttdeci">T·BCH(const·T·&amp;X,·const·T·&amp;Y)</div><div·class="ttdoc">Three·term·approximation·of·the·Baker-Campbell-Hausdorff·formula·In·non-commutative·Lie·groups,...</div><div·class="ttdef"><b>Definition</b>·Lie.h:298</div></div>
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467 <div·class="ttc"·id="aa02448_html"><div·class="ttname"><a·href="a02448.html">gtsam::OptionalJacobian</a></div><div·class="ttdoc">OptionalJacobian·is·an·Eigen::Ref·like·class·that·can·take·be·constructed·using·either·a·fixed·size·o...</div><div·class="ttdef"><b>Definition</b>·OptionalJacobian.h:41</div></div>467 <div·class="ttc"·id="aa02448_html"><div·class="ttname"><a·href="a02448.html">gtsam::OptionalJacobian</a></div><div·class="ttdoc">OptionalJacobian·is·an·Eigen::Ref·like·class·that·can·take·be·constructed·using·either·a·fixed·size·o...</div><div·class="ttdef"><b>Definition</b>·OptionalJacobian.h:41</div></div>
468 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>468 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>
469 </div><!--·fragment·--></div><!--·contents·-->469 </div><!--·fragment·--></div><!--·contents·-->
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476 ··</ul>476 ··</ul>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Chebyshev2.h</div></div>104 ··<div·class="headertitle"><div·class="title">Cal3Unified.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00173.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00383.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
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122 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00164.html">gtsam/basis/Basis.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Cal3DS2_Base.h&gt;</span></div>
123 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>121 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
124 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>123 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
126 <div·class="foldopen"·id="foldopen00046"·data-start="{"·data-end="};">124 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">
127 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a02740.html">···46</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02740.html">Chebyshev2</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_[·...·truncated·by·diffoscope;·len:·53,·SHA:·71f7355f0724cca1fc45ee63cefb1b42835ba31fe1b8263a158c7072f51d6a82·...·]·{</div>125 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a03008.html">···45</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03008.html">Cal3Unified</a>·:·<span·class="keyword">public</span>·<a·class="code·hl[·...·truncated·by·diffoscope;·len:·43,·SHA:·64165b3aba204c503cff59405299261829332d2d6ba60e4c870e0a67263805fd·...·]·{</div>
128 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·<span·class="keyword">public</span>:</div> 
129 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>126 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03008.html">This</a>·=·<a·class="code·hl_class"·href="a03008.html">Cal3Unified</a>;</div>
 127 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02992.html">Base</a>·=·<a·class="code·hl_class"·href="a02992.html">Cal3DS2_Base</a>;</div>
130 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>128 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 129 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·<span·class="keyword">private</span>:</div>
 130 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keywordtype">double</span>·xi_·=·0.0f;··</div>
131 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02668.html">Base</a>·=·<a·class="code·hl_class"·href="a02668.html">Basis&lt;Chebyshev2&gt;</a>;</div> 
132 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">using·</span>Parameters·=·Eigen::Matrix&lt;double,·<span·class="comment">/*Nx1*/</span>·-1,·1&gt;;</div> 
133 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">using·</span>DiffMatrix·=·Eigen::Matrix&lt;double,·<span·class="comment">/*NxN*/</span>·-1,·-1&gt;;</div> 
134 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>131 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
135 <div·class="foldopen"·id="foldopen00055"·data-start="{"·data-end="}"> 
136 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a02740.html#a545c241cb6421d73f3494701ee7e4812">···55</a></span>··<span·class="keyword">static</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a02740.html#a545c241cb6421d73f3494701ee7e4812">Point</a>(<span·class="keywordtype">size_t</span>·N,·<span·class="keywordtype">int</span>·j)·{</div> 
137 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····assert(j·&gt;=·0·&amp;&amp;·<span·class="keywordtype">size_t</span>(j)·&lt;·N);</div>132 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·<span·class="keyword">public</span>:</div>
138 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·dtheta·=·M_PI·/·(N·&gt;·1·?·(N·-·1)·:·1);</div> 
139 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="comment">//·We·add·-PI·so·that·we·get·values·ordered·from·-1·to·+1</span></div> 
140 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="comment">//·sin(-·M_PI_2·+·dtheta*j);·also·works</span></div> 
141 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">return</span>·cos(-M_PI·+·dtheta·*·j);</div>133 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">enum</span>·{·dimension·=·10·};</div>
 134 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 135 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3Unified&gt;;</div>
 136 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
142 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div>137 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
 138 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a03008.html#a6ce150e7037a83dccc3fdbabce4970e7">···62</a></span>··<a·class="code·hl_function"·href="a03008.html#a6ce150e7037a83dccc3fdbabce4970e7">Cal3Unified</a>()·=·<span·class="keywordflow">default</span>;</div>
 139 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
 140 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<a·class="code·hl_class"·href="a03008.html">Cal3Unified</a>(<span·class="keywordtype">double</span>·fx,·<span·class="keywordtype">double</span>·fy,·<span·class="keywordtype">double</span>·s,·<span·class="keywordtype">double</span>·u0,·<span·class="keywordtype">double</span>·v0,·<span·class="keywordtype">double</span>·k1,</div>
 141 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··············<span·class="keywordtype">double</span>·k2,·<span·class="keywordtype">double</span>·p1·=·0.0,·<span·class="keywordtype">double</span>·p2·=·0.0,·<span·class="keywordtype">double</span>·xi·=·0.0)</div>
 142 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······:·<a·class="code·hl_class"·href="a02992.html">Base</a>(fx,·fy,·s,·u0,·v0,·k1,·k2,·p1,·p2),·xi_(xi)·{}</div>
 143 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
 144 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<a·class="code·hl_class"·href="a03008.html">~Cal3Unified</a>()<span·class="keyword">·override·</span>{}</div>
 145 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 146 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
 147 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··Cal3Unified(<span·class="keyword">const</span>·Vector10&amp;·v)</div>
 148 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>······:·Base(v(0),·v(1),·v(2),·v(3),·v(4),·v(5),·v(6),·v(7),·v(8)),·xi_(v(9))·{}</div>
 149 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 150 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
 151 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··GTSAM_EXPORT·<span·class="keyword">friend</span>·std::ostream&amp;·operator&lt;&lt;(std::ostream&amp;·os,</div>
 152 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>···············································<span·class="keyword">const</span>·Cal3Unified&amp;·cal);</div>
 153 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>
 154 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const·override</span>;</div>
 155 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>
 156 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·Cal3Unified&amp;·K,·<span·class="keywordtype">double</span>·tol·=·10e-9)·<span·class="keyword">const</span>;</div>
 157 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>
 158 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>
 159 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno"><a·class="line"·href="a03008.html#a80a36bbc6309792977cd3a13864a6c2d">···96</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a03008.html#a80a36bbc6309792977cd3a13864a6c2d">xi</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·xi_;·}</div>
 160 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>·</div>
 161 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>··Vector10·vector()·<span·class="keyword">const</span>;</div>
 162 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>·</div>
 163 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·uncalibrate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p,</div>
 164 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>·····················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·10&gt;</a>·Dcal·=·boost::none,</div>
 165 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>·····················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·<span·class="keyword">const</span>;</div>
 166 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>·</div>
 167 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno">··113</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·calibrate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·10&gt;</a>·Dcal·=·boost::none,</div>
 168 <div·class="line"><a·id="l00114"·name="l00114"></a><span·class="lineno">··114</span>···················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·<span·class="keyword">const</span>;</div>
 169 <div·class="line"><a·id="l00115"·name="l00115"></a><span·class="lineno">··115</span>·</div>
 170 <div·class="line"><a·id="l00117"·name="l00117"></a><span·class="lineno">··117</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·spaceToNPlane(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p)·<span·class="keyword">const</span>;</div>
 171 <div·class="line"><a·id="l00118"·name="l00118"></a><span·class="lineno">··118</span>·</div>
 172 <div·class="line"><a·id="l00120"·name="l00120"></a><span·class="lineno">··120</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·nPlaneToSpace(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p)·<span·class="keyword">const</span>;</div>
 173 <div·class="line"><a·id="l00121"·name="l00121"></a><span·class="lineno">··121</span>·</div>
 174 <div·class="line"><a·id="l00125"·name="l00125"></a><span·class="lineno">··125</span>·</div>
 175 <div·class="line"><a·id="l00127"·name="l00127"></a><span·class="lineno">··127</span>··<a·class="code·hl_class"·href="a03008.html">Cal3Unified</a>·retract(<span·class="keyword">const</span>·Vector&amp;·d)·<span·class="keyword">const</span>;</div>
 176 <div·class="line"><a·id="l00128"·name="l00128"></a><span·class="lineno">··128</span>·</div>
 177 <div·class="line"><a·id="l00130"·name="l00130"></a><span·class="lineno">··130</span>··Vector·localCoordinates(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03008.html">Cal3Unified</a>&amp;·T2)·<span·class="keyword">const</span>;</div>
 178 <div·class="line"><a·id="l00131"·name="l00131"></a><span·class="lineno">··131</span>·</div>
 179 <div·class="line"><a·id="l00133"·name="l00133"></a><span·class="lineno"><a·class="line"·href="a03008.html#a2703b822e9f3dd4ccb5d32c4ad91bcfb">··133</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a03008.html#a2703b822e9f3dd4ccb5d32c4ad91bcfb">dim</a>()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·Dim();·}</div>
 180 <div·class="line"><a·id="l00134"·name="l00134"></a><span·class="lineno">··134</span>·</div>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/DiscreteEliminationTree.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/symbolic/SymbolicJunctionTree.h·Source·File</title>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DiscreteEliminationTree.h</div></div>104 ··<div·class="headertitle"><div·class="title">SymbolicJunctionTree.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00200.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01361.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00248.html">gtsam/discrete/DiscreteBayesNet.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01382.html">gtsam/symbolic/SymbolicFactorGraph.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00236.html">gtsam/discrete/DiscreteFactorGraph.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01373.html">gtsam/symbolic/SymbolicBayesTree.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00671.html">gtsam/inference/EliminationTree.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00659.html">gtsam/inference/JunctionTree.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="comment">//·Forward·declarations</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="keyword">class·</span>SymbolicEliminationTree;</div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
126 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};">129 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="};">
 130 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a05036.html">···50</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05036.html">SymbolicJunctionTree</a>·:</div>
 131 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03652.html">JunctionTree</a>&lt;SymbolicBayesTree,·SymbolicFactorGraph&gt;·{</div>
127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a02848.html">···31</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02848.html">DiscreteEliminationTree</a>·:</div> 
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree</a>&lt;DiscreteBayesNet,·DiscreteFactorGraph&gt;</div> 
129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··{</div> 
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">public</span>:</div>132 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">public</span>:</div>
 133 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a05036.html#a8d788f9f667575595528c4dfb3425ca8">···53</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03652.html">JunctionTree&lt;SymbolicBayesTree,·SymbolicFactorGraph&gt;</a>·<a·class="code·hl_typedef"·href="a05036.html#a8d788f9f667575595528c4dfb3425ca8">Base</a>;·</div>
 134 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a05036.html#ae16a13eef6463ec7c973e40d5874e864">···54</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a05036.html">SymbolicJunctionTree</a>·<a·class="code·hl_typedef"·href="a05036.html#ae16a13eef6463ec7c973e40d5874e864">This</a>;·</div>
 135 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a05036.html#a61ff4d9b29ccdbec88e999136287759c">···55</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a05036.html#a61ff4d9b29ccdbec88e999136287759c">shared_ptr</a>;·</div>
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a02848.html#ae4e6afc353582183f3c881a3acad57ca">···35</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree&lt;DiscreteBayesNet,·DiscreteFactorGraph&gt;</a>·<a·class="code·hl_typedef"·href="a02848.html#ae4e6afc353582183f3c881a3acad57ca">Base</a>;·</div> 
132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a02848.html#a2b315837d2af900fce3ee59ef54a426f">···36</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02848.html">DiscreteEliminationTree</a>·<a·class="code·hl_typedef"·href="a02848.html#a2b315837d2af900fce3ee59ef54a426f">This</a>;·</div> 
133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a02848.html#a850bd2d0f3c1a7b51aebd75582d86b43">···37</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a02848.html#a850bd2d0f3c1a7b51aebd75582d86b43">shared_ptr</a>;·</div> 
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div> 
135 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<a·class="code·hl_class"·href="a02848.html">DiscreteEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02864.html">DiscreteFactorGraph</a>&amp;·factorGraph,</div> 
136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03700.html">VariableIndex</a>&amp;·structure,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div> 
137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
138 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<a·class="code·hl_class"·href="a02848.html">DiscreteEliminationTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02864.html">DiscreteFactorGraph</a>&amp;·factorGraph,</div> 
139 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·order);</div> 
140 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>136 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
 137 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<a·class="code·hl_class"·href="a05036.html">SymbolicJunctionTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05004.html">SymbolicEliminationTree</a>&amp;·eliminationTree);</div>
141 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02848.html">This</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div> 
142 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
143 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">private</span>:</div> 
144 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div> 
145 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="keyword">friend</span>·class·::EliminationTreeTester;</div> 
146 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div> 
147 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··};</div>138 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··};</div>
148 </div>139 </div>
149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div> 
150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>}</div>140 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
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 143 <div·class="ttc"·id="aa00659_html"><div·class="ttname"><a·href="a00659.html">JunctionTree.h</a></div><div·class="ttdoc">The·junction·tree.</div></div>
 144 <div·class="ttc"·id="aa01373_html"><div·class="ttname"><a·href="a01373.html">SymbolicBayesTree.h</a></div></div>
151 <div·class="ttc"·id="aa00236_html"><div·class="ttname"><a·href="a00236.html">DiscreteFactorGraph.h</a></div></div>145 <div·class="ttc"·id="aa01382_html"><div·class="ttname"><a·href="a01382.html">SymbolicFactorGraph.h</a></div></div>
152 <div·class="ttc"·id="aa00248_html"><div·class="ttname"><a·href="a00248.html">DiscreteBayesNet.h</a></div></div> 
153 <div·class="ttc"·id="aa00671_html"><div·class="ttname"><a·href="a00671.html">EliminationTree.h</a></div></div> 
154 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>146 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
 147 <div·class="ttc"·id="aa03568_html"><div·class="ttname"><a·href="a03568.html">gtsam::ClusterTree::Cluster</a></div><div·class="ttdoc">A·Cluster·is·just·a·collection·of·factors.</div><div·class="ttdef"><b>Definition</b>·ClusterTree.h:36</div></div>
 148 <div·class="ttc"·id="aa03652_html"><div·class="ttname"><a·href="a03652.html">gtsam::JunctionTree</a></div><div·class="ttdoc">A·JunctionTree·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·JunctionTree.h:50</div></div>
155 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div> 
156 <div·class="ttc"·id="aa02848_html"><div·class="ttname"><a·href="a02848.html">gtsam::DiscreteEliminationTree</a></div><div·class="ttdoc">Elimination·tree·for·discrete·factors.</div><div·class="ttdef"><b>Definition</b>·DiscreteEliminationTree.h:33</div></div> 
157 <div·class="ttc"·id="aa02848_html_a2b315837d2af900fce3ee59ef54a426f"><div·class="ttname"><a·href="a02848.html#a2b315837d2af900fce3ee59ef54a426f">gtsam::DiscreteEliminationTree::This</a></div><div·class="ttdeci">DiscreteEliminationTree·This</div><div·class="ttdoc">This·class.</div><div·class="ttdef"><b>Definition</b>·DiscreteEliminationTree.h:36</div></div> 
158 <div·class="ttc"·id="aa02848_html_a850bd2d0f3c1a7b51aebd75582d86b43"><div·class="ttname"><a·href="a02848.html#a850bd2d0f3c1a7b51aebd75582d86b43">gtsam::DiscreteEliminationTree::shared_ptr</a></div><div·class="ttdeci">boost::shared_ptr&lt;·This·&gt;·shared_ptr</div><div·class="ttdoc">Shared·pointer·to·this·class.</div><div·class="ttdef"><b>Definition</b>·DiscreteEliminationTree.h:37</div></div> 
159 <div·class="ttc"·id="aa02848_html_ae4e6afc353582183f3c881a3acad57ca"><div·class="ttname"><a·href="a02848.html#ae4e6afc353582183f3c881a3acad57ca">gtsam::DiscreteEliminationTree::Base</a></div><div·class="ttdeci">EliminationTree&lt;·DiscreteBayesNet,·DiscreteFactorGraph·&gt;·Base</div><div·class="ttdoc">Base·class.</div><div·class="ttdef"><b>Definition</b>·DiscreteEliminationTree.h:35</div></div> 
160 <div·class="ttc"·id="aa02864_html"><div·class="ttname"><a·href="a02864.html">gtsam::DiscreteFactorGraph</a></div><div·class="ttdoc">A·Discrete·Factor·Graph·is·a·factor·graph·where·all·factors·are·Discrete,·i.e.</div><div·class="ttdef"><b>Definition</b>·DiscreteFactorGraph.h:101</div></div> 
161 <div·class="ttc"·id="aa03584_html"><div·class="ttname"><a·href="a03584.html">gtsam::EliminationTree</a></div><div·class="ttdoc">An·elimination·tree·is·a·data·structure·used·intermediately·during·elimination.</div><div·class="ttdef"><b>Definition</b>·EliminationTree.h:52</div></div> 
162 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>149 <div·class="ttc"·id="aa05004_html"><div·class="ttname"><a·href="a05004.html">gtsam::SymbolicEliminationTree</a></div><div·class="ttdef"><b>Definition</b>·SymbolicEliminationTree.h:29</div></div>
163 <div·class="ttc"·id="aa03700_html"><div·class="ttname"><a·href="a03700.html">gtsam::VariableIndex</a></div><div·class="ttdoc">The·VariableIndex·class·computes·and·stores·the·block·column·structure·of·a·factor·graph.</div><div·class="ttdef"><b>Definition</b>·VariableIndex.h:43</div></div>150 <div·class="ttc"·id="aa05036_html"><div·class="ttname"><a·href="a05036.html">gtsam::SymbolicJunctionTree</a></div><div·class="ttdoc">A·EliminatableClusterTree,·i.e.,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·Symbolic[·...·truncated·by·diffoscope;·len:·17,·SHA:·b99f21dcf04db15268b600bc843df1d55f15cf17c01a947b0f6919f9934e89af·...·]</div></div>
 151 <div·class="ttc"·id="aa05036_html_a61ff4d9b29ccdbec88e999136287759c"><div·class="ttname"><a·href="a05036.html#a61ff4d9b29ccdbec88e999136287759c">gtsam::SymbolicJunctionTree::shared_ptr</a></div><div·class="ttdeci">boost::shared_ptr&lt;·This·&gt;·shared_ptr</div><div·class="ttdoc">Shared·pointer·to·this·class.</div><div·class="ttdef"><b>Definition</b>·SymbolicJunctionTree.h:55</div></div>
 152 <div·class="ttc"·id="aa05036_html_a8d788f9f667575595528c4dfb3425ca8"><div·class="ttname"><a·href="a05036.html#a8d788f9f667575595528c4dfb3425ca8">gtsam::SymbolicJunctionTree::Base</a></div><div·class="ttdeci">JunctionTree&lt;·SymbolicBayesTree,·SymbolicFactorGraph·&gt;·Base</div><div·class="ttdoc">Base·class.</div><div·class="ttdef"><b>Definition</b>·SymbolicJunctionTree.h:53</div></div>
 153 <div·class="ttc"·id="aa05036_html_ae16a13eef6463ec7c973e40d5874e864"><div·class="ttname"><a·href="a05036.html#ae16a13eef6463ec7c973e40d5874e864">gtsam::SymbolicJunctionTree::This</a></div><div·class="ttdeci">SymbolicJunctionTree·This</div><div·class="ttdoc">This·class.</div><div·class="ttdef"><b>Definition</b>·SymbolicJunctionTree.h:54</div></div>
164 </div><!--·fragment·--></div><!--·contents·-->154 </div><!--·fragment·--></div><!--·contents·-->
165 </div><!--·doc-content·-->155 </div><!--·doc-content·-->
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167 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->157 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
168 ··<ul>158 ··<ul>
169 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00200.html">DiscreteEliminationTree.h</a></li>159 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_0e8eb460b7f775f5eda250a12ea9d76a.html">symbolic</a></li><li·class="navelem"><a·class="el"·href="a01361.html">SymbolicJunctionTree.h</a></li>
170 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>160 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
171 ··</ul>161 ··</ul>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DiscreteDistribution.h</div></div>104 ··<div·class="headertitle"><div·class="title">DiscreteDistribution.h</div></div>
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106 <div·class="contents">106 <div·class="contents">
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
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119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
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171 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span><span·class="comment">//·DiscreteDistribution</span></div>171 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span><span·class="comment">//·DiscreteDistribution</span></div>
172 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>·</div>172 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>·</div>
173 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span><span·class="comment">//·traits</span></div>173 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span><span·class="comment">//·traits</span></div>
174 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span><span·class="keyword">template</span>·&lt;&gt;</div>174 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span><span·class="keyword">template</span>·&lt;&gt;</div>
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182 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>182 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>
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185 <div·class="ttc"·id="aa02840_html"><div·class="ttname"><a·href="a02840.html">gtsam::DiscreteDistribution</a></div><div·class="ttdoc">A·prior·probability·on·a·set·of·discrete·variables.</div><div·class="ttdef"><b>Definition</b>·DiscreteDistribution.h:33</div></div>185 <div·class="ttc"·id="aa02840_html"><div·class="ttname"><a·href="a02840.html">gtsam::DiscreteDistribution</a></div><div·class="ttdoc">A·prior·probability·on·a·set·of·discrete·variables.</div><div·class="ttdef"><b>Definition</b>·DiscreteDistribution.h:33</div></div>
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190 <div·class="ttc"·id="aa02840_html_adb43c7d4a553bc5120ab9690c2bef5ad"><div·class="ttname"><a·href="a02840.html#adb43c7d4a553bc5120ab9690c2bef5ad">gtsam::DiscreteDistribution::DiscreteDistribution</a></div><div·class="ttdeci">DiscreteDistribution(const·DecisionTreeFactor·&amp;f)</div><div·class="ttdoc">Constructor·from·factor.</div><div·class="ttdef"><b>Definition</b>·DiscreteDistribution.h:44</div></div>190 <div·class="ttc"·id="aa02840_html_adb43c7d4a553bc5120ab9690c2bef5ad"><div·class="ttname"><a·href="a02840.html#adb43c7d4a553bc5120ab9690c2bef5ad">gtsam::DiscreteDistribution::DiscreteDistribution</a></div><div·class="ttdeci">DiscreteDistribution(const·DecisionTreeFactor·&amp;f)</div><div·class="ttdoc">Constructor·from·factor.</div><div·class="ttdef"><b>Definition</b>·DiscreteDistribution.h:44</div></div>
191 <div·class="ttc"·id="aa02912_html"><div·class="ttname"><a·href="a02912.html">gtsam::Signature</a></div><div·class="ttdoc">Signature·for·a·discrete·conditional·density,·used·to·construct·conditionals.</div><div·class="ttdef"><b>Definition</b>·Signature.h:54</div></div>191 <div·class="ttc"·id="aa02912_html"><div·class="ttname"><a·href="a02912.html">gtsam::Signature</a></div><div·class="ttdoc">Signature·for·a·discrete·conditional·density,·used·to·construct·conditionals.</div><div·class="ttdef"><b>Definition</b>·Signature.h:54</div></div>
192 </div><!--·fragment·--></div><!--·contents·-->192 </div><!--·fragment·--></div><!--·contents·-->
193 </div><!--·doc-content·-->193 </div><!--·doc-content·-->
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121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·14,·2011·</dd></dl> 
123 <dl·class="section·author"><dt>Author</dt><dd>Duy-Nguyen·Ta·</dd>125 <div·class="textblock"><p>Smart·factor·on·poses,·assuming·camera·calibration·is·fixed.·</p>
 126 <p>Same·as·SmartProjectionPoseFactor,·except:</p><ul>
 127 <li>it·is·templated·on·CAMERA·(i.e.,·it·allows·cameras·beyond·pinhole)</li>
 128 <li>it·admits·a·different·calibration·for·each·measurement·(i.e.,·it·can·model·a·multi-camera·rig·system)</li>
 129 <li>it·allows·multiple·observations·from·the·same·pose/key·(again,·to·model·a·multi-camera·system)·<dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
124 <dd>130 <dd>
125 Frank·Dellaert·</dd></dl>131 Frank·Dellaert·</dd></dl>
 132 </li>
 133 </ul>
126 </div></div><!--·contents·-->134 </div></div><!--·contents·-->
127 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
128 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
130 ··<ul>138 ··<ul>
131 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00212.html">DecisionTreeFactor.h</a></li>139 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_323e70a1eef083399c870cf8a6035771.html">slam</a></li><li·class="navelem"><a·class="el"·href="a01289.html">SmartProjectionRigFactor.h</a></li>
132 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>140 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
133 ··</ul>141 ··</ul>
134 </div>142 </div>
135 </body>143 </body>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DiscreteLookupDAG.h</div></div>104 ··<div·class="headertitle"><div·class="title">DiscreteKey.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00245.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00230.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
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121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00686.html">gtsam/inference/BayesNet.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01394.html">gtsam/global_includes.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00656.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/serialization/vector.hpp&gt;</span></div>
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128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
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132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
133 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="};">132 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};">
 133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a02876.html">···39</a></span>··<span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>:·<span·class="keyword">public</span>·std::vector&lt;DiscreteKey&gt;·{</div>
134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a02884.html">···40</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02884.html">DiscreteLookupTable</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02832.html">DiscreteConditional</a>·{</div> 
135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·<span·class="keyword">public</span>:</div> 
136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02884.html">This</a>·=·<a·class="code·hl_class"·href="a02884.html">DiscreteLookupTable</a>;</div> 
137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;This&gt;;</div> 
138 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">using·</span>BaseConditional·=·<a·class="code·hl_class"·href="a03572.html">Conditional&lt;DecisionTreeFactor,·This&gt;</a>;</div> 
139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
 135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="comment">//·Forward·all·constructors.</span></div>
 136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">using·</span>std::vector&lt;<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&gt;::vector;</div>
 137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
 138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a02876.html#ac710ec1e97bfeaed0c3f88694f1c9cdf">···45</a></span>····<a·class="code·hl_function"·href="a02876.html#ac710ec1e97bfeaed0c3f88694f1c9cdf">DiscreteKeys</a>()·:·std::vector&lt;<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&gt;::vector()·{}</div>
 139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a02876.html#aeae84568ba908e2ea4fc5e876c08ce3f">···48</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02876.html#aeae84568ba908e2ea4fc5e876c08ce3f">DiscreteKeys</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key)·{·push_back(key);·}</div>
 141 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
140 <div·class="foldopen"·id="foldopen00053"·data-start="{"·data-end="}">142 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="}">
141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a02884.html#a981d836a4c625af0a5e021fac9b2bdfa">···53</a></span>··<a·class="code·hl_function"·href="a02884.html#a981d836a4c625af0a5e021fac9b2bdfa">DiscreteLookupTable</a>(<span·class="keywordtype">size_t</span>·nFrontals,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·keys,</div> 
142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······················<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02760.html">ADT</a>&amp;·potentials)</div> 
143 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······:·<a·class="code·hl_class"·href="a02832.html">DiscreteConditional</a>(nFrontals,·keys,·potentials)·{}</div>143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02876.html#afbe0371a73fc617697d306f2442b6cd5">···51</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02876.html#afbe0371a73fc617697d306f2442b6cd5">Discre[·...·truncated·by·diffoscope;·len:·55,·SHA:·87548f0e62a12670953262e26cab07308f4da6d822d411524a7985066f020683·...·]</div>
 144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<span·class="keywordflow">for</span>·(<span·class="keyword">auto</span>&amp;&amp;·kv·:·cardinalities)·emplace_back(kv);</div>
 145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····}</div>
144 </div>146 </div>
145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
146 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(</div> 
147 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;Discrete·Lookup·Table:·&quot;</span>,</div> 
148 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)·<span·cl[·...·truncated·by·diffoscope;·len:·41,·SHA:·a2e4003b6c43f3f35685232c0a6d0ab6d74d234e63bcff33c1be64a2c7da6c19·...·]>148 <div·class="foldopen"·id="foldopen00056"·data-start="{"·data-end="}">
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 150 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······std::vector&lt;<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&gt;(keys)·{</div>
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 153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 154 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>(<span·class="keyword">const</span>·std::vector&lt;int&gt;&amp;·cs);</div>
149 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>155 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keywordtype">size_t</span>·argmax(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·parentsValues)·<span·class="keyword">const</span>;</div>156 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·indices()·<span·class="keyword">const</span>;</div>
 157 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 158 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····std::map&lt;Key,size_t&gt;·cardinalities()·<span·class="keyword">const</span>;</div>
151 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>159 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
152 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="keywordtype">void</span>·argmaxInPlace(<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>*·parentsValues)·<span·class="keyword">const</span>;</div>160 <div·class="foldopen"·id="foldopen00070"·data-start="{"·data-end="}">
 161 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a02876.html#a33f3cebb905515642444f7c41e943950">···70</a></span>····<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·<a·class="code·hl_function"·href="a02876.html#a33f3cebb905515642444f7c41e943950">operator&amp;</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key)·{</div>
 162 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······push_back(key);</div>
 163 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······<span·class="keywordflow">return</span>·*<span·class="keyword">this</span>;</div>
153 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>};</div>164 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····}</div>
154 </div>165 </div>
155 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 167 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,</div>
 168 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>···············<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const</span>;</div>
156 <div·class="foldopen"·id="foldopen00077"·data-start="{"·data-end="};"> 
157 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno"><a·class="line"·href="a02888.html">···77</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02888.html">DiscreteLookupDAG</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03516.html">BayesNet</a>&lt;DiscreteLookupTable&gt;·{</div> 
158 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·<span·class="keyword">public</span>:</div> 
159 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03516.html">Base</a>·=·<a·class="code·hl_class"·href="a03516.html">BayesNet&lt;DiscreteLookupTable&gt;</a>;</div> 
160 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02888.html">This</a>·=·<a·class="code·hl_class"·href="a02888.html">DiscreteLookupDAG</a>;</div> 
161 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;This&gt;;</div> 
162 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>169 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>
 170 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·0)·<span·class="keyword">const</span>;</div>
163 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>171 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
164 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a02888.html#a631d976900dcd37b1dc1267bde02dcd0">···87</a></span>··<a·class="code·hl_function"·href="a02888.html#a631d976900dcd37b1dc1267bde02dcd0">DiscreteLookupDAG</a>()·{}</div>172 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno"><a·class="line"·href="a02876.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">···83</a></span>····<span·class="keyword">friend</span>·<span·class="keyword">class·</span>boost::serialization::access;</div>
 173 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
 174 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="keywordtype">void</span>·serialize(ARCHIVE&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DiscreteKey.h</div></div>104 ··<div·class="headertitle"><div·class="title">NonlinearOptimizer.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00260.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01052.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
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118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
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120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01397.html">gtsam/global_includes.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01157.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01070.html">gtsam/nonlinear/NonlinearOptimizerParams.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/serialization/vector.hpp&gt;</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;map&gt;</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">···36</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteK[·...·truncated·by·diffoscope;·len:·37,·SHA:·599adcfc37fcae5d38da592956a54ef74f9da13a4d6df02b21b18aa533674482·...·]</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span>internal·{·<span·class="keyword">struct·</span>NonlinearOptimizerState;·}</div>
131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
132 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};"> 
133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a02876.html">···39</a></span>··<span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>:·<span·class="keyword">public</span>·std::vector&lt;DiscreteKey&gt;·{</div> 
134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="comment">//·Forward·all·constructors.</span></div> 
136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">using·</span>std::vector&lt;<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&gt;::vector;</div> 
137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div> 
138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a02876.html#ac710ec1e97bfeaed0c3f88694f1c9cdf">···45</a></span>····<a·class="code·hl_function"·href="a02876.html#ac710ec1e97bfeaed0c3f88694f1c9cdf">DiscreteKeys</a>()·:·std::vector&lt;<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&gt;::vector()·{}</div> 
139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a02876.html#aeae84568ba908e2ea4fc5e876c08ce3f">···48</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02876.html#aeae84568ba908e2ea4fc5e876c08ce3f">DiscreteKeys</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key)·{·push_back(key);·}</div> 
141 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
142 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="}">127 <div·class="foldopen"·id="foldopen00075"·data-start="{"·data-end="};">
 128 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a04552.html">···75</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04552.html">NonlinearOptimizer</a>·{</div>
143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02876.html#afbe0371a73fc617697d306f2442b6cd5">···51</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02876.html#afbe0371a73fc617697d306f2442b6cd5">DiscreteKeys</a>(std::map&lt;Key,·size_t&gt;·cardinalities)·{</div> 
144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<span·class="keywordflow">for</span>·(<span·class="keyword">auto</span>&amp;&amp;·kv·:·cardinalities)·emplace_back(kv);</div> 
145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····}</div> 
146 </div> 
147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div> 
148 <div·class="foldopen"·id="foldopen00056"·data-start="{"·data-end="}"> 
149 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a02876.html#af2a1fa833d44e52655656826b2a18d19">···56</a></span>····<a·class="code·hl_function"·href="a02876.html#af2a1fa833d44e52655656826b2a18d19">DiscreteKeys</a>(<span·class="keyword">const</span>·std::vector&lt;DiscreteKey&gt;&amp;·keys)·:</div> 
150 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······std::vector&lt;<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&gt;(keys)·{</div> 
151 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····}</div> 
152 </div> 
153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
154 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>(<span·class="keyword">const</span>·std::vector&lt;int&gt;&amp;·cs);</div> 
155 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>129 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
156 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·indices()·<span·class="keyword">const</span>;</div> 
157 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div> 
158 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····std::map&lt;Key,size_t&gt;·cardinalities()·<span·class="keyword">const</span>;</div> 
159 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div> 
160 <div·class="foldopen"·id="foldopen00070"·data-start="{"·data-end="}"> 
161 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a02876.html#a33f3cebb905515642444f7c41e943950">···70</a></span>····<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·<a·class="code·hl_function"·href="a02876.html#a33f3cebb905515642444f7c41e943950">operator&amp;</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key)·{</div> 
162 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······push_back(key);</div> 
163 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······<span·class="keywordflow">return</span>·*<span·class="keyword">this</span>;</div> 
164 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····}</div>130 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span><span·class="keyword">protected</span>:</div>
165 </div>131 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a04552.html#a7142764a820ba039a610074f855bce13">···78</a></span>··<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>·<a·class="code·hl_variable"·h[·...·truncated·by·diffoscope;·len:·65,·SHA:·a769316170cc9082ab0550c8231426c9d52ff13dfc253121024174d20cbe830c·...·]/div>
166 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>132 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
 133 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a04552.html#aa51bf89ae24b609a58201f224c36b7b8">···80</a></span>··std::unique_ptr&lt;internal::NonlinearOptimizerState&gt;·<a·class="code·hl_variable"·href="a04552.html#aa51bf89ae24b609a58201f224c36b7b8">state_</a>;·</div>
167 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,</div> 
168 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>···············<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword">const</span>;</div> 
169 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div> 
170 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&amp;·other,·<span·class="keywordtype">double</span>·tol·=·0)·<span·class="keyword">const</span>;</div> 
171 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>134 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
172 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno"><a·class="line"·href="a02876.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">···83</a></span>····<span·class="keyword">friend</span>·<span·class="keyword">class·</span>boost::serialization::access;</div> 
173 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div> 
174 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····<span·class="keywordtype">void</span>·serialize(ARCHIVE&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div> 
175 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>······ar&amp;·boost::serialization::make_nvp(</div> 
176 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··········<span·class="stringliteral">&quot;DiscreteKeys&quot;</span>,</div> 
177 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··········boost::serialization::base_object&lt;std::vector&lt;DiscreteKey&gt;&gt;(*<span·class="keyword">this</span>));</div> 
178 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>····}</div> 
179 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div> 
180 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··};·<span·class="comment">//·DiscreteKeys</span></div>135 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span><span·class="keyword">public</span>:</div>
 136 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a04552.html#ab0f7caa60ea97aa83c85cc09452f2c2d">···84</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a04552.html#ab0f7caa60ea97aa83c85cc09452f2c2d">shared_ptr</a>·=·boost::shared_ptr&lt;const·NonlinearOptimizer&gt;;</div>
181 </div> 
182 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div> 
183 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··GTSAM_EXPORT·DiscreteKeys·<a·class="code·hl_function"·href="a01428.html#a0be4f243161c2fd937df60aee511eb16">operator&amp;</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key1,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01415.html#gad529b58f00471d8f8b25a89b48b7afc2">DiscreteKey</a>&amp;·key2);</div> 
184 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>137 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
185 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··<span·class="comment">//·traits</span></div>138 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
 139 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno"><a·class="line"·href="a04552.html#a823730cdeb1c0b0c5c1fef2e1ac546d7">···98</a></span>··<span·class="keyword">virtual</span>·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·<a·class="code·hl_function"·href="a04552.html#a823730cdeb1c0b0c5c1fef2e1ac546d7">optimize</a>()·{·defaultOptimize();·<span·class="keywordflow">return</span>·values();·}</div>
186 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··<span·class="keyword">template</span>·&lt;&gt;</div> 
187 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno"><a·class="line"·href="a02880.html">···98</a></span>··<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;DiscreteKeys&gt;·{};</div> 
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/discrete/DiscreteBayesTree.cpp·File·Reference</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/FactorGraph-inst.h·File·Reference</title>
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68 ··<div·id="splitbar"·style="-moz-user-select:none;"·68 ··<div·id="splitbar"·style="-moz-user-select:none;"·
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72 <script·type="text/javascript">72 <script·type="text/javascript">
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>··</div>
101 ··<div·class="headertitle"><div·class="title">DiscreteBayesTree.cpp·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">FactorGraph-inst.h·File·Reference</div></div>
102 </div><!--header-->102 </div><!--header-->
103 <div·class="contents">103 <div·class="contents">
  
104 <p>Discrete·Bayes·Tree,·the·result·of·eliminating·a·DiscreteJunctionTree.··104 <p>Factor·Graph·Base·Class.··
105 <a·href="#details">More...</a></p>105 <a·href="#details">More...</a></p>
  
 106 <p><a·href="a00608_source.html">Go·to·the·source·code·of·this·file.</a></p>
106 <table·class="memberdecls">107 <table·class="memberdecls">
107 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>108 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="namespaces"·name="namespaces"></a>
108 Namespaces</h2></td></tr>109 Namespaces</h2></td></tr>
109 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>110 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
110 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>111 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>112 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
112 </table>113 </table>
113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>114 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
114 <div·class="textblock"><p>Discrete·Bayes·Tree,·the·result·of·eliminating·a·DiscreteJunctionTree.·</p> 
115 <p>DiscreteBayesTree·</p><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>115 <div·class="textblock"><p>Factor·Graph·Base·Class.·</p>
 116 <dl·class="section·author"><dt>Author</dt><dd>Carlos·Nieto·</dd>
 117 <dd>
 118 Frank·Dellaert·</dd>
 119 <dd>
 120 Alireza·Fathi·</dd>
 121 <dd>
 122 Michael·Kaess·</dd>
116 <dd>123 <dd>
117 Richard·Roberts·</dd></dl>124 Richard·Roberts·</dd></dl>
118 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
119 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
120 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
121 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
122 ··<ul>129 ··<ul>
123 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_20686f9fbb87ff6485e15cdc5f2b7011.html">discrete</a></li><li·class="navelem"><a·class="el"·href="a00266.html">DiscreteBayesTree.cpp</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00608.html">FactorGraph-inst.h</a></li>
124 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
125 ··</ul>132 ··</ul>
126 </div>133 </div>
127 </body>134 </body>
128 </html>135 </html>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DiscreteConditional.h</div></div>104 ··<div·class="headertitle"><div·class="title">DiscreteConditional.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00272.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00239.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
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119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;gtsam/inference/Conditional-inst.h&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;gtsam/inference/Conditional-inst.h&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00212.html">gtsam/discrete/DecisionTreeFactor.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00224.html">gtsam/discrete/DecisionTreeFactor.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00206.html">gtsam/discrete/Signature.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00185.html">gtsam/discrete/Signature.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
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277 <div·class="line"><a·id="l00288"·name="l00288"></a><span·class="lineno">··288</span><span·class="comment">//·DiscreteConditional</span></div>277 <div·class="line"><a·id="l00288"·name="l00288"></a><span·class="lineno">··288</span><span·class="comment">//·DiscreteConditional</span></div>
278 <div·class="line"><a·id="l00289"·name="l00289"></a><span·class="lineno">··289</span>·</div>278 <div·class="line"><a·id="l00289"·name="l00289"></a><span·class="lineno">··289</span>·</div>
279 <div·class="line"><a·id="l00290"·name="l00290"></a><span·class="lineno">··290</span><span·class="comment">//·traits</span></div>279 <div·class="line"><a·id="l00290"·name="l00290"></a><span·class="lineno">··290</span><span·class="comment">//·traits</span></div>
280 <div·class="line"><a·id="l00291"·name="l00291"></a><span·class="lineno">··291</span><span·class="keyword">template</span>·&lt;&gt;</div>280 <div·class="line"><a·id="l00291"·name="l00291"></a><span·class="lineno">··291</span><span·class="keyword">template</span>·&lt;&gt;</div>
281 <div·class="line"><a·id="l00292"·name="l00292"></a><span·class="lineno"><a·class="line"·href="a02836.html">··292</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a02832.html">DiscreteConditional</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;DiscreteConditional&gt;·{};</div>281 <div·class="line"><a·id="l00292"·name="l00292"></a><span·class="lineno"><a·class="line"·href="a02836.html">··292</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a02832.html">DiscreteConditional</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;DiscreteConditional&gt;·{};</div>
282 <div·class="line"><a·id="l00293"·name="l00293"></a><span·class="lineno">··293</span>·</div>282 <div·class="line"><a·id="l00293"·name="l00293"></a><span·class="lineno">··293</span>·</div>
283 <div·class="line"><a·id="l00294"·name="l00294"></a><span·class="lineno">··294</span>}··<span·class="comment">//·namespace·gtsam</span></div>283 <div·class="line"><a·id="l00294"·name="l00294"></a><span·class="lineno">··294</span>}··<span·class="comment">//·namespace·gtsam</span></div>
284 <div·class="ttc"·id="aa00206_html"><div·class="ttname"><a·href="a00206.html">Signature.h</a></div><div·class="ttdoc">signatures·for·conditional·densities</div></div>284 <div·class="ttc"·id="aa00185_html"><div·class="ttname"><a·href="a00185.html">Signature.h</a></div><div·class="ttdoc">signatures·for·conditional·densities</div></div>
285 <div·class="ttc"·id="aa00212_html"><div·class="ttname"><a·href="a00212.html">DecisionTreeFactor.h</a></div></div>285 <div·class="ttc"·id="aa00224_html"><div·class="ttname"><a·href="a00224.html">DecisionTreeFactor.h</a></div></div>
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287 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>287 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
288 <div·class="ttc"·id="aa01428_html_a2b6707b04064df79d26d1016dfa2a013"><div·class="ttname"><a·href="a01428.html#a2b6707b04064df79d26d1016dfa2a013">gtsam::markdown</a></div><div·class="ttdeci">string·markdown(const·DiscreteValues·&amp;values,·const·KeyFormatter·&amp;keyFormatter,·const·DiscreteValues::Names·&amp;names)</div><div·class="ttdoc">Free·version·of·markdown.</div><div·class="ttdef"><b>Definition</b>·DiscreteValues.cpp:129</div></div>288 <div·class="ttc"·id="aa01428_html_a2b6707b04064df79d26d1016dfa2a013"><div·class="ttname"><a·href="a01428.html#a2b6707b04064df79d26d1016dfa2a013">gtsam::markdown</a></div><div·class="ttdeci">string·markdown(const·DiscreteValues·&amp;values,·const·KeyFormatter·&amp;keyFormatter,·const·DiscreteValues::Names·&amp;names)</div><div·class="ttdoc">Free·version·of·markdown.</div><div·class="ttdef"><b>Definition</b>·DiscreteValues.cpp:129</div></div>
289 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>289 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>
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111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span>·</div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span>·</div>
115 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">//·\callgraph</span></div>115 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">//·\callgraph</span></div>
116 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div>116 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div>
117 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>117 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00278.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00296.html">gtsam/geometry/Pose3.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00437.html">gtsam/geometry/Pose3.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">class·</span>Line3;</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">class·</span>Line3;</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
126 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>GTSAM_EXPORT·Line3·<a·class="code·hl_function"·href="a01428.html#aae9294b064e306ac7993dea546c0d8fb">transformTo</a>(<span·class="keyword">const</span>·Pose3·&amp;wTc,·<span·class="keyword">const</span>·Line3·&amp;wL,</div>126 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>GTSAM_EXPORT·Line3·<a·class="code·hl_function"·href="a01428.html#aae9294b064e306ac7993dea546c0d8fb">transformTo</a>(<span·class="keyword">const</span>·Pose3·&amp;wTc,·<span·class="keyword">const</span>·Line3·&amp;wL,</div>
127 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··················OptionalJacobian&lt;4,·6&gt;·Dpose·=·boost::none,</div>127 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··················OptionalJacobian&lt;4,·6&gt;·Dpose·=·boost::none,</div>
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191 <div·class="line"><a·id="l00154"·name="l00154"></a><span·class="lineno">··154</span><span·class="keyword">template</span>&lt;&gt;</div>191 <div·class="line"><a·id="l00154"·name="l00154"></a><span·class="lineno">··154</span><span·class="keyword">template</span>&lt;&gt;</div>
192 <div·class="line"><a·id="l00155"·name="l00155"></a><span·class="lineno"><a·class="line"·href="a03084.html">··155</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03080.html">Line3</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;Line3&gt;·{};</div>192 <div·class="line"><a·id="l00155"·name="l00155"></a><span·class="lineno"><a·class="line"·href="a03084.html">··155</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03080.html">Line3</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;Line3&gt;·{};</div>
193 <div·class="line"><a·id="l00156"·name="l00156"></a><span·class="lineno">··156</span>·</div>193 <div·class="line"><a·id="l00156"·name="l00156"></a><span·class="lineno">··156</span>·</div>
194 <div·class="line"><a·id="l00157"·name="l00157"></a><span·class="lineno">··157</span><span·class="keyword">template</span>&lt;&gt;</div>194 <div·class="line"><a·id="l00157"·name="l00157"></a><span·class="lineno">··157</span><span·class="keyword">template</span>&lt;&gt;</div>
195 <div·class="line"><a·id="l00158"·name="l00158"></a><span·class="lineno"><a·class="line"·href="a03088.html">··158</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a03080.html">Line3</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;Line3&gt;·{};</div>195 <div·class="line"><a·id="l00158"·name="l00158"></a><span·class="lineno"><a·class="line"·href="a03088.html">··158</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a03080.html">Line3</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;Line3&gt;·{};</div>
196 <div·class="line"><a·id="l00159"·name="l00159"></a><span·class="lineno">··159</span>}</div>196 <div·class="line"><a·id="l00159"·name="l00159"></a><span·class="lineno">··159</span>}</div>
197 <div·class="ttc"·id="aa00278_html"><div·class="ttname"><a·href="a00278.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div>197 <div·class="ttc"·id="aa00332_html"><div·class="ttname"><a·href="a00332.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div>
198 <div·class="ttc"·id="aa00296_html"><div·class="ttname"><a·href="a00296.html">Pose3.h</a></div><div·class="ttdoc">3D·Pose</div></div>198 <div·class="ttc"·id="aa00437_html"><div·class="ttname"><a·href="a00437.html">Pose3.h</a></div><div·class="ttdoc">3D·Pose</div></div>
199 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>199 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
200 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>200 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>
201 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>201 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>
202 <div·class="ttc"·id="aa01428_html_aae9294b064e306ac7993dea546c0d8fb"><div·class="ttname"><a·href="a01428.html#aae9294b064e306ac7993dea546c0d8fb">gtsam::transformTo</a></div><div·class="ttdeci">Line3·transformTo(const·Pose3·&amp;wTc,·const·Line3·&amp;wL,·OptionalJacobian&lt;·4,·6·&gt;·Dpose,·OptionalJacobian&lt;·4,·4·&gt;·Dline)</div><div·class="ttdoc">Transform·a·line·from·world·to·camera·frame.</div><div·class="ttdef"><b>Definition</b>·Line3.cpp:94</div></div>202 <div·class="ttc"·id="aa01428_html_aae9294b064e306ac7993dea546c0d8fb"><div·class="ttname"><a·href="a01428.html#aae9294b064e306ac7993dea546c0d8fb">gtsam::transformTo</a></div><div·class="ttdeci">Line3·transformTo(const·Pose3·&amp;wTc,·const·Line3·&amp;wL,·OptionalJacobian&lt;·4,·6·&gt;·Dpose,·OptionalJacobian&lt;·4,·4·&gt;·Dline)</div><div·class="ttdoc">Transform·a·line·from·world·to·camera·frame.</div><div·class="ttdef"><b>Definition</b>·Line3.cpp:94</div></div>
203 <div·class="ttc"·id="aa01428_html_ad0024081af88e1b3cc0820c65ad6afd4"><div·class="ttname"><a·href="a01428.html#ad0024081af88e1b3cc0820c65ad6afd4">gtsam::project</a></div><div·class="ttdeci">Point2_·project(const·Point3_·&amp;p_cam)</div><div·class="ttdoc">Expression·version·of·PinholeBase::Project.</div><div·class="ttdef"><b>Definition</b>·expressions.h:131</div></div>203 <div·class="ttc"·id="aa01428_html_ad0024081af88e1b3cc0820c65ad6afd4"><div·class="ttname"><a·href="a01428.html#ad0024081af88e1b3cc0820c65ad6afd4">gtsam::project</a></div><div·class="ttdeci">Point2_·project(const·Point3_·&amp;p_cam)</div><div·class="ttdoc">Expression·version·of·PinholeBase::Project.</div><div·class="ttdef"><b>Definition</b>·expressions.h:131</div></div>
204 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>204 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
205 <div·class="ttc"·id="aa02408_html"><div·class="ttname"><a·href="a02408.html">gtsam::internal::Manifold</a></div><div·class="ttdoc">Both·ManifoldTraits·and·Testable.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:120</div></div>205 <div·class="ttc"·id="aa02408_html"><div·class="ttname"><a·href="a02408.html">gtsam::internal::Manifold</a></div><div·class="ttdoc">Both·ManifoldTraits·and·Testable.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:120</div></div>
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215 <div·class="ttc"·id="aa03228_html"><div·class="ttname"><a·href="a03228.html">gtsam::Rot3</a></div><div·class="ttdoc">Rot3·is·a·3D·rotation·represented·as·a·rotation·matrix·if·the·preprocessor·symbol·GTSAM_USE_QUATERNIO...</div><div·class="ttdef"><b>Definition</b>·Rot3.h:58</div></div>215 <div·class="ttc"·id="aa03228_html"><div·class="ttname"><a·href="a03228.html">gtsam::Rot3</a></div><div·class="ttdoc">Rot3·is·a·3D·rotation·represented·as·a·rotation·matrix·if·the·preprocessor·symbol·GTSAM_USE_QUATERNIO...</div><div·class="ttdef"><b>Definition</b>·Rot3.h:58</div></div>
216 <div·class="ttc"·id="aa03380_html"><div·class="ttname"><a·href="a03380.html">gtsam::Unit3</a></div><div·class="ttdoc">Represents·a·3D·point·on·a·unit·sphere.</div><div·class="ttdef"><b>Definition</b>·Unit3.h:43</div></div>216 <div·class="ttc"·id="aa03380_html"><div·class="ttname"><a·href="a03380.html">gtsam::Unit3</a></div><div·class="ttdoc">Represents·a·3D·point·on·a·unit·sphere.</div><div·class="ttdef"><b>Definition</b>·Unit3.h:43</div></div>
217 </div><!--·fragment·--></div><!--·contents·-->217 </div><!--·fragment·--></div><!--·contents·-->
218 </div><!--·doc-content·-->218 </div><!--·doc-content·-->
219 <!--·start·footer·part·-->219 <!--·start·footer·part·-->
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221 ··<ul>221 ··<ul>
222 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00281.html">Line3.h</a></li>222 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00308.html">Line3.h</a></li>
223 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>223 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00284.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00416.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
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201 <div·class="ttc"·id="aa02448_html"><div·class="ttname"><a·href="a02448.html">gtsam::OptionalJacobian</a></div><div·class="ttdoc">OptionalJacobian·is·an·Eigen::Ref·like·class·that·can·take·be·constructed·using·either·a·fixed·size·o...</div><div·class="ttdef"><b>Definition</b>·OptionalJacobian.h:41</div></div>201 <div·class="ttc"·id="aa02448_html"><div·class="ttname"><a·href="a02448.html">gtsam::OptionalJacobian</a></div><div·class="ttdoc">OptionalJacobian·is·an·Eigen::Ref·like·class·that·can·take·be·constructed·using·either·a·fixed·size·o...</div><div·class="ttdef"><b>Definition</b>·OptionalJacobian.h:41</div></div>
202 <div·class="ttc"·id="aa02920_html"><div·class="ttname"><a·href="a02920.html">gtsam::Range</a></div><div·class="ttdef"><b>Definition</b>·BearingRange.h:40</div></div>202 <div·class="ttc"·id="aa02920_html"><div·class="ttname"><a·href="a02920.html">gtsam::Range</a></div><div·class="ttdef"><b>Definition</b>·BearingRange.h:40</div></div>
203 </div><!--·fragment·--></div><!--·contents·-->203 </div><!--·fragment·--></div><!--·contents·-->
204 </div><!--·doc-content·-->204 </div><!--·doc-content·-->
205 <!--·start·footer·part·-->205 <!--·start·footer·part·-->
206 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->206 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
207 ··<ul>207 ··<ul>
208 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00284.html">Point2.h</a></li>208 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00416.html">Point2.h</a></li>
209 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>209 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
210 ··</ul>210 ··</ul>
211 </div>211 </div>
212 </body>212 </body>
213 </html>213 </html>
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
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80 /*·@license-end·*/80 /*·@license-end·*/
81 </script>81 </script>
82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">PinholeSet.h</div></div>104 ··<div·class="headertitle"><div·class="title">PinholeSet.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00290.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00452.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00464.html">gtsam/geometry/CameraSet.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00341.html">gtsam/geometry/CameraSet.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00407.html">gtsam/geometry/triangulation.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00317.html">gtsam/geometry/triangulation.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>
127 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">127 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a03136.html">···30</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03136.html">PinholeSet</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03044.html">CameraSet</a>&lt;CAMERA&gt;·{</div>128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a03136.html">···30</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03136.html">PinholeSet</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03044.html">CameraSet</a>&lt;CAMERA&gt;·{</div>
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182 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>182 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>
183 <div·class="foldopen"·id="foldopen00081"·data-start="{"·data-end="};">183 <div·class="foldopen"·id="foldopen00081"·data-start="{"·data-end="};">
184 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno"><a·class="line"·href="a03144.html">···81</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a03136.html">PinholeSet</a>&lt;CAMERA&gt;·&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;PinholeSet&lt;CAMERA&gt;·&gt;·{</div>184 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno"><a·class="line"·href="a03144.html">···81</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a03136.html">PinholeSet</a>&lt;CAMERA&gt;·&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;PinholeSet&lt;CAMERA&gt;·&gt;·{</div>
185 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>};</div>185 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>};</div>
186 </div>186 </div>
187 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>187 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
188 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>}·<span·class="comment">//·\·namespace·gtsam</span></div>188 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>}·<span·class="comment">//·\·namespace·gtsam</span></div>
189 <div·class="ttc"·id="aa00407_html"><div·class="ttname"><a·href="a00407.html">triangulation.h</a></div><div·class="ttdoc">Functions·for·triangulation.</div></div>189 <div·class="ttc"·id="aa00317_html"><div·class="ttname"><a·href="a00317.html">triangulation.h</a></div><div·class="ttdoc">Functions·for·triangulation.</div></div>
190 <div·class="ttc"·id="aa00464_html"><div·class="ttname"><a·href="a00464.html">CameraSet.h</a></div><div·class="ttdoc">Base·class·to·create·smart·factors·on·poses·or·cameras.</div></div>190 <div·class="ttc"·id="aa00341_html"><div·class="ttname"><a·href="a00341.html">CameraSet.h</a></div><div·class="ttdoc">Base·class·to·create·smart·factors·on·poses·or·cameras.</div></div>
191 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>191 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
192 <div·class="ttc"·id="aa01428_html_a8d52d7d8a5e5c8d7318ce95ee57e9cfa"><div·class="ttname"><a·href="a01428.html#a8d52d7d8a5e5c8d7318ce95ee57e9cfa">gtsam::triangulateSafe</a></div><div·class="ttdeci">TriangulationResult·triangulateSafe(const·CameraSet&lt;·CAMERA·&gt;·&amp;cameras,·const·typename·CAMERA::MeasurementVector·&amp;measured,·const·TriangulationParameters·&amp;params)</div><div·class="ttdoc">triangulateSafe:·extensive·checking·of·the·outcome</div><div·class="ttdef"><b>Definition</b>·triangulation.h:680</div></div>192 <div·class="ttc"·id="aa01428_html_a8d52d7d8a5e5c8d7318ce95ee57e9cfa"><div·class="ttname"><a·href="a01428.html#a8d52d7d8a5e5c8d7318ce95ee57e9cfa">gtsam::triangulateSafe</a></div><div·class="ttdeci">TriangulationResult·triangulateSafe(const·CameraSet&lt;·CAMERA·&gt;·&amp;cameras,·const·typename·CAMERA::MeasurementVector·&amp;measured,·const·TriangulationParameters·&amp;params)</div><div·class="ttdoc">triangulateSafe:·extensive·checking·of·the·outcome</div><div·class="ttdef"><b>Definition</b>·triangulation.h:680</div></div>
193 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>193 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
194 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>194 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>
195 <div·class="ttc"·id="aa03044_html"><div·class="ttname"><a·href="a03044.html">gtsam::CameraSet</a></div><div·class="ttdoc">A·set·of·cameras,·all·with·their·own·calibration.</div><div·class="ttdef"><b>Definition</b>·CameraSet.h:36</div></div>195 <div·class="ttc"·id="aa03044_html"><div·class="ttname"><a·href="a03044.html">gtsam::CameraSet</a></div><div·class="ttdoc">A·set·of·cameras,·all·with·their·own·calibration.</div><div·class="ttdef"><b>Definition</b>·CameraSet.h:36</div></div>
196 <div·class="ttc"·id="aa03136_html"><div·class="ttname"><a·href="a03136.html">gtsam::PinholeSet</a></div><div·class="ttdoc">PinholeSet:·triangulates·point·and·keeps·an·estimate·of·it·around.</div><div·class="ttdef"><b>Definition</b>·PinholeSet.h:30</div></div>196 <div·class="ttc"·id="aa03136_html"><div·class="ttname"><a·href="a03136.html">gtsam::PinholeSet</a></div><div·class="ttdoc">PinholeSet:·triangulates·point·and·keeps·an·estimate·of·it·around.</div><div·class="ttdef"><b>Definition</b>·PinholeSet.h:30</div></div>
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202 <div·class="ttc"·id="aa03372_html"><div·class="ttname"><a·href="a03372.html">gtsam::TriangulationParameters</a></div><div·class="ttdef"><b>Definition</b>·triangulation.h:556</div></div>202 <div·class="ttc"·id="aa03372_html"><div·class="ttname"><a·href="a03372.html">gtsam::TriangulationParameters</a></div><div·class="ttdef"><b>Definition</b>·triangulation.h:556</div></div>
203 <div·class="ttc"·id="aa03376_html"><div·class="ttname"><a·href="a03376.html">gtsam::TriangulationResult</a></div><div·class="ttdoc">TriangulationResult·is·an·optional·point,·along·with·the·reasons·why·it·is·invalid.</div><div·class="ttdef"><b>Definition</b>·triangulation.h:626</div></div>203 <div·class="ttc"·id="aa03376_html"><div·class="ttname"><a·href="a03376.html">gtsam::TriangulationResult</a></div><div·class="ttdoc">TriangulationResult·is·an·optional·point,·along·with·the·reasons·why·it·is·invalid.</div><div·class="ttdef"><b>Definition</b>·triangulation.h:626</div></div>
204 </div><!--·fragment·--></div><!--·contents·-->204 </div><!--·fragment·--></div><!--·contents·-->
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208 ··<ul>208 ··<ul>
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210 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>210 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Cal3DS2.h</div></div>104 ··<div·class="headertitle"><div·class="title">JacobianFactorQ.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00293.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div>
 119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file··JacobianFactorQ.h</span></div>
 120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@date··Oct·27,·2013</span></div>
 121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@uthor·Frank·Dellaert</span></div>
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118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00818.html">gtsam/linear/RegularJacobianFactor.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Cal3DS2_Base.h&gt;</span></div> 
121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div> 
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123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 129 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">template</span>&lt;<span·class="keywordtype">size_t</span>·D,·<span·class="keywordtype">size_t</span>·ZDim&gt;</div>
 130 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="};">
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124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>132 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
 133 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04016.html">RegularJacobianFactor&lt;D&gt;</a>·Base;</div>
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 138 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
125 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">139 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="}">
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126 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a02980.html">···35</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02980.html">Cal3DS2</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02992.html">Cal3DS2_Base</a>·{</div> 
127 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02992.html">Base</a>·=·<a·class="code·hl_class"·href="a02992.html">Cal3DS2_Base</a>;</div> 
128 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>141 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··}</div>
 142 </div>
129 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·<span·class="keyword">public</span>:</div> 
130 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">enum</span>·{·dimension·=·9·};</div> 
131 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
132 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3DS2&gt;;</div> 
133 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>143 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
 144 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="}">
 145 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04860.html#abfb38e58b5b2d1293cf374b7eca2b2d4">···40</a></span>··<a·class="code·hl_function"·href="a04860.html#abfb38e58b5b2d1293cf374b7eca2b2d4">JacobianFactorQ</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,·<span·class="comment">//</span></div>
 146 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·SharedDiagonal())·:</div>
 147 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>······Base()·{</div>
 148 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····Matrix·zeroMatrix·=·Matrix::Zero(0,·D);</div>
 149 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····Vector·zeroVector·=·Vector::Zero(0);</div>
 150 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>····std::vector&lt;KeyMatrix&gt;·QF;</div>
 151 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····QF.reserve(<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>.size());</div>
 152 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="keywordflow">for</span>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>&amp;·key:·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>)</div>
 153 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······QF.push_back(KeyMatrix(key,·zeroMatrix));</div>
 154 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<a·class="code·hl_function"·href="a03844.html#a87edd57f5afdc5a429163d6a917b6cec">JacobianFactor::fillTerms</a>(QF,·zeroVector,·model);</div>
134 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>155 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··}</div>
 156 </div>
135 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a02980.html#afb959a59bb324eef4fd6578feb9eca8f">···48</a></span>··<a·class="code·hl_function"·href="a02980.html#afb959a59bb324eef4fd6578feb9eca8f">Cal3DS2</a>()·=·<span·class="keywordflow">default</span>;</div> 
136 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
137 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<a·class="code·hl_class"·href="a02980.html">Cal3DS2</a>(<span·class="keywordtype">double</span>·fx,·<span·class="keywordtype">double</span>·fy,·<span·class="keywordtype">double</span>·s,·<span·class="keywordtype">double</span>·u0,·<span·class="keywordtype">double</span>·v0,·<span·class="keywordtype">double</span>·k1,</div> 
138 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··········<span·class="keywordtype">double</span>·k2,·<span·class="keywordtype">double</span>·p1·=·0.0,·<span·class="keywordtype">double</span>·p2·=·0.0,·<span·class="keywordtype">double</span>·tol·=·1e-5)</div> 
139 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······:·<a·class="code·hl_class"·href="a02992.html">Base</a>(fx,·fy,·s,·u0,·v0,·k1,·k2,·p1,·p2,·tol)·{}</div> 
140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>157 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
141 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<a·class="code·hl_class"·href="a02980.html">~Cal3DS2</a>()<span·class="keyword">·override·</span>{}</div>158 <div·class="foldopen"·id="foldopen00053"·data-start="{"·data-end="}">
 159 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a04860.html#a549fef1272025c45472f2e4294bd319e">···53</a></span>··<a·class="code·hl_function"·href="a04860.html#a549fef1272025c45472f2e4294bd319e">JacobianFactorQ</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>&amp;·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,</div>
 160 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······<span·class="keyword">const</span>·std::vector&lt;MatrixZD,·Eigen::aligned_allocator&lt;MatrixZD&gt;·&gt;&amp;·FBlocks,·<span·class="keyword">const</span>·Matrix&amp;·E,·<span·class="keyword">const</span>·Matrix3&amp;·P,</div>
 161 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······<span·class="keyword">const</span>·Vector&amp;·b,·<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·SharedDiagonal())·:</div>
142 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>162 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······Base()·{</div>
 163 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keywordtype">size_t</span>·j·=·0,·m2·=·E.rows(),·m·=·m2·/·ZDim;</div>
 164 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="comment">//·Calculate·projector·Q</span></div>
 165 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····Matrix·Q·=·Matrix::Identity(m2,m2)·-·E·*·P·*·E.transpose();</div>
 166 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="comment">//·Calculate·pre-computed·Jacobian·matrices</span></div>
 167 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<span·class="comment">//·TODO:·can·we·do·better·?</span></div>
143 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>168 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····std::vector&lt;KeyMatrix&gt;·QF;</div>
144 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··Cal3DS2(<span·class="keyword">const</span>·Vector9&amp;·v)·:·Base(v)·{}</div> 
145 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>169 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····QF.reserve(m);</div>
 170 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="comment">//·Below,·we·compute·each·mZDim*D·block·A_j·=·Q_j·*·F_j·=·(mZDim*ZDim)·*·(Zdim*D)</span></div>
 171 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·k·=·0;·k·&lt;·FBlocks.size();·++k)·{</div>
 172 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key·=·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>[k];</div>
146 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>173 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······QF.push_back(</div>
 174 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··········KeyMatrix(key,·-·Q.block(0,·ZDim·*·j++,·m2,·ZDim)·*·FBlocks[k]));</div>
147 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··GTSAM_EXPORT·<span·class="keyword">friend</span>·std::ostream&amp;·operator&lt;&lt;(std::ostream&amp;·os,</div> 
148 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>···············································<span·class="keyword">const</span>·Cal3DS2&amp;·cal);</div> 
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
79 $(document).ready(function(){initNavTree('a00296_source.html','');·initResizable();·});79 $(document).ready(function(){initNavTree('a00437_source.html','');·initResizable();·});
80 /*·@license-end·*/80 /*·@license-end·*/
81 </script>81 </script>
82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Pose3.h</div></div>104 ··<div·class="headertitle"><div·class="title">Pose3.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00296.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00437.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
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117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">//·\callgraph</span></div>119 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">//·\callgraph</span></div>
120 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>120 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
121 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>121 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
122 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;gtsam/config.h&gt;</span></div>122 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;gtsam/config.h&gt;</span></div>
123 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>123 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
124 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00425.html">gtsam/geometry/BearingRange.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00314.html">gtsam/geometry/BearingRange.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Point3.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00455.html">gtsam/geometry/Point3.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00278.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>126 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>
127 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00128.html">gtsam/base/Lie.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00002.html">gtsam/base/Lie.h</a>&gt;</span></div>
128 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>128 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
129 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
130 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>130 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
131 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">class·</span>Pose2;</div>131 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">class·</span>Pose2;</div>
132 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·forward·declare</span></div>132 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·forward·declare</span></div>
133 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>133 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
134 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};">134 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};">
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339 <div·class="line"><a·id="l00396"·name="l00396"></a><span·class="lineno">··396</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(R_);</div>339 <div·class="line"><a·id="l00396"·name="l00396"></a><span·class="lineno">··396</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(R_);</div>
340 <div·class="line"><a·id="l00397"·name="l00397"></a><span·class="lineno">··397</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(t_);</div>340 <div·class="line"><a·id="l00397"·name="l00397"></a><span·class="lineno">··397</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(t_);</div>
341 <div·class="line"><a·id="l00398"·name="l00398"></a><span·class="lineno">··398</span>··}</div>341 <div·class="line"><a·id="l00398"·name="l00398"></a><span·class="lineno">··398</span>··}</div>
342 <div·class="line"><a·id="l00400"·name="l00400"></a><span·class="lineno">··400</span>·</div>342 <div·class="line"><a·id="l00400"·name="l00400"></a><span·class="lineno">··400</span>·</div>
343 <div·class="line"><a·id="l00401"·name="l00401"></a><span·class="lineno">··401</span><span·class="preprocessor">#ifdef·GTSAM_USE_QUATERNIONS</span></div>343 <div·class="line"><a·id="l00401"·name="l00401"></a><span·class="lineno">··401</span><span·class="preprocessor">#ifdef·GTSAM_USE_QUATERNIONS</span></div>
344 <div·class="line"><a·id="l00402"·name="l00402"></a><span·class="lineno">··402</span>··<span·class="comment">//·Align·if·we·are·using·Quaternions</span></div>344 <div·class="line"><a·id="l00402"·name="l00402"></a><span·class="lineno">··402</span>··<span·class="comment">//·Align·if·we·are·using·Quaternions</span></div>
345 <div·class="line"><a·id="l00403"·name="l00403"></a><span·class="lineno">··403</span>··<span·class="keyword">public</span>:</div>345 <div·class="line"><a·id="l00403"·name="l00403"></a><span·class="lineno">··403</span>··<span·class="keyword">public</span>:</div>
346 <div·class="line"><a·id="l00404"·name="l00404"></a><span·class="lineno">··404</span>····<a·class="code·hl_define"·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>346 <div·class="line"><a·id="l00404"·name="l00404"></a><span·class="lineno">··404</span>····<a·class="code·hl_define"·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>
347 <div·class="line"><a·id="l00405"·name="l00405"></a><span·class="lineno">··405</span><span·class="preprocessor">#endif</span></div>347 <div·class="line"><a·id="l00405"·name="l00405"></a><span·class="lineno">··405</span><span·class="preprocessor">#endif</span></div>
348 <div·class="line"><a·id="l00406"·name="l00406"></a><span·class="lineno">··406</span>};</div>348 <div·class="line"><a·id="l00406"·name="l00406"></a><span·class="lineno">··406</span>};</div>
349 </div>349 </div>
350 <div·class="line"><a·id="l00407"·name="l00407"></a><span·class="lineno">··407</span><span·class="comment">//·Pose3·class</span></div>350 <div·class="line"><a·id="l00407"·name="l00407"></a><span·class="lineno">··407</span><span·class="comment">//·Pose3·class</span></div>
351 <div·class="line"><a·id="l00408"·name="l00408"></a><span·class="lineno">··408</span>·</div>351 <div·class="line"><a·id="l00408"·name="l00408"></a><span·class="lineno">··408</span>·</div>
352 <div·class="line"><a·id="l00416"·name="l00416"></a><span·class="lineno">··416</span><span·class="keyword">template</span>&lt;&gt;</div>352 <div·class="line"><a·id="l00416"·name="l00416"></a><span·class="lineno">··416</span><span·class="keyword">template</span>&lt;&gt;</div>
353 <div·class="foldopen"·id="foldopen00417"·data-start="{"·data-end="}">353 <div·class="foldopen"·id="foldopen00417"·data-start="{"·data-end="}">
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376 <div·class="line"><a·id="l00438"·name="l00438"></a><span·class="lineno">··438</span><span·class="keyword">template</span>&lt;&gt;</div>376 <div·class="line"><a·id="l00438"·name="l00438"></a><span·class="lineno">··438</span><span·class="keyword">template</span>&lt;&gt;</div>
377 <div·class="line"><a·id="l00439"·name="l00439"></a><span·class="lineno"><a·class="line"·href="a03200.html">··439</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02916.html">Bearing</a>&lt;<a·class="code·hl_class"·href="a03180.html">Pose3</a>,·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&gt;·:·<a·class="code·hl_struct"·href="a02932.html">HasBearing</a>&lt;Pose3,·Pose3,·Unit3&gt;·{};</div>377 <div·class="line"><a·id="l00439"·name="l00439"></a><span·class="lineno"><a·class="line"·href="a03200.html">··439</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02916.html">Bearing</a>&lt;<a·class="code·hl_class"·href="a03180.html">Pose3</a>,·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&gt;·:·<a·class="code·hl_struct"·href="a02932.html">HasBearing</a>&lt;Pose3,·Pose3,·Unit3&gt;·{};</div>
378 <div·class="line"><a·id="l00440"·name="l00440"></a><span·class="lineno">··440</span>·</div>378 <div·class="line"><a·id="l00440"·name="l00440"></a><span·class="lineno">··440</span>·</div>
379 <div·class="line"><a·id="l00441"·name="l00441"></a><span·class="lineno">··441</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;</div>379 <div·class="line"><a·id="l00441"·name="l00441"></a><span·class="lineno">··441</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·T&gt;</div>
380 <div·class="line"><a·id="l00442"·name="l00442"></a><span·class="lineno"><a·class="line"·href="a03204.html">··442</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02920.html">Range</a>&lt;<a·class="code·hl_class"·href="a03180.html">Pose3</a>,·T&gt;·:·<a·class="code·hl_struct"·href="a02936.html">HasRange</a>&lt;Pose3,·T,·double&gt;·{};</div>380 <div·class="line"><a·id="l00442"·name="l00442"></a><span·class="lineno"><a·class="line"·href="a03204.html">··442</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02920.html">Range</a>&lt;<a·class="code·hl_class"·href="a03180.html">Pose3</a>,·T&gt;·:·<a·class="code·hl_struct"·href="a02936.html">HasRange</a>&lt;Pose3,·T,·double&gt;·{};</div>
381 <div·class="line"><a·id="l00443"·name="l00443"></a><span·class="lineno">··443</span>·</div>381 <div·class="line"><a·id="l00443"·name="l00443"></a><span·class="lineno">··443</span>·</div>
382 <div·class="line"><a·id="l00444"·name="l00444"></a><span·class="lineno">··444</span>}··<span·class="comment">//·namespace·gtsam</span></div>382 <div·class="line"><a·id="l00444"·name="l00444"></a><span·class="lineno">··444</span>}··<span·class="comment">//·namespace·gtsam</span></div>
 383 <div·class="ttc"·id="aa00002_html"><div·class="ttname"><a·href="a00002.html">Lie.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Lie·types.</div></div>
383 <div·class="ttc"·id="aa00125_html_aa123dd61687e08ae328154a1890b7b86"><div·class="ttname"><a·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:308</div></div>384 <div·class="ttc"·id="aa00146_html_aa123dd61687e08ae328154a1890b7b86"><div·class="ttname"><a·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:308</div></div>
384 <div·class="ttc"·id="aa00128_html"><div·class="ttname"><a·href="a00128.html">Lie.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Lie·types.</div></div>385 <div·class="ttc"·id="aa00314_html"><div·class="ttname"><a·href="a00314.html">BearingRange.h</a></div><div·class="ttdoc">Bearing-Range·product.</div></div>
385 <div·class="ttc"·id="aa00278_html"><div·class="ttname"><a·href="a00278.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div>386 <div·class="ttc"·id="aa00332_html"><div·class="ttname"><a·href="a00332.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div>
386 <div·class="ttc"·id="aa00332_html"><div·class="ttname"><a·href="a00332.html">Point3.h</a></div><div·class="ttdoc">3D·Point</div></div>387 <div·class="ttc"·id="aa00455_html"><div·class="ttname"><a·href="a00455.html">Point3.h</a></div><div·class="ttdoc">3D·Point</div></div>
387 <div·class="ttc"·id="aa00425_html"><div·class="ttname"><a·href="a00425.html">BearingRange.h</a></div><div·class="ttdoc">Bearing-Range·product.</div></div> 
388 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>388 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
389 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>389 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>
390 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>390 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>
391 <div·class="ttc"·id="aa01428_html_aae9294b064e306ac7993dea546c0d8fb"><div·class="ttname"><a·href="a01428.html#aae9294b064e306ac7993dea546c0d8fb">gtsam::transformTo</a></div><div·class="ttdeci">Line3·transformTo(const·Pose3·&amp;wTc,·const·Line3·&amp;wL,·OptionalJacobian&lt;·4,·6·&gt;·Dpose,·OptionalJacobian&lt;·4,·4·&gt;·Dline)</div><div·class="ttdoc">Transform·a·line·from·world·to·camera·frame.</div><div·class="ttdef"><b>Definition</b>·Line3.cpp:94</div></div>391 <div·class="ttc"·id="aa01428_html_aae9294b064e306ac7993dea546c0d8fb"><div·class="ttname"><a·href="a01428.html#aae9294b064e306ac7993dea546c0d8fb">gtsam::transformTo</a></div><div·class="ttdeci">Line3·transformTo(const·Pose3·&amp;wTc,·const·Line3·&amp;wL,·OptionalJacobian&lt;·4,·6·&gt;·Dpose,·OptionalJacobian&lt;·4,·4·&gt;·Dline)</div><div·class="ttdoc">Transform·a·line·from·world·to·camera·frame.</div><div·class="ttdef"><b>Definition</b>·Line3.cpp:94</div></div>
392 <div·class="ttc"·id="aa01428_html_aefb606eb24889c0f418acf1515a2c723"><div·class="ttname"><a·href="a01428.html#aefb606eb24889c0f418acf1515a2c723">gtsam::wedge&lt;·Pose3·&gt;</a></div><div·class="ttdeci">Matrix·wedge&lt;·Pose3·&gt;(const·Vector·&amp;xi)</div><div·class="ttdoc">wedge·for·Pose3:</div><div·class="ttdef"><b>Definition</b>·Pose3.h:417</div></div>392 <div·class="ttc"·id="aa01428_html_aefb606eb24889c0f418acf1515a2c723"><div·class="ttname"><a·href="a01428.html#aefb606eb24889c0f418acf1515a2c723">gtsam::wedge&lt;·Pose3·&gt;</a></div><div·class="ttdeci">Matrix·wedge&lt;·Pose3·&gt;(const·Vector·&amp;xi)</div><div·class="ttdoc">wedge·for·Pose3:</div><div·class="ttdef"><b>Definition</b>·Pose3.h:417</div></div>
393 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>393 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
394 <div·class="ttc"·id="aa02364_html"><div·class="ttname"><a·href="a02364.html">gtsam::LieGroup</a></div><div·class="ttdoc">A·CRTP·helper·class·that·implements·Lie·group·methods·Prerequisites:·methods·operator*,...</div><div·class="ttdef"><b>Definition</b>·Lie.h:37</div></div>394 <div·class="ttc"·id="aa02364_html"><div·class="ttname"><a·href="a02364.html">gtsam::LieGroup</a></div><div·class="ttdoc">A·CRTP·helper·class·that·implements·Lie·group·methods·Prerequisites:·methods·operator*,...</div><div·class="ttdef"><b>Definition</b>·Lie.h:37</div></div>
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419 <div·class="ttc"·id="aa03228_html"><div·class="ttname"><a·href="a03228.html">gtsam::Rot3</a></div><div·class="ttdoc">Rot3·is·a·3D·rotation·represented·as·a·rotation·matrix·if·the·preprocessor·symbol·GTSAM_USE_QUATERNIO...</div><div·class="ttdef"><b>Definition</b>·Rot3.h:58</div></div>419 <div·class="ttc"·id="aa03228_html"><div·class="ttname"><a·href="a03228.html">gtsam::Rot3</a></div><div·class="ttdoc">Rot3·is·a·3D·rotation·represented·as·a·rotation·matrix·if·the·preprocessor·symbol·GTSAM_USE_QUATERNIO...</div><div·class="ttdef"><b>Definition</b>·Rot3.h:58</div></div>
420 <div·class="ttc"·id="aa03380_html"><div·class="ttname"><a·href="a03380.html">gtsam::Unit3</a></div><div·class="ttdoc">Represents·a·3D·point·on·a·unit·sphere.</div><div·class="ttdef"><b>Definition</b>·Unit3.h:43</div></div>420 <div·class="ttc"·id="aa03380_html"><div·class="ttname"><a·href="a03380.html">gtsam::Unit3</a></div><div·class="ttdoc">Represents·a·3D·point·on·a·unit·sphere.</div><div·class="ttdef"><b>Definition</b>·Unit3.h:43</div></div>
421 </div><!--·fragment·--></div><!--·contents·-->421 </div><!--·fragment·--></div><!--·contents·-->
422 </div><!--·doc-content·-->422 </div><!--·doc-content·-->
423 <!--·start·footer·part·-->423 <!--·start·footer·part·-->
424 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->424 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
425 ··<ul>425 ··<ul>
426 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00296.html">Pose3.h</a></li>426 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00437.html">Pose3.h</a></li>
427 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>427 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
428 ··</ul>428 ··</ul>
429 </div>429 </div>
430 </body>430 </body>
431 </html>431 </html>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Similarity3.h</div></div>104 ··<div·class="headertitle"><div·class="title">Similarity3.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00311.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00479.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00128.html">gtsam/base/Lie.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00002.html">gtsam/base/Lie.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Manifold.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/Manifold.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Point3.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00455.html">gtsam/geometry/Point3.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00296.html">gtsam/geometry/Pose3.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00437.html">gtsam/geometry/Pose3.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00278.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·Forward·declarations</span></div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·Forward·declarations</span></div>
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">class·</span>Pose3;</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">class·</span>Pose3;</div>
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
132 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">132 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">
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235 <div·class="line"><a·id="l00215"·name="l00215"></a><span·class="lineno">··215</span><span·class="keyword">template</span>·&lt;&gt;</div>235 <div·class="line"><a·id="l00215"·name="l00215"></a><span·class="lineno">··215</span><span·class="keyword">template</span>·&lt;&gt;</div>
236 <div·class="line"><a·id="l00216"·name="l00216"></a><span·class="lineno"><a·class="line"·href="a03272.html">··216</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03264.html">Similarity3</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02376.html">internal::LieGroup</a>&lt;Similarity3&gt;·{};</div>236 <div·class="line"><a·id="l00216"·name="l00216"></a><span·class="lineno"><a·class="line"·href="a03272.html">··216</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03264.html">Similarity3</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02376.html">internal::LieGroup</a>&lt;Similarity3&gt;·{};</div>
237 <div·class="line"><a·id="l00217"·name="l00217"></a><span·class="lineno">··217</span>·</div>237 <div·class="line"><a·id="l00217"·name="l00217"></a><span·class="lineno">··217</span>·</div>
238 <div·class="line"><a·id="l00218"·name="l00218"></a><span·class="lineno">··218</span><span·class="keyword">template</span>·&lt;&gt;</div>238 <div·class="line"><a·id="l00218"·name="l00218"></a><span·class="lineno">··218</span><span·class="keyword">template</span>·&lt;&gt;</div>
239 <div·class="line"><a·id="l00219"·name="l00219"></a><span·class="lineno"><a·class="line"·href="a03276.html">··219</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a03264.html">Similarity3</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02376.html">internal::LieGroup</a>&lt;Similarity3&gt;·{};</div>239 <div·class="line"><a·id="l00219"·name="l00219"></a><span·class="lineno"><a·class="line"·href="a03276.html">··219</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a03264.html">Similarity3</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02376.html">internal::LieGroup</a>&lt;Similarity3&gt;·{};</div>
240 <div·class="line"><a·id="l00220"·name="l00220"></a><span·class="lineno">··220</span>·</div>240 <div·class="line"><a·id="l00220"·name="l00220"></a><span·class="lineno">··220</span>·</div>
241 <div·class="line"><a·id="l00221"·name="l00221"></a><span·class="lineno">··221</span>}··<span·class="comment">//·namespace·gtsam</span></div>241 <div·class="line"><a·id="l00221"·name="l00221"></a><span·class="lineno">··221</span>}··<span·class="comment">//·namespace·gtsam</span></div>
 242 <div·class="ttc"·id="aa00002_html"><div·class="ttname"><a·href="a00002.html">Lie.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Lie·types.</div></div>
242 <div·class="ttc"·id="aa00107_html"><div·class="ttname"><a·href="a00107.html">Manifold.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Manifold·types.</div></div>243 <div·class="ttc"·id="aa00119_html"><div·class="ttname"><a·href="a00119.html">Manifold.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Manifold·types.</div></div>
243 <div·class="ttc"·id="aa00128_html"><div·class="ttname"><a·href="a00128.html">Lie.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Lie·types.</div></div> 
244 <div·class="ttc"·id="aa00278_html"><div·class="ttname"><a·href="a00278.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div>244 <div·class="ttc"·id="aa00332_html"><div·class="ttname"><a·href="a00332.html">Rot3.h</a></div><div·class="ttdoc">3D·rotation·represented·as·a·rotation·matrix·or·quaternion</div></div>
245 <div·class="ttc"·id="aa00296_html"><div·class="ttname"><a·href="a00296.html">Pose3.h</a></div><div·class="ttdoc">3D·Pose</div></div>245 <div·class="ttc"·id="aa00437_html"><div·class="ttname"><a·href="a00437.html">Pose3.h</a></div><div·class="ttdoc">3D·Pose</div></div>
246 <div·class="ttc"·id="aa00332_html"><div·class="ttname"><a·href="a00332.html">Point3.h</a></div><div·class="ttdoc">3D·Point</div></div>246 <div·class="ttc"·id="aa00455_html"><div·class="ttname"><a·href="a00455.html">Point3.h</a></div><div·class="ttdoc">3D·Point</div></div>
247 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>247 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
248 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>248 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>
249 <div·class="ttc"·id="aa01428_html_a63d86e99c211c6daeac2b7b4dd9d928e"><div·class="ttname"><a·href="a01428.html#a63d86e99c211c6daeac2b7b4dd9d928e">gtsam::operator*</a></div><div·class="ttdeci">Point2·operator*(double·s,·const·Point2·&amp;p)</div><div·class="ttdoc">multiply·with·scalar</div><div·class="ttdef"><b>Definition</b>·Point2.h:47</div></div>249 <div·class="ttc"·id="aa01428_html_a63d86e99c211c6daeac2b7b4dd9d928e"><div·class="ttname"><a·href="a01428.html#a63d86e99c211c6daeac2b7b4dd9d928e">gtsam::operator*</a></div><div·class="ttdeci">Point2·operator*(double·s,·const·Point2·&amp;p)</div><div·class="ttdoc">multiply·with·scalar</div><div·class="ttdef"><b>Definition</b>·Point2.h:47</div></div>
250 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>250 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>
251 <div·class="ttc"·id="aa01428_html_afd5b3cf3f54adcbdd6d9e7403f1a792f"><div·class="ttname"><a·href="a01428.html#afd5b3cf3f54adcbdd6d9e7403f1a792f">gtsam::operator==</a></div><div·class="ttdeci">bool·operator==(const·Matrix·&amp;A,·const·Matrix·&amp;B)</div><div·class="ttdoc">equality·is·just·equal_with_abs_tol·1e-9</div><div·class="ttdef"><b>Definition</b>·Matrix.h:100</div></div>251 <div·class="ttc"·id="aa01428_html_afd5b3cf3f54adcbdd6d9e7403f1a792f"><div·class="ttname"><a·href="a01428.html#afd5b3cf3f54adcbdd6d9e7403f1a792f">gtsam::operator==</a></div><div·class="ttdeci">bool·operator==(const·Matrix·&amp;A,·const·Matrix·&amp;B)</div><div·class="ttdoc">equality·is·just·equal_with_abs_tol·1e-9</div><div·class="ttdef"><b>Definition</b>·Matrix.h:100</div></div>
252 <div·class="ttc"·id="aa01428_html_afe28b7f8e3592fb9f5cf9ebae09497ba"><div·class="ttname"><a·href="a01428.html#afe28b7f8e3592fb9f5cf9ebae09497ba">gtsam::wedge</a></div><div·class="ttdeci">Matrix·wedge(const·Vector·&amp;x)</div><div·class="ttdoc">Declaration·of·wedge·(see·Murray94book)·used·to·convert·from·n·exponential·coordinates·to·n*n·element...</div></div>252 <div·class="ttc"·id="aa01428_html_afe28b7f8e3592fb9f5cf9ebae09497ba"><div·class="ttname"><a·href="a01428.html#afe28b7f8e3592fb9f5cf9ebae09497ba">gtsam::wedge</a></div><div·class="ttdeci">Matrix·wedge(const·Vector·&amp;x)</div><div·class="ttdoc">Declaration·of·wedge·(see·Murray94book)·used·to·convert·from·n·exponential·coordinates·to·n*n·element...</div></div>
253 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>253 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
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266 <div·class="ttc"·id="aa03264_html_ab29559834678c644820664e1c523516b"><div·class="ttname"><a·href="a03264.html#ab29559834678c644820664e1c523516b">gtsam::Similarity3::scale</a></div><div·class="ttdeci">double·scale()·const</div><div·class="ttdoc">Return·the·scale.</div><div·class="ttdef"><b>Definition</b>·Similarity3.h:191</div></div>266 <div·class="ttc"·id="aa03264_html_ab29559834678c644820664e1c523516b"><div·class="ttname"><a·href="a03264.html#ab29559834678c644820664e1c523516b">gtsam::Similarity3::scale</a></div><div·class="ttdeci">double·scale()·const</div><div·class="ttdoc">Return·the·scale.</div><div·class="ttdef"><b>Definition</b>·Similarity3.h:191</div></div>
267 <div·class="ttc"·id="aa03268_html"><div·class="ttname"><a·href="a03268.html">gtsam::Similarity3::ChartAtOrigin</a></div><div·class="ttdoc">Chart·at·the·origin.</div><div·class="ttdef"><b>Definition</b>·Similarity3.h:153</div></div>267 <div·class="ttc"·id="aa03268_html"><div·class="ttname"><a·href="a03268.html">gtsam::Similarity3::ChartAtOrigin</a></div><div·class="ttdoc">Chart·at·the·origin.</div><div·class="ttdef"><b>Definition</b>·Similarity3.h:153</div></div>
268 </div><!--·fragment·--></div><!--·contents·-->268 </div><!--·fragment·--></div><!--·contents·-->
269 </div><!--·doc-content·-->269 </div><!--·doc-content·-->
270 <!--·start·footer·part·-->270 <!--·start·footer·part·-->
271 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->271 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
272 ··<ul>272 ··<ul>
273 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00311.html">Similarity3.h</a></li>273 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00479.html">Similarity3.h</a></li>
274 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>274 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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276 </div>276 </div>
277 </body>277 </body>
278 </html>278 </html>
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154 <div·class="textblock"><p>N*N·matrix·representation·of·SO(N).·</p> 
155 <p>N·can·be·Eigen::Dynamic·</p><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>143 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
156 <dl·class="section·date"><dt>Date</dt><dd>March·2019·</dd></dl>144 <dd>
 145 Adam·Bry·</dd></dl>
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 104 <p>Contains·the·HessianFactor·class,·a·general·quadratic·factor.··
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 115 <div·class="textblock"><p>Contains·the·HessianFactor·class,·a·general·quadratic·factor.·</p>
 116 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
119 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Feb·28,·2010·</dd></dl>117 <dl·class="section·date"><dt>Date</dt><dd>Dec·8,·2010·</dd></dl>
120 <dl·class="section·author"><dt>Author</dt><dd>ydjian·</dd> 
121 <dd> 
122 Varun·Agrawal·</dd></dl> 
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
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279 <div·class="ttc"·id="aa00296_html"><div·class="ttname"><a·href="a00296.html">Pose3.h</a></div><div·class="ttdoc">3D·Pose</div></div> 
280 <div·class="ttc"·id="aa00326_html"><div·class="ttname"><a·href="a00326.html">StereoPoint2.h</a></div><div·class="ttdoc">A·2D·stereo·point·(uL,uR,v)</div></div> 
281 <div·class="ttc"·id="aa00374_html"><div·class="ttname"><a·href="a00374.html">Cal3_S2Stereo.h</a></div><div·class="ttdoc">The·most·common·5DOF·3D-&gt;2D·calibration·+·Stereo·baseline.</div></div>279 <div·class="ttc"·id="aa00380_html"><div·class="ttname"><a·href="a00380.html">Cal3_S2Stereo.h</a></div><div·class="ttdoc">The·most·common·5DOF·3D-&gt;2D·calibration·+·Stereo·baseline.</div></div>
 280 <div·class="ttc"·id="aa00407_html"><div·class="ttname"><a·href="a00407.html">StereoPoint2.h</a></div><div·class="ttdoc">A·2D·stereo·point·(uL,uR,v)</div></div>
 281 <div·class="ttc"·id="aa00437_html"><div·class="ttname"><a·href="a00437.html">Pose3.h</a></div><div·class="ttdoc">3D·Pose</div></div>
282 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>282 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
283 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>283 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>
284 <div·class="ttc"·id="aa01428_html_ad0024081af88e1b3cc0820c65ad6afd4"><div·class="ttname"><a·href="a01428.html#ad0024081af88e1b3cc0820c65ad6afd4">gtsam::project</a></div><div·class="ttdeci">Point2_·project(const·Point3_·&amp;p_cam)</div><div·class="ttdoc">Expression·version·of·PinholeBase::Project.</div><div·class="ttdef"><b>Definition</b>·expressions.h:131</div></div>284 <div·class="ttc"·id="aa01428_html_ad0024081af88e1b3cc0820c65ad6afd4"><div·class="ttname"><a·href="a01428.html#ad0024081af88e1b3cc0820c65ad6afd4">gtsam::project</a></div><div·class="ttdeci">Point2_·project(const·Point3_·&amp;p_cam)</div><div·class="ttdoc">Expression·version·of·PinholeBase::Project.</div><div·class="ttdef"><b>Definition</b>·expressions.h:131</div></div>
285 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>285 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
286 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>286 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
287 <div·class="ttc"·id="aa02364_html_a5380bfede1eb39fa9473824009a747a7"><div·class="ttname"><a·href="a02364.html#a5380bfede1eb39fa9473824009a747a7">gtsam::LieGroup::localCoordinates</a></div><div·class="ttdeci">TangentVector·localCoordinates(const·Class·&amp;g)·const</div><div·class="ttdoc">localCoordinates·as·required·by·manifold·concept:·finds·tangent·vector·between·*this·and·g</div><div·class="ttdef"><b>Definition</b>·Lie.h:136</div></div>287 <div·class="ttc"·id="aa02364_html_a5380bfede1eb39fa9473824009a747a7"><div·class="ttname"><a·href="a02364.html#a5380bfede1eb39fa9473824009a747a7">gtsam::LieGroup::localCoordinates</a></div><div·class="ttdeci">TangentVector·localCoordinates(const·Class·&amp;g)·const</div><div·class="ttdoc">localCoordinates·as·required·by·manifold·concept:·finds·tangent·vector·between·*this·and·g</div><div·class="ttdef"><b>Definition</b>·Lie.h:136</div></div>
288 <div·class="ttc"·id="aa02408_html"><div·class="ttname"><a·href="a02408.html">gtsam::internal::Manifold</a></div><div·class="ttdoc">Both·ManifoldTraits·and·Testable.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:120</div></div>288 <div·class="ttc"·id="aa02408_html"><div·class="ttname"><a·href="a02408.html">gtsam::internal::Manifold</a></div><div·class="ttdoc">Both·ManifoldTraits·and·Testable.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:120</div></div>
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307 <div·class="ttc"·id="aa03340_html_ae80046243c7a6914331f18084efa24ec"><div·class="ttname"><a·href="a03340.html#ae80046243c7a6914331f18084efa24ec">gtsam::StereoCamera::defaultErrorWhenTriangulatingBehindCamera</a></div><div·class="ttdeci">Vector·defaultErrorWhenTriangulatingBehindCamera()·const</div><div·class="ttdoc">for·Nonlinear·Triangulation</div><div·class="ttdef"><b>Definition</b>·StereoCamera.h:174</div></div>307 <div·class="ttc"·id="aa03340_html_ae80046243c7a6914331f18084efa24ec"><div·class="ttname"><a·href="a03340.html#ae80046243c7a6914331f18084efa24ec">gtsam::StereoCamera::defaultErrorWhenTriangulatingBehindCamera</a></div><div·class="ttdeci">Vector·defaultErrorWhenTriangulatingBehindCamera()·const</div><div·class="ttdoc">for·Nonlinear·Triangulation</div><div·class="ttdef"><b>Definition</b>·StereoCamera.h:174</div></div>
308 <div·class="ttc"·id="aa03352_html"><div·class="ttname"><a·href="a03352.html">gtsam::StereoPoint2</a></div><div·class="ttdoc">A·2D·stereo·point,·v·will·be·same·for·rectified·images.</div><div·class="ttdef"><b>Definition</b>·StereoPoint2.h:32</div></div>308 <div·class="ttc"·id="aa03352_html"><div·class="ttname"><a·href="a03352.html">gtsam::StereoPoint2</a></div><div·class="ttdoc">A·2D·stereo·point,·v·will·be·same·for·rectified·images.</div><div·class="ttdef"><b>Definition</b>·StereoPoint2.h:32</div></div>
309 </div><!--·fragment·--></div><!--·contents·-->309 </div><!--·fragment·--></div><!--·contents·-->
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313 ··<ul>313 ··<ul>
314 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00359.html">StereoCamera.h</a></li>314 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00335.html">StereoCamera.h</a></li>
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105 <p>Unified·Calibration·Model,·see·Mei07icra·for·details.··105 <p>Wrap·Jacobian·and·Hessian·linear·factors·to·allow·simple·injection·into·a·nonlinear·graph.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00365_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a01136_source.html">Go·to·the·source·code·of·this·file.</a></p>
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112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Calibration·of·a·omni-directional·camera·with·mirror·+·lens·radial·distortion.··<a·href="a03008.html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Dummy·version·of·a·generic·linear·factor·to·be·injected·into·a·nonlinear·factor·graph.··<a·href="a04444.html#details">More...</a><br·/></td></tr>
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03012.html">gtsam::traits&lt;·Cal3Unified·&gt;</a></td></tr>114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04448.html">gtsam::traits&lt;·LinearContainerFactor·&gt;</a></td></tr>
115 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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122 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>120 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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124 </table>122 </table>
125 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>123 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
126 <div·class="textblock"><p>Unified·Calibration·Model,·see·Mei07icra·for·details.·</p>124 <div·class="textblock"><p>Wrap·Jacobian·and·Hessian·linear·factors·to·allow·simple·injection·into·a·nonlinear·graph.·</p>
127 <dl·class="section·date"><dt>Date</dt><dd>Mar·8,·2014·</dd></dl>125 <dl·class="section·date"><dt>Date</dt><dd>Jul·6,·2012·</dd></dl>
128 <dl·class="section·author"><dt>Author</dt><dd>Jing·Dong·</dd>126 <dl·class="section·author"><dt>Author</dt><dd>Alex·Cunningham·</dd></dl>
129 <dd> 
130 Varun·Agrawal·</dd></dl> 
131 </div></div><!--·contents·-->127 </div></div><!--·contents·-->
132 </div><!--·doc-content·-->128 </div><!--·doc-content·-->
133 <!--·start·footer·part·-->129 <!--·start·footer·part·-->
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135 ··<ul>131 ··<ul>
136 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00365.html">Cal3Unified.h</a></li>132 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01136.html">LinearContainerFactor.h</a></li>
137 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>133 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Cal3Unified.h</div></div>104 ··<div·class="headertitle"><div·class="title">SimpleCamera.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00365.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00467.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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126 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03008.html">This</a>·=·<a·class="code·hl_class"·href="a03008.html">Cal3Unified</a>;</div> 
127 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02992.html">Base</a>·=·<a·class="code·hl_class"·href="a02992.html">Cal3DS2_Base</a>;</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
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 141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;SimpleCamera&gt;·shared_ptr;</div>
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129 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·<span·class="keyword">private</span>:</div>143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="keyword">public</span>:</div>
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131 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
132 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·<span·class="keyword">public</span>:</div> 
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134 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>145 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
135 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3Unified&gt;;</div>146 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··SimpleCamera()·:</div>
 147 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······Base()·{</div>
 148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··}</div>
136 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 150 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">explicit</span>·SimpleCamera(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&amp;·pose)·:</div>
137 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>151 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······Base(pose)·{</div>
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140 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<a·class="code·hl_class"·href="a03008.html">Cal3Unified</a>(<span·class="keywordtype">double</span>·fx,·<span·class="keywordtype">double</span>·fy,·<span·class="keywordtype">double</span>·s,·<span·class="keywordtype">double</span>·u0,·<span·class="keywordtype">double</span>·v0,·<span·class="keywordtype">double</span>·k1,</div> 
141 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··············<span·class="keywordtype">double</span>·k2,·<span·class="keywordtype">double</span>·p1·=·0.0,·<span·class="keywordtype">double</span>·p2·=·0.0,·<span·class="keywordtype">double</span>·xi·=·0.0)</div> 
142 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······:·<a·class="code·hl_class"·href="a02992.html">Base</a>(fx,·fy,·s,·u0,·v0,·k1,·k2,·p1,·p2),·xi_(xi)·{}</div> 
143 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>153 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
144 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<a·class="code·hl_class"·href="a03008.html">~Cal3Unified</a>()<span·class="keyword">·override·</span>{}</div>154 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··SimpleCamera(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&amp;·pose,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02944.html">Cal3_S2<[·...·truncated·by·diffoscope;·len:·13,·SHA:·54f1fa6c5ddddf5f54e37d37452ebbcac7d96fefd46089f84e70b77785e69275·...·]</div>
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145 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>157 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
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 159 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>···<span·class="keyword">static</span>·SimpleCamera·Level(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>·&amp;K,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03156.html">Pose2</a>&amp;·pose2,</div>
147 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··Cal3Unified(<span·class="keyword">const</span>·Vector10&amp;·v)</div>160 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·······<span·class="keywordtype">double</span>·height)·{</div>
 161 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·····<span·class="keywordflow">return</span>·SimpleCamera(Base::LevelPose(pose2,·height),·K);</div>
148 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>······:·Base(v(0),·v(1),·v(2),·v(3),·v(4),·v(5),·v(6),·v(7),·v(8)),·xi_(v(9))·{}</div> 
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150 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div> 
151 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··GTSAM_EXPORT·<span·class="keyword">friend</span>·std::ostream&amp;·operator&lt;&lt;(std::ostream&amp;·os,</div> 
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156 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·Cal3Unified&amp;·K,·<span·class="keywordtype">double</span>·tol·=·10e-9)·<span·class="keyword">const</span>;</div>164 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>···<span·class="keyword">static</span>·SimpleCamera·Level(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03156.html">Pose2</a>&amp;·pose2,·<span·class="keywordtype">double</span>·hei[·...·truncated·by·diffoscope;·len:·6,·SHA:·bc018f7ad99e551bb37b51e88f73effa2e357a4f53d57d05b4d62c5335c80981·...·]</div>
 165 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····<span·class="keywordflow">return</span>·SimpleCamera::Level(<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>(),·pose2,·height);</div>
 166 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>···}</div>
157 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>167 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>
 168 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>···<span·class="keyword">static</span>·SimpleCamera·Lookat(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·eye,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·target,</div>
 169 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>·······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·upVector,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>&amp;·K·=·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>())·{</div>
 170 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>····<span·class="keywordflow">return</span>·SimpleCamera(Base::LookatPose(eye,·target,·upVector),·K);</div>
158 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>171 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>···}</div>
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160 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>·</div> 
161 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>··Vector10·vector()·<span·class="keyword">const</span>;</div> 
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104 <p>Cyclic·group·implementation.·· 
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113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
114 <div·class="textblock"><p>Cyclic·group·implementation.·</p> 
115 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
 113 <dd>
 114 Frank·Dellaert·</dd></dl>
 115 <dl·class="section·date"><dt>Date</dt><dd>August,·2014·</dd></dl>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/Cal3_S2Stereo.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/HybridBayesNet.h·Source·File</title>
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72 ··</div>72 ··</div>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Cal3_S2Stereo.h</div></div>104 ··<div·class="headertitle"><div·class="title">HybridBayesNet.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00374.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00548.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div> 
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div> 
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div> 
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>115 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>116 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 117 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00224.html">gtsam/discrete/DecisionTreeFactor.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00398.html">gtsam/geometry/Cal3_S2.h</a>&gt;</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01394.html">gtsam/global_includes.h</a>&gt;</span></div>
 119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00488.html">gtsam/hybrid/HybridConditional.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div>120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00557.html">gtsam/hybrid/HybridValues.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00692.html">gtsam/inference/BayesNet.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00734.html">gtsam/linear/GaussianBayesNet.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
125 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
 127 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03408.html">···35</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03408.html">HybridBayesNet</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03516.html">BayesNet</a>&lt;HybridConditional&gt;·{</div>
126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a02956.html">···30</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02956.html">Cal3_S2Stereo</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>·{</div> 
127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·<span·class="keyword">private</span>:</div> 
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keywordtype">double</span>·b_·=·1.0f;··</div> 
129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div> 
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·<span·class="keyword">public</span>:</div>128 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·<span·class="keyword">public</span>:</div>
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">enum</span>·{·dimension·=·6·};</div> 
132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>129 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03516.html">Base</a>·=·<a·class="code·hl_class"·href="a03516.html">BayesNet&lt;HybridConditional&gt;</a>;</div>
 130 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03408.html">This</a>·=·<a·class="code·hl_class"·href="a03408.html">HybridBayesNet</a>;</div>
 131 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03436.html">ConditionalType</a>·=·<a·class="code·hl_class"·href="a03436.html">HybridConditional</a>;</div>
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3_S2Stereo&gt;;</div>132 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;HybridBayesNet&gt;;</div>
134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>133 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">using·</span>sharedConditional·=·boost::shared_ptr&lt;ConditionalType&gt;;</div>
135 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>134 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
136 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a02956.html#ab65f2ccdc932731fb59f6781f775135f">···44</a></span>··<a·class="code·hl_function"·href="a02956.html#ab65f2ccdc932731fb59f6781f775135f">Cal3_S2Stereo</a>()·=·<span·class="keywordflow">default</span>;</div> 
137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>135 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 136 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a03408.html#ab50d718558738f4395e0b15e399ca247">···47</a></span>··<a·class="code·hl_function"·href="a03408.html#ab50d718558738f4395e0b15e399ca247">HybridBayesNet</a>()·=·<span·class="keywordflow">default</span>;</div>
138 <div·class="foldopen"·id="foldopen00047"·data-start="{"·data-end="}"> 
139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a02956.html#a2ca55987f036f43be6bed31b7766ab27">···47</a></span>··<a·class="code·hl_function"·href="a02956.html#a2ca55987f036f43be6bed31b7766ab27">Cal3_S2Stereo</a>(<span·class="keywordtype">double</span>·fx,·<span·class="keywordtype">double</span>·fy,·<span·class="keywordtype">double</span>·s,·<span·class="keywordtype">double</span>·u0,·<span·class="keywordtype">double</span>·v0,·<span·class="keywordtype">double</span>·b)</div> 
140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······:·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>(fx,·fy,·s,·u0,·v0),·b_(b)·{}</div> 
141 </div> 
142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>137 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
143 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="}"> 
144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02956.html#aa48a7b399986d48da55d6b8a954606f4">···51</a></span>··<a·class="code·hl_function"·href="a02956.html#aa48a7b399986d48da55d6b8a954606f4">Cal3_S2Stereo</a>(<span·class="keyword">const</span>·Vector6&amp;·d)</div> 
145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······:·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>(d(0),·d(1),·d(2),·d(3),·d(4)),·b_(d(5))·{}</div> 
146 </div> 
147 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>138 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
 139 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string·&amp;s·=·<span·class="stringliteral">&quot;&quot;</span>,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;formatter·=</div>
 140 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>············································DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div>
148 <div·class="foldopen"·id="foldopen00055"·data-start="{"·data-end="}"> 
149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a02956.html#a7f1fe1eea1342b36c190c66bad4476ef">···55</a></span>··<a·class="code·hl_function"·href="a02956.html#a7f1fe1eea1342b36c190c66bad4476ef">Cal3_S2Stereo</a>(<span·class="keywordtype">double</span>·fov,·<span·class="keywordtype">int</span>·w,·<span·class="keywordtype">int</span>·h,·<span·class="keywordtype">double</span>·b)</div> 
150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······:·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>(fov,·w,·h),·b_(b)·{}</div> 
151 </div> 
152 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>141 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
 142 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03408.html">This</a>·&amp;fg,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div>
153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>143 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
154 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·uncalibrate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·6&gt;</a>·Dcal·=·boost::none,</div> 
155 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·····················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·<span·class="keyword">const</span>;</div> 
156 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>144 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
157 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·calibrate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·6&gt;</a>·Dcal·=·boost::none,</div> 
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 112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
115 <div·class="textblock"><p>Template·implementations·for·SO(n)·</p> 
116 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl> 
117 <dl·class="section·date"><dt>Date</dt><dd>March·2019·</dd></dl>113 <dl·class="section·date"><dt>Date</dt><dd>May·14,·2012·</dd></dl>
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115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span>·</div> 
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00239.html">gtsam/discrete/DiscreteConditional.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00263.html">gtsam/discrete/DiscreteDistribution.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00692.html">gtsam/inference/BayesNet.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00599.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="comment">//·Implementation·for·N&gt;=5·just·uses·dynamic·version</span></div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
 129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">template</span>·&lt;<span·class="keywordtype">int</span>·N&gt;</div> 
128 <div·class="foldopen"·id="foldopen00029"·data-start="{"·data-end="}"> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno"><a·class="line"·href="a03304.html#a813e60e77bd1e2b7ade8c7076b37579a">···29</a></span><span·class="keyword">typename</span>·SO&lt;N&gt;::MatrixNN·<a·class="code·hl_function"·href="a03304.html#a813e60e77bd1e2b7ade8c7076b37579a">SO&lt;N&gt;::Hat</a>(<span·class="keyword">const</span>·TangentVector&amp;·xi)·{</div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a03304.html#a813e60e77bd1e2b7ade8c7076b37579a">SOn::Hat</a>(xi);</div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>}</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
132 </div>131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">//·Implementation·for·N&gt;=5·just·uses·dynamic·version</span></div> 
135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">template</span>·&lt;<span·class="keywordtype">int</span>·N&gt;</div> 
136 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="}">133 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">
 134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a02816.html">···38</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02816.html">DiscreteBayesNet</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03516.html">BayesNet</a>&lt;DiscreteConditional&gt;·{</div>
137 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03304.html#a43f11eb2cba2be51ba3fa6ee8d46f823">···35</a></span><span·class="keyword">typename</span>·SO&lt;N&gt;::TangentVector·<a·class="code·hl_function"·href="a03304.html#a43f11eb2cba2be51ba3fa6ee8d46f823">SO&lt;N&gt;::Vee</a>(<span·class="keyword">const</span>·MatrixNN&amp;·X)·{</div> 
138 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a03304.html#a43f11eb2cba2be51ba3fa6ee8d46f823">SOn::Vee</a>(X);</div> 
139 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>}</div> 
140 </div> 
141 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div> 
142 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">template</span>·&lt;<span·class="keywordtype">int</span>·N&gt;</div> 
143 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="}"> 
144 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a03308.html#ac4646392096f7fe9d121d716310d9924">···40</a></span><a·class="code·hl_class"·href="a03304.html">SO&lt;N&gt;</a>·<a·class="code·hl_function"·href="a03308.html#ac4646392096f7fe9d121d716310d9924">SO&lt;N&gt;::ChartAtOrigin::Retract</a>(<span·class="keyword">const</span>·TangentVector&amp;·xi,·<a·class="code·hl_class"·href="a02448.html">ChartJacobian</a>·H)·{</div> 
145 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordflow">if</span>·(H)·<span·class="keywordflow">throw</span>·std::runtime_error(<span·class="stringliteral">&quot;SO&lt;N&gt;::Retract·jacobian·not·implemented.&quot;</span>);</div> 
146 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">const</span>·Matrix·X·=·<a·class="code·hl_function"·href="a03304.html#a813e60e77bd1e2b7ade8c7076b37579a">Hat</a>(xi·/·2.0);</div> 
147 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keywordtype">size_t</span>·n·=·AmbientDim(xi.size());</div>135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·<span·class="keyword">public</span>:</div>
148 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">const</span>·<span·class="keyword">auto</span>·I·=·Eigen::MatrixXd::Identity(n,·n);</div> 
149 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="comment">//·https://pdfs.semanticscholar.org/6165/0347b2ccac34b5f423081d1ce4dbc4d09475.pdf</span></div> 
150 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a03304.html#a948b05d57d6a1cd07fd6d1adbe3837c4">SO</a>((I·+·X)·*·(I·-·X).<a·class="code·hl_function"·href="a03304.html#a1c5250f[·...·truncated·by·diffoscope;·len:·41,·SHA:·5493a05bb5f60c365b0522d3dff9c977bdc4241b1f5d2ea6bea84bb4172326af·...·];</div>136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03516.html">BayesNet&lt;DiscreteConditional&gt;</a>·<a·class="code·hl_class"·href="a03516.html">Base</a>;</div>
 137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02816.html">DiscreteBayesNet</a>·<a·class="code·hl_class"·href="a02816.html">This</a>;</div>
 138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02832.html">DiscreteConditional</a>·<a·class="code·hl_class"·href="a02832.html">ConditionalType</a>;</div>
 139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
 140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;ConditionalType&gt;·sharedConditional;</div>
151 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>}</div>141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
152 </div> 
153 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a02816.html#a7d2ca3113fe78e4f6788d120b62f9004">···50</a></span>····<a·class="code·hl_function"·href="a02816.html#a7d2ca3113fe78e4f6788d120b62f9004">DiscreteBayesNet</a>()·{}</div>
 144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
154 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="keyword">template</span>·&lt;<span·class="keywordtype">int</span>·N&gt;</div>145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·ITERATOR&gt;</div>
155 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="}">146 <div·class="foldopen"·id="foldopen00054"·data-start="{"·data-end="}">
 147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a02816.html#a1caa6732f0bf990da980f5154c499755">···54</a></span>····<a·class="code·hl_function"·href="a02816.html#a1caa6732f0bf990da980f5154c499755">DiscreteBayesNet</a>(ITERATOR·firstConditional,·ITERATOR·lastConditional)</div>
 148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(firstConditional,·lastConditional)·{}</div>
156 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a03308.html#a8fcf9d1e42da2706d821d76789a7d688">···50</a></span><span·class="keyword">typename</span>·SO&lt;N&gt;::TangentVector·<a·class="code·hl_function"·href="a03308.html#a8fcf9d1e42da2706d821d76789a7d688">SO&lt;N&gt;::ChartAtOrigin::Local</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03304.html">SO</a>&amp;·R,</div> 
157 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··························································<a·class="code·hl_class"·href="a02448.html">ChartJacobian</a>·H)·{</div> 
158 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keywordflow">if</span>·(H)·<span·class="keywordflow">throw</span>·std::runtime_error(<span·class="stringliteral">&quot;SO&lt;N&gt;::Local·jacobian·not·implemented.&quot;</span>);</div> 
159 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·n·=·R.rows();</div> 
160 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">const</span>·<span·class="keyword">auto</span>·I·=·Eigen::MatrixXd::Identity(n,·n);</div> 
161 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keyword">const</span>·Matrix·X·=·(I·-·R.matrix_)·*·(I·+·R.matrix_).inverse();</div> 
162 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keywordflow">return</span>·-2·*·<a·class="code·hl_function"·href="a03304.html#a43f11eb2cba2be51ba3fa6ee8d46f823">Vee</a>(X);</div> 
163 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>}</div> 
164 </div>149 </div>
165 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>150 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
166 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span><span·class="keyword">template</span>·&lt;<span·class="keywordtype">int</span>·N&gt;</div>151 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CONTAINER&gt;</div>
 152 <div·class="foldopen"·id="foldopen00059"·data-start="{"·data-end="}">
 153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a02816.html#a73b6d262d031217311515968c7f90f70">···59</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a02816.html#a73b6d262d031217311515968c7f90f70">DiscreteBayesNet</a>(<span·class="keyword">const</span>·CONTAINER&amp;·conditionals)</div>
 154 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(conditionals)·{}</div>
 155 </div>
167 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="keyword">typename</span>·SO&lt;N&gt;::MatrixDD·<a·class="code·hl_function"·href="a03304.html#a658ad6a8dff83c79e252914de423348b">SO&lt;N&gt;::AdjointMap</a>()<span·class="keyword">·const·</span>{</div> 
168 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keywordflow">if</span>·(N==2)·<span·class="keywordflow">return</span>·I_1x1;·<span·class="comment">//·SO(2)·case</span></div> 
169 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keywordflow">throw</span>·std::runtime_error(</div> 
170 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<span·class="stringliteral">&quot;SO&lt;N&gt;::AdjointMap·only·implemented·for·SO2,·SO3·and·SO4.&quot;</span>);</div> 
171 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>}</div> 
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78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
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84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
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Offset 98, 142 lines modifiedOffset 98, 146 lines modified
98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Cal3_S2.h</div></div>104 ··<div·class="headertitle"><div·class="title">LabeledSymbol.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00398.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00662.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
 120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;functional&gt;</span></div>
120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00314.html">gtsam/geometry/Cal3.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08137.html">gtsam/inference/Symbol.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
125 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">125 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
126 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a02944.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_cla[·...·truncated·by·diffoscope;·len:·27,·SHA:·dc1a40fb7b77b733f3fe1fabb6c494337689ddb5d71d1acb33883a68af5eb251·...·]</a>·{</div>126 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03668.html">···35</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>·{</div>
127 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·<span·class="keyword">public</span>:</div>127 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">protected</span>:</div>
128 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">enum</span>·{·dimension·=·5·};</div>128 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·c_,·label_;</div>
 129 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··std::uint64_t·j_;</div>
129 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>130 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
130 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3_S2&gt;;</div> 
131 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>131 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">public</span>:</div>
 132 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>();</div>
132 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>133 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
133 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a02944.html#a6e3f6159fec0563e37f15848237a7d9f">···45</a></span>··<a·class="code·hl_function"·href="a02944.html#a6e3f6159fec0563e37f15848237a7d9f">Cal3_S2</a>()·=·<span·class="keywordflow">default</span>;</div>134 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>&amp;·key);</div>
134 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>135 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>(<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·c,·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·label,·std::uint64_t·j);</div>
 137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 138 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>·key);</div>
135 <div·class="foldopen"·id="foldopen00048"·data-start="{"·data-end="}"> 
136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a02944.html#a6f59c7c3f3e8782b2b4e1d71cd289d4b">···48</a></span>··<a·class="code·hl_function"·href="a02944.html#a6f59c7c3f3e8782b2b4e1d71cd289d4b">Cal3_S2</a>(<span·class="keywordtype">double</span>·fx,·<span·class="keywordtype">double</span>·fy,·<span·class="keywordtype">double</span>·s,·<span·class="keywordtype">double</span>·u0,·<span·class="keywordtype">double</span>·v0)</div> 
137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······:·<a·class="code·hl_class"·href="a02940.html">Cal3</a>(fx,·fy,·s,·u0,·v0)·{}</div> 
138 </div> 
139 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>139 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
140 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a02944.html#ac91a4e1b0cfd0ee9b2a0c3538a325631">···52</a></span>··<a·class="code·hl_function"·href="a02944.html#ac91a4e1b0cfd0ee9b2a0c3538a325631">Cal3_S2</a>(<span·class="keyword">const</span>[·...·truncated·by·diffoscope;·len:·77,·SHA:·89c85b491e4071436c02f03f4d0f63fc53fcaf38795c2323566b4a9e688f8830·...·]</div>140 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">operator</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>()·<span·class="keyword">const</span>;</div>
141 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>141 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
142 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a02944.html#ae7de8f587615c7b0909c06df658e96e5">···60</a></span>··<a·class="code·hl_function"·href="a02944.html#ae7de8f587615c7b0909c06df658e96e5">Cal3_S2</a>(<span·class="keywordtype">double<[·...·truncated·by·diffoscope;·len:·160,·SHA:·7653cc6e664960e4cb13b834ccf24c837bf739eed020dce6fea37f77812f9390·...·]</div>142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="comment">//·Testable·Requirements</span></div>
 143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const</span>;</div>
 144 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 145 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>&amp;·expected,·<span·class="keywordtype">double</span>·tol·=·0.0)<span·class="keyword">·const·</span>{</div>
 146 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">return</span>·(*<span·class="keyword">this</span>)·==·expected;</div>
143 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>147 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div>
144 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·uncalibrate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·5&gt;</a>·Dcal·=·boost::none,</div> 
145 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·····················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·<span·class="keyword">const</span>;</div>148 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 149 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03668.html#aab3ca67a6a5cf4956873157e03b98a40">···64</a></span>··<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>·<a·class="code·hl_function"·href="a03668.html#aab3ca67a6a5cf4956873157e03b98a40">key</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>)·*<span·class="keyword">this</span>;·}</div>
 150 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 151 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a03668.html#ad222539e4fb96408cb54a19cdd736a5b">···67</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·<a·class="code·hl_function"·href="a03668.html#ad222539e4fb96408cb54a19cdd736a5b">label</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·label_;·}</div>
 152 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
 153 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a03668.html#a9b4c02257d2f21b0be48725cfe5fbe01">···70</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·<a·class="code·hl_function"·href="a03668.html#a9b4c02257d2f21b0be48725cfe5fbe01">chr</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·c_;·}</div>
146 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>154 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
147 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·calibrate(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·p,·<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·5&gt;</a>·Dcal·=·boost::none,</div> 
148 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>···················<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·<span·class="keyword">const</span>;</div>155 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a03668.html#ac076b7b884539583308adb9e5116dc18">···73</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a03668.html#ac07[·...·truncated·by·diffoscope;·len:·125,·SHA:·30873597d9cefcdcb9038022be301dc4be0bbc4862da328f41c7ff39ff80fc6a·...·]</div>
 156 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 157 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="keyword">operator</span>·std::string()·<span·class="keyword">const</span>;</div>
 158 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
 159 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keywordtype">bool</span>·operator&lt;(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>&amp;·comp)·<span·class="keyword">const</span>;</div>
 160 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#afd5b3cf3f54adcbdd6d9e7403f1a792f">operator==</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>&amp;·comp)·<span·class="keyword">const</span>;</div>
 161 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#afd5b3cf3f54adcbdd6d9e7403f1a792f">operator==</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>·comp)·<span·class="keyword">const</span>;</div>
 162 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#ab235abf7505b634be2165e0db58239dd">operator!=</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>&amp;·comp)·<span·class="keyword">const</span>;</div>
 163 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#ab235abf7505b634be2165e0db58239dd">operator!=</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>·comp)·<span·class="keyword">const</span>;</div>
149 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>164 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>
150 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··Vector3·calibrate(<span·class="keyword">const</span>·Vector3&amp;·p)·<span·class="keyword">const</span>;</div> 
151 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>165 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>··<span·class="comment">//·Checks·only·the·type</span></div>
 166 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>··<span·class="keyword">static</span>·std::function&lt;bool(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>)&gt;·TypeTest(<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·c);</div>
152 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div>167 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·</div>
153 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··GTSAM_EXPORT·<span·class="keyword">friend</span>·std::ostream&amp;·operator&lt;&lt;(std::ostream&amp;·os,</div> 
154 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>···············································<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>&amp;·cal);</div>168 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>··<span·class="comment">//·Checks·only·the·robot·ID·(label_)</span></div>
 169 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>··<span·class="keyword">static</span>·std::function&lt;bool(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>)&gt;·LabelTest(<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·label);</div>
155 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·</div>170 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·</div>
156 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="st[·...·truncated·by·diffoscope;·len:·85,·SHA:·2a2ace14973c14d84c975f6d2e403f6c49d4279a4e3189e3eec81969c53e1ef2·...·]</div>171 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>··<span·class="comment">//·Checks·both·type·and·the·robot·ID</span></div>
 172 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>··<span·class="keyword">static</span>·std::function&lt;bool(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>)&gt;·TypeLabelTest(<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·c,·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·label);</div>
157 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>·</div>173 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>·</div>
158 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>&amp;·K,·<span·c[·...·truncated·by·diffoscope;·len:·81,·SHA:·bbe3e38608f7234af5387c1dca6ca943627aa897ca868f17e9443a13c70ff825·...·]</div>174 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>··<span·class="comment">//·Converts·to·upper/lower·versions·of·labels</span></div>
 175 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>··<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>·upper()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>(c_,·toupper(label_),·j_);·}</div>
 176 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>··LabeledSymbol·lower()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·LabeledSymbol(c_,·tolower(label_),·j_);·}</div>
159 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>·</div>177 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>·</div>
 178 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno">··104</span>··<span·class="comment">//·Create·a·new·symbol·with·a·different·character.</span></div>
 179 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>··LabeledSymbol·newChr(<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·c)<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·LabeledSymbol(c,·label_,·j_);·}</div>
160 <div·class="foldopen"·id="foldopen00104"·data-start="{"·data-end="}"> 
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
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80 /*·@license-end·*/80 /*·@license-end·*/
81 </script>81 </script>
82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Cal3Fisheye.h</div></div>104 ··<div·class="headertitle"><div·class="title">Cal3Fisheye.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00401.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00347.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00314.html">gtsam/geometry/Cal3.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00389.html">gtsam/geometry/Cal3.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00416.html">gtsam/geometry/Point2.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
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234 <div·class="line"><a·id="l00202"·name="l00202"></a><span·class="lineno">··202</span><span·class="keyword">template</span>·&lt;&gt;</div>234 <div·class="line"><a·id="l00202"·name="l00202"></a><span·class="lineno">··202</span><span·class="keyword">template</span>·&lt;&gt;</div>
235 <div·class="line"><a·id="l00203"·name="l00203"></a><span·class="lineno"><a·class="line"·href="a03000.html">··203</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a02996.html">Cal3Fisheye</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;Cal3Fisheye&gt;·{};</div>235 <div·class="line"><a·id="l00203"·name="l00203"></a><span·class="lineno"><a·class="line"·href="a03000.html">··203</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a02996.html">Cal3Fisheye</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;Cal3Fisheye&gt;·{};</div>
236 <div·class="line"><a·id="l00204"·name="l00204"></a><span·class="lineno">··204</span>·</div>236 <div·class="line"><a·id="l00204"·name="l00204"></a><span·class="lineno">··204</span>·</div>
237 <div·class="line"><a·id="l00205"·name="l00205"></a><span·class="lineno">··205</span><span·class="keyword">template</span>·&lt;&gt;</div>237 <div·class="line"><a·id="l00205"·name="l00205"></a><span·class="lineno">··205</span><span·class="keyword">template</span>·&lt;&gt;</div>
238 <div·class="line"><a·id="l00206"·name="l00206"></a><span·class="lineno"><a·class="line"·href="a03004.html">··206</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a02996.html">Cal3Fisheye</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;Cal3Fisheye&gt;·{};</div>238 <div·class="line"><a·id="l00206"·name="l00206"></a><span·class="lineno"><a·class="line"·href="a03004.html">··206</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a02996.html">Cal3Fisheye</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;Cal3Fisheye&gt;·{};</div>
239 <div·class="line"><a·id="l00207"·name="l00207"></a><span·class="lineno">··207</span>·</div>239 <div·class="line"><a·id="l00207"·name="l00207"></a><span·class="lineno">··207</span>·</div>
240 <div·class="line"><a·id="l00208"·name="l00208"></a><span·class="lineno">··208</span>}··<span·class="comment">//·namespace·gtsam</span></div>240 <div·class="line"><a·id="l00208"·name="l00208"></a><span·class="lineno">··208</span>}··<span·class="comment">//·namespace·gtsam</span></div>
241 <div·class="ttc"·id="aa00284_html"><div·class="ttname"><a·href="a00284.html">Point2.h</a></div><div·class="ttdoc">2D·Point</div></div> 
242 <div·class="ttc"·id="aa00314_html"><div·class="ttname"><a·href="a00314.html">Cal3.h</a></div><div·class="ttdoc">Common·code·for·all·Calibration·models.</div></div>241 <div·class="ttc"·id="aa00389_html"><div·class="ttname"><a·href="a00389.html">Cal3.h</a></div><div·class="ttdoc">Common·code·for·all·Calibration·models.</div></div>
 242 <div·class="ttc"·id="aa00416_html"><div·class="ttname"><a·href="a00416.html">Point2.h</a></div><div·class="ttdoc">2D·Point</div></div>
243 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>243 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
244 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>244 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>
245 <div·class="ttc"·id="aa01428_html_a6ede8384dee0353a0ce5fb54ea50c21d"><div·class="ttname"><a·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a></div><div·class="ttdeci">Vector2·Point2</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point2·to·Vector2...</div><div·class="ttdef"><b>Definition</b>·Point2.h:27</div></div>245 <div·class="ttc"·id="aa01428_html_a6ede8384dee0353a0ce5fb54ea50c21d"><div·class="ttname"><a·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a></div><div·class="ttdeci">Vector2·Point2</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point2·to·Vector2...</div><div·class="ttdef"><b>Definition</b>·Point2.h:27</div></div>
246 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>246 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
247 <div·class="ttc"·id="aa02408_html"><div·class="ttname"><a·href="a02408.html">gtsam::internal::Manifold</a></div><div·class="ttdoc">Both·ManifoldTraits·and·Testable.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:120</div></div>247 <div·class="ttc"·id="aa02408_html"><div·class="ttname"><a·href="a02408.html">gtsam::internal::Manifold</a></div><div·class="ttdoc">Both·ManifoldTraits·and·Testable.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:120</div></div>
248 <div·class="ttc"·id="aa02448_html"><div·class="ttname"><a·href="a02448.html">gtsam::OptionalJacobian</a></div><div·class="ttdoc">OptionalJacobian·is·an·Eigen::Ref·like·class·that·can·take·be·constructed·using·either·a·fixed·size·o...</div><div·class="ttdef"><b>Definition</b>·OptionalJacobian.h:41</div></div>248 <div·class="ttc"·id="aa02448_html"><div·class="ttname"><a·href="a02448.html">gtsam::OptionalJacobian</a></div><div·class="ttdoc">OptionalJacobian·is·an·Eigen::Ref·like·class·that·can·take·be·constructed·using·either·a·fixed·size·o...</div><div·class="ttdef"><b>Definition</b>·OptionalJacobian.h:41</div></div>
249 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div>249 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div>
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262 <div·class="ttc"·id="aa02996_html_afb3587b815f8d6b25d8dee3704063132"><div·class="ttname"><a·href="a02996.html#afb3587b815f8d6b25d8dee3704063132">gtsam::Cal3Fisheye::Cal3Fisheye</a></div><div·class="ttdeci">Cal3Fisheye()=default</div><div·class="ttdoc">Default·Constructor·with·only·unit·focal·length.</div></div>262 <div·class="ttc"·id="aa02996_html_afb3587b815f8d6b25d8dee3704063132"><div·class="ttname"><a·href="a02996.html#afb3587b815f8d6b25d8dee3704063132">gtsam::Cal3Fisheye::Cal3Fisheye</a></div><div·class="ttdeci">Cal3Fisheye()=default</div><div·class="ttdoc">Default·Constructor·with·only·unit·focal·length.</div></div>
263 <div·class="ttc"·id="aa02996_html_afb53a41a0f7fb92e54b1efb46e750d10"><div·class="ttname"><a·href="a02996.html#afb53a41a0f7fb92e54b1efb46e750d10">gtsam::Cal3Fisheye::retract</a></div><div·class="ttdeci">Cal3Fisheye·retract(const·Vector·&amp;d)·const</div><div·class="ttdoc">Given·delta·vector,·update·calibration.</div><div·class="ttdef"><b>Definition</b>·Cal3Fisheye.h:163</div></div>263 <div·class="ttc"·id="aa02996_html_afb53a41a0f7fb92e54b1efb46e750d10"><div·class="ttname"><a·href="a02996.html#afb53a41a0f7fb92e54b1efb46e750d10">gtsam::Cal3Fisheye::retract</a></div><div·class="ttdeci">Cal3Fisheye·retract(const·Vector·&amp;d)·const</div><div·class="ttdoc">Given·delta·vector,·update·calibration.</div><div·class="ttdef"><b>Definition</b>·Cal3Fisheye.h:163</div></div>
264 </div><!--·fragment·--></div><!--·contents·-->264 </div><!--·fragment·--></div><!--·contents·-->
265 </div><!--·doc-content·-->265 </div><!--·doc-content·-->
266 <!--·start·footer·part·-->266 <!--·start·footer·part·-->
267 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->267 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
268 ··<ul>268 ··<ul>
269 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00401.html">Cal3Fisheye.h</a></li>269 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00347.html">Cal3Fisheye.h</a></li>
270 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>270 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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272 </div>272 </div>
273 </body>273 </body>
274 </html>274 </html>
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72 ··</div>72 ··</div>
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75 ··</div>75 ··</div>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">PinholePose.h</div></div>104 ··<div·class="headertitle"><div·class="title">PinholePose.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00404.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00362.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00443.html">gtsam/geometry/CalibratedCamera.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00410.html">gtsam/geometry/CalibratedCamera.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00416.html">gtsam/geometry/Point2.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
126 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CALIBRATION&gt;</div>126 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CALIBRATION&gt;</div>
127 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">127 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">
128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a03120.html">···34</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03120.html">PinholeBaseK</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03024.html">PinholeBase</a>·{</div>128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a03120.html">···34</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03120.html">PinholeBaseK</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03024.html">PinholeBase</a>·{</div>
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298 <div·class="line"><a·id="l00224"·name="l00224"></a><span·class="lineno">··224</span>··<span·class="keywordtype">void</span>·serialize(Archive·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>298 <div·class="line"><a·id="l00224"·name="l00224"></a><span·class="lineno">··224</span>··<span·class="keywordtype">void</span>·serialize(Archive·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
299 <div·class="line"><a·id="l00225"·name="l00225"></a><span·class="lineno">··225</span>····ar</div>299 <div·class="line"><a·id="l00225"·name="l00225"></a><span·class="lineno">··225</span>····ar</div>
300 <div·class="line"><a·id="l00226"·name="l00226"></a><span·class="lineno">··226</span>····&amp;·boost::serialization::make_nvp(<span·class="stringliteral">&quot;PinholeBase&quot;</span>,</div>300 <div·class="line"><a·id="l00226"·name="l00226"></a><span·class="lineno">··226</span>····&amp;·boost::serialization::make_nvp(<span·class="stringliteral">&quot;PinholeBase&quot;</span>,</div>
301 <div·class="line"><a·id="l00227"·name="l00227"></a><span·class="lineno">··227</span>········boost::serialization::base_object&lt;PinholeBase&gt;(*<span·class="keyword">this</span>));</div>301 <div·class="line"><a·id="l00227"·name="l00227"></a><span·class="lineno">··227</span>········boost::serialization::base_object&lt;PinholeBase&gt;(*<span·class="keyword">this</span>));</div>
302 <div·class="line"><a·id="l00228"·name="l00228"></a><span·class="lineno">··228</span>··}</div>302 <div·class="line"><a·id="l00228"·name="l00228"></a><span·class="lineno">··228</span>··}</div>
303 <div·class="line"><a·id="l00229"·name="l00229"></a><span·class="lineno">··229</span>·</div>303 <div·class="line"><a·id="l00229"·name="l00229"></a><span·class="lineno">··229</span>·</div>
304 <div·class="line"><a·id="l00230"·name="l00230"></a><span·class="lineno">··230</span><span·class="keyword">public</span>:</div>304 <div·class="line"><a·id="l00230"·name="l00230"></a><span·class="lineno">··230</span><span·class="keyword">public</span>:</div>
305 <div·class="line"><a·id="l00231"·name="l00231"></a><span·class="lineno">··231</span>··<a·class="code·hl_define"·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>305 <div·class="line"><a·id="l00231"·name="l00231"></a><span·class="lineno">··231</span>··<a·class="code·hl_define"·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>
306 <div·class="line"><a·id="l00232"·name="l00232"></a><span·class="lineno">··232</span>};</div>306 <div·class="line"><a·id="l00232"·name="l00232"></a><span·class="lineno">··232</span>};</div>
307 </div>307 </div>
308 <div·class="line"><a·id="l00233"·name="l00233"></a><span·class="lineno">··233</span><span·class="comment">//·end·of·class·PinholeBaseK</span></div>308 <div·class="line"><a·id="l00233"·name="l00233"></a><span·class="lineno">··233</span><span·class="comment">//·end·of·class·PinholeBaseK</span></div>
309 <div·class="line"><a·id="l00234"·name="l00234"></a><span·class="lineno">··234</span>·</div>309 <div·class="line"><a·id="l00234"·name="l00234"></a><span·class="lineno">··234</span>·</div>
310 <div·class="line"><a·id="l00242"·name="l00242"></a><span·class="lineno">··242</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CALIBRATION&gt;</div>310 <div·class="line"><a·id="l00242"·name="l00242"></a><span·class="lineno">··242</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CALIBRATION&gt;</div>
311 <div·class="foldopen"·id="foldopen00243"·data-start="{"·data-end="};">311 <div·class="foldopen"·id="foldopen00243"·data-start="{"·data-end="};">
312 <div·class="line"><a·id="l00243"·name="l00243"></a><span·class="lineno"><a·class="line"·href="a03124.html">··243</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03124.html">PinholePose</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03120.html">PinholeBaseK</a>&lt;CALIBRATION&gt;·{</div>312 <div·class="line"><a·id="l00243"·name="l00243"></a><span·class="lineno"><a·class="line"·href="a03124.html">··243</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03124.html">PinholePose</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03120.html">PinholeBaseK</a>&lt;CALIBRATION&gt;·{</div>
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491 <div·class="line"><a·id="l00437"·name="l00437"></a><span·class="lineno">··437</span>····ar</div>491 <div·class="line"><a·id="l00437"·name="l00437"></a><span·class="lineno">··437</span>····ar</div>
492 <div·class="line"><a·id="l00438"·name="l00438"></a><span·class="lineno">··438</span>········&amp;·boost::serialization::make_nvp(<span·class="stringliteral">&quot;PinholeBaseK&quot;</span>,</div>492 <div·class="line"><a·id="l00438"·name="l00438"></a><span·class="lineno">··438</span>········&amp;·boost::serialization::make_nvp(<span·class="stringliteral">&quot;PinholeBaseK&quot;</span>,</div>
493 <div·class="line"><a·id="l00439"·name="l00439"></a><span·class="lineno">··439</span>············boost::serialization::base_object&lt;Base&gt;(*<span·class="keyword">this</span>));</div>493 <div·class="line"><a·id="l00439"·name="l00439"></a><span·class="lineno">··439</span>············boost::serialization::base_object&lt;Base&gt;(*<span·class="keyword">this</span>));</div>
494 <div·class="line"><a·id="l00440"·name="l00440"></a><span·class="lineno">··440</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(K_);</div>494 <div·class="line"><a·id="l00440"·name="l00440"></a><span·class="lineno">··440</span>····ar·&amp;·BOOST_SERIALIZATION_NVP(K_);</div>
495 <div·class="line"><a·id="l00441"·name="l00441"></a><span·class="lineno">··441</span>··}</div>495 <div·class="line"><a·id="l00441"·name="l00441"></a><span·class="lineno">··441</span>··}</div>
496 <div·class="line"><a·id="l00442"·name="l00442"></a><span·class="lineno">··442</span>·</div>496 <div·class="line"><a·id="l00442"·name="l00442"></a><span·class="lineno">··442</span>·</div>
497 <div·class="line"><a·id="l00443"·name="l00443"></a><span·class="lineno">··443</span><span·class="keyword">public</span>:</div>497 <div·class="line"><a·id="l00443"·name="l00443"></a><span·class="lineno">··443</span><span·class="keyword">public</span>:</div>
498 <div·class="line"><a·id="l00444"·name="l00444"></a><span·class="lineno">··444</span>··<a·class="code·hl_define"·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>498 <div·class="line"><a·id="l00444"·name="l00444"></a><span·class="lineno">··444</span>··<a·class="code·hl_define"·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>
499 <div·class="line"><a·id="l00445"·name="l00445"></a><span·class="lineno">··445</span>};</div>499 <div·class="line"><a·id="l00445"·name="l00445"></a><span·class="lineno">··445</span>};</div>
500 </div>500 </div>
501 <div·class="line"><a·id="l00446"·name="l00446"></a><span·class="lineno">··446</span><span·class="comment">//·end·of·class·PinholePose</span></div>501 <div·class="line"><a·id="l00446"·name="l00446"></a><span·class="lineno">··446</span><span·class="comment">//·end·of·class·PinholePose</span></div>
502 <div·class="line"><a·id="l00447"·name="l00447"></a><span·class="lineno">··447</span>·</div>502 <div·class="line"><a·id="l00447"·name="l00447"></a><span·class="lineno">··447</span>·</div>
503 <div·class="line"><a·id="l00448"·name="l00448"></a><span·class="lineno">··448</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CALIBRATION&gt;</div>503 <div·class="line"><a·id="l00448"·name="l00448"></a><span·class="lineno">··448</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CALIBRATION&gt;</div>
504 <div·class="foldopen"·id="foldopen00449"·data-start="{"·data-end="};">504 <div·class="foldopen"·id="foldopen00449"·data-start="{"·data-end="};">
505 <div·class="line"><a·id="l00449"·name="l00449"></a><span·class="lineno"><a·class="line"·href="a03128.html">··449</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03124.html">PinholePose</a>&lt;CALIBRATION&gt;·&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;</div>505 <div·class="line"><a·id="l00449"·name="l00449"></a><span·class="lineno"><a·class="line"·href="a03128.html">··449</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03124.html">PinholePose</a>&lt;CALIBRATION&gt;·&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;</div>
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511 <div·class="foldopen"·id="foldopen00454"·data-start="{"·data-end="};">511 <div·class="foldopen"·id="foldopen00454"·data-start="{"·data-end="};">
512 <div·class="line"><a·id="l00454"·name="l00454"></a><span·class="lineno"><a·class="line"·href="a03132.html">··454</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a03124.html">PinholePose</a>&lt;CALIBRATION&gt;·&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;</div>512 <div·class="line"><a·id="l00454"·name="l00454"></a><span·class="lineno"><a·class="line"·href="a03132.html">··454</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a03124.html">PinholePose</a>&lt;CALIBRATION&gt;·&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02408.html">internal::Manifold</a>&lt;</div>
513 <div·class="line"><a·id="l00455"·name="l00455"></a><span·class="lineno">··455</span>····PinholePose&lt;CALIBRATION&gt;·&gt;·{</div>513 <div·class="line"><a·id="l00455"·name="l00455"></a><span·class="lineno">··455</span>····PinholePose&lt;CALIBRATION&gt;·&gt;·{</div>
514 <div·class="line"><a·id="l00456"·name="l00456"></a><span·class="lineno">··456</span>};</div>514 <div·class="line"><a·id="l00456"·name="l00456"></a><span·class="lineno">··456</span>};</div>
515 </div>515 </div>
516 <div·class="line"><a·id="l00457"·name="l00457"></a><span·class="lineno">··457</span>·</div>516 <div·class="line"><a·id="l00457"·name="l00457"></a><span·class="lineno">··457</span>·</div>
517 <div·class="line"><a·id="l00458"·name="l00458"></a><span·class="lineno">··458</span>}·<span·class="comment">//·\·gtsam</span></div>517 <div·class="line"><a·id="l00458"·name="l00458"></a><span·class="lineno">··458</span>}·<span·class="comment">//·\·gtsam</span></div>
518 <div·class="ttc"·id="aa00125_html_aa123dd61687e08ae328154a1890b7b86"><div·class="ttname"><a·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:308</div></div>518 <div·class="ttc"·id="aa00146_html_aa123dd61687e08ae328154a1890b7b86"><div·class="ttname"><a·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:308</div></div>
519 <div·class="ttc"·id="aa00284_html"><div·class="ttname"><a·href="a00284.html">Point2.h</a></div><div·class="ttdoc">2D·Point</div></div> 
520 <div·class="ttc"·id="aa00443_html"><div·class="ttname"><a·href="a00443.html">CalibratedCamera.h</a></div><div·class="ttdoc">Calibrated·camera·for·which·only·pose·is·unknown.</div></div>519 <div·class="ttc"·id="aa00410_html"><div·class="ttname"><a·href="a00410.html">CalibratedCamera.h</a></div><div·class="ttdoc">Calibrated·camera·for·which·only·pose·is·unknown.</div></div>
 520 <div·class="ttc"·id="aa00416_html"><div·class="ttname"><a·href="a00416.html">Point2.h</a></div><div·class="ttdoc">2D·Point</div></div>
521 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>521 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
522 <div·class="ttc"·id="aa01428_html_a6ede8384dee0353a0ce5fb54ea50c21d"><div·class="ttname"><a·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a></div><div·class="ttdeci">Vector2·Point2</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point2·to·Vector2...</div><div·class="ttdef"><b>Definition</b>·Point2.h:27</div></div>522 <div·class="ttc"·id="aa01428_html_a6ede8384dee0353a0ce5fb54ea50c21d"><div·class="ttname"><a·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a></div><div·class="ttdeci">Vector2·Point2</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point2·to·Vector2...</div><div·class="ttdef"><b>Definition</b>·Point2.h:27</div></div>
523 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>523 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>
524 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>524 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
525 <div·class="ttc"·id="aa02364_html_a5380bfede1eb39fa9473824009a747a7"><div·class="ttname"><a·href="a02364.html#a5380bfede1eb39fa9473824009a747a7">gtsam::LieGroup::localCoordinates</a></div><div·class="ttdeci">TangentVector·localCoordinates(const·Class·&amp;g)·const</div><div·class="ttdoc">localCoordinates·as·required·by·manifold·concept:·finds·tangent·vector·between·*this·and·g</div><div·class="ttdef"><b>Definition</b>·Lie.h:136</div></div>525 <div·class="ttc"·id="aa02364_html_a5380bfede1eb39fa9473824009a747a7"><div·class="ttname"><a·href="a02364.html#a5380bfede1eb39fa9473824009a747a7">gtsam::LieGroup::localCoordinates</a></div><div·class="ttdeci">TangentVector·localCoordinates(const·Class·&amp;g)·const</div><div·class="ttdoc">localCoordinates·as·required·by·manifold·concept:·finds·tangent·vector·between·*this·and·g</div><div·class="ttdef"><b>Definition</b>·Lie.h:136</div></div>
526 <div·class="ttc"·id="aa02408_html"><div·class="ttname"><a·href="a02408.html">gtsam::internal::Manifold</a></div><div·class="ttdoc">Both·ManifoldTraits·and·Testable.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:120</div></div>526 <div·class="ttc"·id="aa02408_html"><div·class="ttname"><a·href="a02408.html">gtsam::internal::Manifold</a></div><div·class="ttdoc">Both·ManifoldTraits·and·Testable.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:120</div></div>
527 <div·class="ttc"·id="aa02412_html"><div·class="ttname"><a·href="a02412.html">gtsam::FixedDimension</a></div><div·class="ttdoc">Give·fixed·size·dimension·of·a·type,·fails·at·compile·time·if·dynamic.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:164</div></div>527 <div·class="ttc"·id="aa02412_html"><div·class="ttname"><a·href="a02412.html">gtsam::FixedDimension</a></div><div·class="ttdoc">Give·fixed·size·dimension·of·a·type,·fails·at·compile·time·if·dynamic.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:164</div></div>
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588 <div·class="ttc"·id="aa03228_html_abf08727e9869914ee562aef1543bfeea"><div·class="ttname"><a·href="a03228.html#abf08727e9869914ee562aef1543bfeea">gtsam::Rot3::rpy</a></div><div·class="ttdeci">Vector3·rpy(OptionalJacobian&lt;·3,·3·&gt;·H=boost::none)·const</div><div·class="ttdoc">Use·RQ·to·calculate·roll-pitch-yaw·angle·representation.</div><div·class="ttdef"><b>Definition</b>·Rot3.cpp:192</div></div>588 <div·class="ttc"·id="aa03228_html_abf08727e9869914ee562aef1543bfeea"><div·class="ttname"><a·href="a03228.html#abf08727e9869914ee562aef1543bfeea">gtsam::Rot3::rpy</a></div><div·class="ttdeci">Vector3·rpy(OptionalJacobian&lt;·3,·3·&gt;·H=boost::none)·const</div><div·class="ttdoc">Use·RQ·to·calculate·roll-pitch-yaw·angle·representation.</div><div·class="ttdef"><b>Definition</b>·Rot3.cpp:192</div></div>
589 <div·class="ttc"·id="aa03380_html"><div·class="ttname"><a·href="a03380.html">gtsam::Unit3</a></div><div·class="ttdoc">Represents·a·3D·point·on·a·unit·sphere.</div><div·class="ttdef"><b>Definition</b>·Unit3.h:43</div></div>589 <div·class="ttc"·id="aa03380_html"><div·class="ttname"><a·href="a03380.html">gtsam::Unit3</a></div><div·class="ttdoc">Represents·a·3D·point·on·a·unit·sphere.</div><div·class="ttdef"><b>Definition</b>·Unit3.h:43</div></div>
590 </div><!--·fragment·--></div><!--·contents·-->590 </div><!--·fragment·--></div><!--·contents·-->
591 </div><!--·doc-content·-->591 </div><!--·doc-content·-->
592 <!--·start·footer·part·-->592 <!--·start·footer·part·-->
593 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->593 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
594 ··<ul>594 ··<ul>
595 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00404.html">PinholePose.h</a></li>595 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00362.html">PinholePose.h</a></li>
596 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>596 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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599 </body>599 </body>
600 </html>600 </html>
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
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102 ··<div·class="headertitle"><div·class="title">PinholeCamera.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">Cal3Bundler.h·File·Reference</div></div>
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104 <div·class="contents">104 <div·class="contents">
  
105 <p>Base·class·for·all·pinhole·cameras.··105 <p>Calibration·used·by·Bundler.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00422_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00350_source.html">Go·to·the·source·code·of·this·file.</a></p>
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126 </table>124 </table>
127 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>125 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
128 <div·class="textblock"><p>Base·class·for·all·pinhole·cameras.·</p>126 <div·class="textblock"><p>Calibration·used·by·Bundler.·</p>
 127 <dl·class="section·date"><dt>Date</dt><dd>Sep·25,·2010·</dd></dl>
129 <dl·class="section·author"><dt>Author</dt><dd>Yong-Dian·Jian·</dd></dl>128 <dl·class="section·author"><dt>Author</dt><dd>Yong·Dian·Jian·</dd>
130 <dl·class="section·date"><dt>Date</dt><dd>Jan·27,·2012·</dd></dl>129 <dd>
 130 Varun·Agrawal·</dd></dl>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">PinholeCamera.h</div></div>104 ··<div·class="headertitle"><div·class="title">PinholeCamera.h</div></div>
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106 <div·class="contents">106 <div·class="contents">
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112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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406 <div·class="line"><a·id="l00341"·name="l00341"></a><span·class="lineno">··341</span>};</div>406 <div·class="line"><a·id="l00341"·name="l00341"></a><span·class="lineno">··341</span>};</div>
407 </div>407 </div>
408 <div·class="line"><a·id="l00342"·name="l00342"></a><span·class="lineno">··342</span>·</div>408 <div·class="line"><a·id="l00342"·name="l00342"></a><span·class="lineno">··342</span>·</div>
409 <div·class="line"><a·id="l00343"·name="l00343"></a><span·class="lineno">··343</span><span·class="comment">//·manifold·traits</span></div>409 <div·class="line"><a·id="l00343"·name="l00343"></a><span·class="lineno">··343</span><span·class="comment">//·manifold·traits</span></div>
410 <div·class="line"><a·id="l00344"·name="l00344"></a><span·class="lineno">··344</span>·</div>410 <div·class="line"><a·id="l00344"·name="l00344"></a><span·class="lineno">··344</span>·</div>
411 <div·class="line"><a·id="l00345"·name="l00345"></a><span·class="lineno">··345</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·Calibration&gt;</div>411 <div·class="line"><a·id="l00345"·name="l00345"></a><span·class="lineno">··345</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·Calibration&gt;</div>
412 <div·class="foldopen"·id="foldopen00346"·data-start="{"·data-end="};">412 <div·class="foldopen"·id="foldopen00346"·data-start="{"·data-end="};">
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421 </div>421 </div>
422 <div·class="line"><a·id="l00352"·name="l00352"></a><span·class="lineno">··352</span>·</div>422 <div·class="line"><a·id="l00352"·name="l00352"></a><span·class="lineno">··352</span>·</div>
423 <div·class="line"><a·id="l00353"·name="l00353"></a><span·class="lineno">··353</span><span·class="comment">//·range·traits,·used·in·RangeFactor</span></div>423 <div·class="line"><a·id="l00353"·name="l00353"></a><span·class="lineno">··353</span><span·class="comment">//·range·traits,·used·in·RangeFactor</span></div>
424 <div·class="line"><a·id="l00354"·name="l00354"></a><span·class="lineno">··354</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·Calibration,·<span·class="keyword">typename</span>·T&gt;</div>424 <div·class="line"><a·id="l00354"·name="l00354"></a><span·class="lineno">··354</span><span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·Calibration,·<span·class="keyword">typename</span>·T&gt;</div>
425 <div·class="line"><a·id="l00355"·name="l00355"></a><span·class="lineno"><a·class="line"·href="a03116.html">··355</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02920.html">Range</a>&lt;<a·class="code·hl_class"·href="a03104.html">PinholeCamera</a>&lt;Calibration&gt;,·T&gt;·:·<a·class="code·hl_struct"·href="a02936.html">HasRange</a>&lt;PinholeCamera&lt;Calibration&gt;,·T,·double&gt;·{};</div>425 <div·class="line"><a·id="l00355"·name="l00355"></a><span·class="lineno"><a·class="line"·href="a03116.html">··355</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02920.html">Range</a>&lt;<a·class="code·hl_class"·href="a03104.html">PinholeCamera</a>&lt;Calibration&gt;,·T&gt;·:·<a·class="code·hl_struct"·href="a02936.html">HasRange</a>&lt;PinholeCamera&lt;Calibration&gt;,·T,·double&gt;·{};</div>
426 <div·class="line"><a·id="l00356"·name="l00356"></a><span·class="lineno">··356</span>·</div>426 <div·class="line"><a·id="l00356"·name="l00356"></a><span·class="lineno">··356</span>·</div>
427 <div·class="line"><a·id="l00357"·name="l00357"></a><span·class="lineno">··357</span>}··<span·class="comment">//·\·gtsam</span></div>427 <div·class="line"><a·id="l00357"·name="l00357"></a><span·class="lineno">··357</span>}··<span·class="comment">//·\·gtsam</span></div>
428 <div·class="ttc"·id="aa00125_html_aa123dd61687e08ae328154a1890b7b86"><div·class="ttname"><a·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:308</div></div>428 <div·class="ttc"·id="aa00146_html_aa123dd61687e08ae328154a1890b7b86"><div·class="ttname"><a·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:308</div></div>
429 <div·class="ttc"·id="aa00404_html"><div·class="ttname"><a·href="a00404.html">PinholePose.h</a></div><div·class="ttdoc">Pinhole·camera·with·known·calibration.</div></div> 
430 <div·class="ttc"·id="aa00425_html"><div·class="ttname"><a·href="a00425.html">BearingRange.h</a></div><div·class="ttdoc">Bearing-Range·product.</div></div>429 <div·class="ttc"·id="aa00314_html"><div·class="ttname"><a·href="a00314.html">BearingRange.h</a></div><div·class="ttdoc">Bearing-Range·product.</div></div>
 430 <div·class="ttc"·id="aa00362_html"><div·class="ttname"><a·href="a00362.html">PinholePose.h</a></div><div·class="ttdoc">Pinhole·camera·with·known·calibration.</div></div>
431 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>431 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
432 <div·class="ttc"·id="aa01428_html_a6ede8384dee0353a0ce5fb54ea50c21d"><div·class="ttname"><a·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a></div><div·class="ttdeci">Vector2·Point2</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point2·to·Vector2...</div><div·class="ttdef"><b>Definition</b>·Point2.h:27</div></div>432 <div·class="ttc"·id="aa01428_html_a6ede8384dee0353a0ce5fb54ea50c21d"><div·class="ttname"><a·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a></div><div·class="ttdeci">Vector2·Point2</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point2·to·Vector2...</div><div·class="ttdef"><b>Definition</b>·Point2.h:27</div></div>
433 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>433 <div·class="ttc"·id="aa01428_html_aaa8ed89fd60ea4601d9de63c4811525b"><div·class="ttname"><a·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">gtsam::Point3</a></div><div·class="ttdeci">Vector3·Point3</div><div·class="ttdoc">As·of·GTSAM·4,·in·order·to·make·GTSAM·more·lean,·it·is·now·possible·to·just·typedef·Point3·to·Vector3...</div><div·class="ttdef"><b>Definition</b>·Point3.h:36</div></div>
434 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>434 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
435 <div·class="ttc"·id="aa02364_html_a5380bfede1eb39fa9473824009a747a7"><div·class="ttname"><a·href="a02364.html#a5380bfede1eb39fa9473824009a747a7">gtsam::LieGroup::localCoordinates</a></div><div·class="ttdeci">TangentVector·localCoordinates(const·Class·&amp;g)·const</div><div·class="ttdoc">localCoordinates·as·required·by·manifold·concept:·finds·tangent·vector·between·*this·and·g</div><div·class="ttdef"><b>Definition</b>·Lie.h:136</div></div>435 <div·class="ttc"·id="aa02364_html_a5380bfede1eb39fa9473824009a747a7"><div·class="ttname"><a·href="a02364.html#a5380bfede1eb39fa9473824009a747a7">gtsam::LieGroup::localCoordinates</a></div><div·class="ttdeci">TangentVector·localCoordinates(const·Class·&amp;g)·const</div><div·class="ttdoc">localCoordinates·as·required·by·manifold·concept:·finds·tangent·vector·between·*this·and·g</div><div·class="ttdef"><b>Definition</b>·Lie.h:136</div></div>
436 <div·class="ttc"·id="aa02408_html"><div·class="ttname"><a·href="a02408.html">gtsam::internal::Manifold</a></div><div·class="ttdoc">Both·ManifoldTraits·and·Testable.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:120</div></div>436 <div·class="ttc"·id="aa02408_html"><div·class="ttname"><a·href="a02408.html">gtsam::internal::Manifold</a></div><div·class="ttdoc">Both·ManifoldTraits·and·Testable.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:120</div></div>
437 <div·class="ttc"·id="aa02412_html"><div·class="ttname"><a·href="a02412.html">gtsam::FixedDimension</a></div><div·class="ttdoc">Give·fixed·size·dimension·of·a·type,·fails·at·compile·time·if·dynamic.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:164</div></div>437 <div·class="ttc"·id="aa02412_html"><div·class="ttname"><a·href="a02412.html">gtsam::FixedDimension</a></div><div·class="ttdoc">Give·fixed·size·dimension·of·a·type,·fails·at·compile·time·if·dynamic.</div><div·class="ttdef"><b>Definition</b>·Manifold.h:164</div></div>
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485 <div·class="ttc"·id="aa03180_html_aef9cc3d8b23d0f93c763781a59b2b70a"><div·class="ttname"><a·href="a03180.html#aef9cc3d8b23d0f93c763781a59b2b70a">gtsam::Pose3::inverse</a></div><div·class="ttdeci">Pose3·inverse()·const</div><div·class="ttdoc">inverse·transformation·with·derivatives</div><div·class="ttdef"><b>Definition</b>·Pose3.cpp:49</div></div>485 <div·class="ttc"·id="aa03180_html_aef9cc3d8b23d0f93c763781a59b2b70a"><div·class="ttname"><a·href="a03180.html#aef9cc3d8b23d0f93c763781a59b2b70a">gtsam::Pose3::inverse</a></div><div·class="ttdeci">Pose3·inverse()·const</div><div·class="ttdoc">inverse·transformation·with·derivatives</div><div·class="ttdef"><b>Definition</b>·Pose3.cpp:49</div></div>
486 <div·class="ttc"·id="aa03380_html"><div·class="ttname"><a·href="a03380.html">gtsam::Unit3</a></div><div·class="ttdoc">Represents·a·3D·point·on·a·unit·sphere.</div><div·class="ttdef"><b>Definition</b>·Unit3.h:43</div></div>486 <div·class="ttc"·id="aa03380_html"><div·class="ttname"><a·href="a03380.html">gtsam::Unit3</a></div><div·class="ttdoc">Represents·a·3D·point·on·a·unit·sphere.</div><div·class="ttdef"><b>Definition</b>·Unit3.h:43</div></div>
487 </div><!--·fragment·--></div><!--·contents·-->487 </div><!--·fragment·--></div><!--·contents·-->
488 </div><!--·doc-content·-->488 </div><!--·doc-content·-->
489 <!--·start·footer·part·-->489 <!--·start·footer·part·-->
490 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->490 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
491 ··<ul>491 ··<ul>
492 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00422.html">PinholeCamera.h</a></li>492 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00440.html">PinholeCamera.h</a></li>
493 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>493 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
494 ··</ul>494 ··</ul>
495 </div>495 </div>
496 </body>496 </body>
497 </html>497 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/Similarity2.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/geometry/Cal3Bundler.h·Source·File</title>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Similarity2.h</div></div>104 ··<div·class="headertitle"><div·class="title">Cal3Bundler.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00431.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00350.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00128.html">gtsam/base/Lie.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Manifold.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00389.html">gtsam/geometry/Cal3.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00416.html">gtsam/geometry/Point2.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00329.html">gtsam/geometry/Pose2.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00371.html">gtsam/geometry/Rot2.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="comment">//·Forward·declarations</span></div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">class·</span>Pose2;</div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
132 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">125 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">
133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03248.html">···35</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03248.html">Similarity2</a>·:·<span·class="keyword">public</span>·<a·class="code·hl[·...·truncated·by·diffoscope;·len:·62,·SHA:·8094ef5eff5e2111bf67ecb718f246bf064e963b7b576a61baf0b53ed09f6285·...·]·{</div>126 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a02968.html">···32</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02968.html">Cal3Bundler</a>·:·<span·class="keyword">public</span>·<a·class="code·hl[·...·truncated·by·diffoscope;·len:·35,·SHA:·6fdd15cd3df231b3aae8cb38ca04e834c9bcef662f1130a601a8417099f6d913·...·]·{</div>
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03212.html">Rot2</a>·<a·class="code·hl_class"·href="a03212.html">Rotation</a>;</div> 
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·Translation;</div>127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·<span·class="keyword">private</span>:</div>
 128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keywordtype">double</span>·k1_·=·0.0f,·k2_·=·0.0f;··</div>
 129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keywordtype">double</span>·tol_·=·1e-5;·············</div>
 130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="comment">//·NOTE:·We·use·the·base·class·fx·to·represent·the·common·focal·length.</span></div>
 132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="comment">//·Also,·image·center·parameters·(u0,·v0)·are·not·optimized</span></div>
 133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="comment">//·but·are·treated·as·constants.</span></div>
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·<span·class="keyword">private</span>:</div>135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·<span·class="keyword">public</span>:</div>
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<a·class="code·hl_class"·href="a03212.html">Rot2</a>·R_;</div> 
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>·t_;</div> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keywordtype">double</span>·s_;</div>136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">enum</span>·{·dimension·=·3·};</div>
 137 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
 138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3Bundler&gt;;</div>
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·<span·class="keyword">public</span>:</div> 
143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<a·class="code·hl_class"·href="a03248.html">Similarity2</a>();</div> 
145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div> 
146 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<a·class="code·hl_class"·href="a03248.html">Similarity2</a>(<span·class="keywordtype">double</span>·s);</div> 
147 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div> 
148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<a·class="code·hl_class"·href="a03248.html">Similarity2</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03212.html">Rot2</a>&amp;·R,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">Point2</a>&amp;·t,·<span·class="keywordtype">double</span>·s);</div> 
149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
150 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<a·class="code·hl_class"·href="a03248.html">Similarity2</a>(<span·class="keyword">const</span>·Matrix2&amp;·R,·<span·class="keyword">const</span>·Vector2&amp;·t,·<span·class="keywordtype">double</spa[·...·truncated·by·diffoscope;·len:·5,·SHA:·8daa70779ba11111306c84bc78543919f5a8e605fe6cd45d17c5909853ca3eb0·...·];</div>141 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a02968.html#a1774c3bd09b74440caa6056e7e8ad264">···51</a></span>··<a·class="code·hl_function"·href="a02968.html#a1774c3bd09b74440caa6056e7e8ad264">Cal3Bundler</a>()·=·<span·class="keywordflow"[·...·truncated·by·diffoscope;·len:·15,·SHA:·cd9d35a4723c4fe55f54e1fd5a336ef3314a94fb8c802fe3e93d132ab163d34e·...·];</div>
151 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>142 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
152 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<a·class="code·hl_class"·href="a03248.html">Similarity2</a>(<span·class="keyword">const</span>·Matrix3&amp;·T);</div>143 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="}">
 144 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a02968.html#a32366d4d57d94b3e78f4d1cf1f264084">···62</a></span>··<a·class="code·hl_function"·href="a02968.html#a32366d4d57d94b3e78f4d1cf1f264084">Cal3Bundler</a>(<span·class="keywordtype">double</span>·f,·<span·class="keywordtype">double</span>·k1,·<span·class="keywordtype">double</span>·k2,·<span·class="keywordtype">double</span>·u0·=·0,·<span·class="keywordtype">double</span>·v0·=·0,</div>
 145 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··············<span·class="keywordtype">double</span>·tol·=·1e-5)</div>
 146 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······:·<a·class="code·hl_class"·href="a02940.html">Cal3</a>(f,·f,·0,·u0,·v0),·k1_(k1),·k2_(k2),·tol_(tol)·{}</div>
 147 </div>
153 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>148 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 149 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<a·class="code·hl_class"·href="a02968.html">~Cal3Bundler</a>()<span·class="keyword">·override·</span>{}</div>
154 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>150 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
155 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03248.html">Similarity2</a>&amp;·sim,·<span·class="keywordtype">double</span>·tol)·<span·class="keyword">const</span>;</div> 
156 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>151 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
157 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a01428.html#afd5b3cf3f54adcbdd6d9e7403f1a792f">operator==</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="[·...·truncated·by·diffoscope;·len:·76,·SHA:·21b4c3cb4a72aec04b476ca6129793d201f26a5bf81ca8c6e7be7aa3c35b52fa·...·]</div>152 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··GTSAM_EXPORT·<span·class="keyword">friend</span>·std::ostream&amp;·operator&lt;&lt;(std::ostream&amp;·os,</div>
 153 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>···············································<span·class="keyword">const</span>·Cal3Bundler&amp;·cal);</div>
158 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>154 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
159 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s)·<span·class="keyword">const</span>;</div>155 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="keywordtype">void</span>·print(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const·override</span>;</div>
160 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>156 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>
161 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keyword">friend</span>·std::ostream&amp;·operator&lt;&lt;(std::ostream&amp;·os,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03248.html">Similarity2</a>&amp;·p);</div>157 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keywordtype">bool</span>·equals(<span·class="keyword">const</span>·Cal3Bundler&amp;·K,·<span·class="keywordtype">double</span>·tol·=·10e-9)·<span·class="keyword">const</span>;</div>
162 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>158 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
163 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>159 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
164 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03248.html">Similarity2</a>·Identity();</div>160 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a02968.html#a000d35943600b9bf81818b9ae65c1e53">···87</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a02968.html#a000d[·...·truncated·by·diffoscope;·len:·122,·SHA:·aa9d3fd2598b7431094abf21c41abaab6e1c3124014f2559d29aaa4c88df5ef7·...·]</div>
165 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div>161 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
166 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<a·class="code·hl_class"·href="a03248.html">Similarity2</a>·<a·class="code·hl_function"·href="a01428.html#a63d86e99c211c6daeac2b7b4dd9d928e">operator*</a>(<span·class="keyword">const</span>·<a·class=[·...·truncated·by·diffoscope;·len:·94,·SHA:·cec112ebabcd6696a5b923aeb8832b00d928a1dbe0f4ff74eeaa2ccfea43acb6·...·]</div>162 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno"><a·class="line"·href="a02968.html#a0162ada34d8b64e4371db3b093f18d1e">···90</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a02968.html#a016[·...·truncated·by·diffoscope;·len:·123,·SHA:·02db729eb5828ae5ac7ce3848c9ea356d0b3efa52533ff7755a1f6f17551cffc·...·]</div>
167 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>163 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>
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131 <tr·class="separator:a4026e65ca995e7ab10b2432af0b02b43"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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133 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>128 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
134 <div·class="textblock"><p>A·simple·camera·class·with·a·Cal3_S2·calibration.·</p>129 <div·class="textblock"><p>a·general·SFM·factor·with·an·unknown·calibration·</p>
135 <dl·class="section·date"><dt>Date</dt><dd>Aug·16,·2009·</dd></dl>130 <dl·class="section·date"><dt>Date</dt><dd>Dec·15,·2010·</dd></dl>
136 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>131 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd></dl>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">SimpleCamera.h</div></div>104 ··<div·class="headertitle"><div·class="title">iterative.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00434.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00893.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00425.html">gtsam/geometry/BearingRange.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00380.html">gtsam/geometry/Cal3Bundler.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00890.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00293.html">gtsam/geometry/Cal3DS2.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/ConjugateGradientSolver.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00401.html">gtsam/geometry/Cal3Fisheye.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00365.html">gtsam/geometry/Cal3Unified.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00401.html">gtsam/geometry/Cal3Fisheye.h</a>&gt;</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00398.html">gtsam/geometry/Cal3_S2.h</a>&gt;</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00422.html">gtsam/geometry/PinholeCamera.h</a>&gt;</span></div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
 126 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·S,·<span·class="keyword">class</span>·V,·<span·class="keyword">class</span>·E&gt;</div>
 127 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··V·<a·class="code·hl_function"·href="a01428.html#a6516ea957c3a22ddf429cefef1fe9486">conjugateGradients</a>(<span·class="keyword">const</span>·S&amp;·Ab,·V·x,</div>
 128 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>······<span·class="keyword">const</span>·ConjugateGradientParameters·&amp;parameters,·<span·class="keywordtype">bool</span>·steepest·=·<span·class="keyword">false</span>);</div>
131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a01428.html#a3a2e8c622e65623a6853c84073bdb4f2">···34</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a01428.html#a3a2e8c622e65623a6853c84073bdb4f2">PinholeCameraCal3_S2</a>·=·<a·class="code·hl_class"·href="a03104.html">gtsam::PinholeCamera&lt;gtsam::Cal3_S2&gt;</a>;</div> 
132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">using·</span>PinholeCameraCal3Bundler·=·<a·class="code·hl_class"·href="a03104.html">gtsam::PinholeCamera&lt;gtsam::Cal3Bundler&gt;</a>;</div> 
133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">using·</span>PinholeCameraCal3DS2·=·<a·class="code·hl_class"·href="a03104.html">gtsam::PinholeCamera&lt;gtsam::Cal3DS2&gt;</a>;</div> 
134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">using·</span>PinholeCameraCal3Unified·=·<a·class="code·hl_class"·href="a03104.html">gtsam::PinholeCamera&lt;gtsam::Cal3Unified&gt;</a>;</div> 
135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">using·</span>PinholeCameraCal3Fisheye·=·<a·class="code·hl_class"·href="a03104.html">gtsam::PinholeCamera&lt;gtsam::Cal3Fisheye&gt;</a>;</div> 
136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>129 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="preprocessor">#ifdef·GTSAM_ALLOW_DEPRECATED_SINCE_V42</span></div> 
138 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="keyword">class·</span>GTSAM_EXPORT·SimpleCamera·:·<span·class="keyword">public</span>·<a·class="code·hl_typedef"·href="a01428.html#a3a2e8c622e65623a6853c84073bdb4f2">Pinho[·...·truncated·by·diffoscope;·len:·26,·SHA:·70cf86225c8ad3d143484b8efeee0b338df989ac01ad1fab14109473000da9f5·...·]>130 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="};">
 131 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a03824.html">···44</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03824.html">System</a>·{</div>
139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>132 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
140 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03104.html">PinholeCamera&lt;Cal3_S2&gt;</a>·Base;</div>133 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">private</span>:</div>
 134 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="keyword">const</span>·Matrix&amp;·A_;</div>
141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;SimpleCamera&gt;·shared_ptr;</div>135 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keyword">const</span>·Vector&amp;·b_;</div>
142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>136 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="keyword">public</span>:</div>137 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">public</span>:</div>
144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>138 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 139 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<a·class="code·hl_class"·href="a03824.html">System</a>(<span·class="keyword">const</span>·Matrix&amp;·A,·<span·class="keyword">const</span>·Vector&amp;·b)·:</div>
 140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······A_(A),·b_(b)·{</div>
145 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>141 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····}</div>
146 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··SimpleCamera()·:</div> 
147 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······Base()·{</div>142 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a03824.html#a3941a6711f3fe29c7880f349bf23f61c">···57</a></span>····<span·class="keyword">const</span>·Matrix&amp;·<a·class="code·hl_function"·href="a03824.html#a3941a6711f3fe29c7880f349bf23f61c">A</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·A_;·}</div>
148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··}</div>144 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 145 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a03824.html#a47bfe00d3b15d9a270173e4da239873f">···60</a></span>····<span·class="keyword">const</span>·Vector&amp;·<a·class="code·hl_function"·href="a03824.html#a47bfe00d3b15d9a270173e4da239873f">b</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·b_;·}</div>
149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
150 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">explicit</span>·SimpleCamera(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&amp;·pose)·:</div> 
151 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······Base(pose)·{</div> 
152 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··}</div> 
153 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>146 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
154 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··SimpleCamera(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&amp;·pose,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02[·...·truncated·by·diffoscope;·len:·36,·SHA:·42fd43a37a2f4fd80a1ec8a11301c000bef97796de305fe06f842ec8c7707082·...·]>147 <div·class="foldopen"·id="foldopen00063"·data-start="{"·data-end="}">
 148 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a03824.html#ae9b8a03088b3e2177470bb22482d769f">···63</a></span>····Vector·<a·class="code·hl_function"·href="a03824.html#ae9b8a03088b3e2177470bb22482d769f">operator^</a>(<span·class="keyword">const</span>·Vector&amp;·e)<span·class="keyword">·const·</span>{</div>
155 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······Base(pose,·K)·{</div>149 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="keywordflow">return</span>·A_·^·e;</div>
156 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··}</div>150 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····}</div>
 151 </div>
157 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>152 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
 153 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>·(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;System&quot;</span>)·<span·class="keyword">const</span>;</div>
158 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>154 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
159 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>···<span·class="keyword">static</span>·SimpleCamera·Level(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>·&amp;K,·<span·class="keyword">const[·...·truncated·by·diffoscope;·len:·78,·SHA:·6734a9aa743a8d922c2f38c406ed6964fe9e832cd8e87d066357d37ef845f64c·...·]>155 <div·class="foldopen"·id="foldopen00073"·data-start="{"·data-end="}">
 156 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a03824.html#a8f944ee551d3aa5fbc31319ef1bc2617">···73</a></span>····Vector·<a·class="code·hl_function"·href="a03824.html#a8f944ee551d3aa5fbc31319ef1bc2617">gradient</a>(<span·class="keyword">const</span>·Vector&amp;·x)<span·class="keyword">·const·</span>{</div>
 157 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······<span·class="keywordflow">return</span>·A()·^·(A()·*·x·-·b());</div>
 158 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····}</div>
 159 </div>
 160 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 161 <div·class="foldopen"·id="foldopen00078"·data-start="{"·data-end="}">
 162 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a03824.html#a2d9cdad1b0fe8837a466567e8fa889c3">···78</a></span>····Vector·<a·class="code·hl_function"·href="a03824.html#a2d9cdad1b0fe8837a466567e8fa889c3">operator*</a>(<span·class="keyword">const</span>·Vector&amp;·x)<span·class="keyword">·const·</span>{</div>
160 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·······<span·class="keywordtype">double</span>·height)·{</div>163 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>······<span·class="keywordflow">return</span>·A()·*·x;</div>
161 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·····<span·class="keywordflow">return</span>·SimpleCamera(Base::LevelPose(pose2,·height),·K);</div> 
162 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>···}</div>164 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>····}</div>
 165 </div>
 166 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
 167 <div·class="foldopen"·id="foldopen00083"·data-start="{"·data-end="}">
 168 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno"><a·class="line"·href="a03824.html#a3bd868666bc6f9fe0336132e2217f45a">···83</a></span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03824.html#a3bd868666bc6f9fe0336132e2217f45a">multiplyInPlace</a>(<span·class="keyword">const</span>·Vector&amp;·x,·Vector&amp;·e)<span·class="keyword">·const·</span>{</div>
 169 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>······e·=·A()·*·x;</div>
163 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>170 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>····}</div>
 171 </div>
164 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>···<span·class="keyword">static</span>·SimpleCamera·Level(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03156.html">Pose2</a>&amp;·pose2,·<span·class="keywordtype">double</span>·height)·{</div> 
165 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····<span·class="keywordflow">return</span>·SimpleCamera::Level(<a·class="code·hl_class"·href="a02944.html">Cal3_S2</a>(),·pose2,·height);</div> 
166 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>···}</div>172 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
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72 ··</div>72 ··</div>
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75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
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82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Quaternion.h</div></div>104 ··<div·class="headertitle"><div·class="title">Quaternion.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00449.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00353.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00128.html">gtsam/base/Lie.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00002.html">gtsam/base/Lie.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;gtsam/base/concepts.h&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;gtsam/base/concepts.h&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00446.html">gtsam/geometry/SO3.h</a>&gt;</span>·<span·class="comment">//·Logmap/Expmap·derivatives</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00305.html">gtsam/geometry/SO3.h</a>&gt;</span>·<span·class="comment">//·Logmap/Expmap·derivatives</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;limits&gt;</span></div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;limits&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#define·QUATERNION_TYPE·Eigen::Quaternion&lt;_Scalar,_Options&gt;</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#define·QUATERNION_TYPE·Eigen::Quaternion&lt;_Scalar,_Options&gt;</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
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269 <div·class="line"><a·id="l00180"·name="l00180"></a><span·class="lineno">··180</span>};</div>269 <div·class="line"><a·id="l00180"·name="l00180"></a><span·class="lineno">··180</span>};</div>
270 </div>270 </div>
271 <div·class="line"><a·id="l00181"·name="l00181"></a><span·class="lineno">··181</span>·</div>271 <div·class="line"><a·id="l00181"·name="l00181"></a><span·class="lineno">··181</span>·</div>
272 <div·class="line"><a·id="l00182"·name="l00182"></a><span·class="lineno">··182</span><span·class="keyword">typedef</span>·Eigen::Quaternion&lt;double,·Eigen::DontAlign&gt;·Quaternion;</div>272 <div·class="line"><a·id="l00182"·name="l00182"></a><span·class="lineno">··182</span><span·class="keyword">typedef</span>·Eigen::Quaternion&lt;double,·Eigen::DontAlign&gt;·Quaternion;</div>
273 <div·class="line"><a·id="l00183"·name="l00183"></a><span·class="lineno">··183</span>·</div>273 <div·class="line"><a·id="l00183"·name="l00183"></a><span·class="lineno">··183</span>·</div>
274 <div·class="line"><a·id="l00184"·name="l00184"></a><span·class="lineno">··184</span>}·<span·class="comment">//·\namespace·gtsam</span></div>274 <div·class="line"><a·id="l00184"·name="l00184"></a><span·class="lineno">··184</span>}·<span·class="comment">//·\namespace·gtsam</span></div>
275 <div·class="line"><a·id="l00185"·name="l00185"></a><span·class="lineno">··185</span>·</div>275 <div·class="line"><a·id="l00185"·name="l00185"></a><span·class="lineno">··185</span>·</div>
276 <div·class="ttc"·id="aa00128_html"><div·class="ttname"><a·href="a00128.html">Lie.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Lie·types.</div></div>276 <div·class="ttc"·id="aa00002_html"><div·class="ttname"><a·href="a00002.html">Lie.h</a></div><div·class="ttdoc">Base·class·and·basic·functions·for·Lie·types.</div></div>
277 <div·class="ttc"·id="aa00446_html"><div·class="ttname"><a·href="a00446.html">SO3.h</a></div><div·class="ttdoc">3*3·matrix·representation·of·SO(3)</div></div>277 <div·class="ttc"·id="aa00305_html"><div·class="ttname"><a·href="a00305.html">SO3.h</a></div><div·class="ttdoc">3*3·matrix·representation·of·SO(3)</div></div>
278 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>278 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
279 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>279 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
280 <div·class="ttc"·id="aa02336_html"><div·class="ttname"><a·href="a02336.html">gtsam::multiplicative_group_tag</a></div><div·class="ttdoc">Group·operator·syntax·flavors.</div><div·class="ttdef"><b>Definition</b>·Group.h:37</div></div>280 <div·class="ttc"·id="aa02336_html"><div·class="ttname"><a·href="a02336.html">gtsam::multiplicative_group_tag</a></div><div·class="ttdoc">Group·operator·syntax·flavors.</div><div·class="ttdef"><b>Definition</b>·Group.h:37</div></div>
281 <div·class="ttc"·id="aa02368_html"><div·class="ttname"><a·href="a02368.html">gtsam::lie_group_tag</a></div><div·class="ttdoc">tag·to·assert·a·type·is·a·Lie·group</div><div·class="ttdef"><b>Definition</b>·Lie.h:164</div></div>281 <div·class="ttc"·id="aa02368_html"><div·class="ttname"><a·href="a02368.html">gtsam::lie_group_tag</a></div><div·class="ttdoc">tag·to·assert·a·type·is·a·Lie·group</div><div·class="ttdef"><b>Definition</b>·Lie.h:164</div></div>
282 <div·class="ttc"·id="aa02448_html"><div·class="ttname"><a·href="a02448.html">gtsam::OptionalJacobian</a></div><div·class="ttdoc">OptionalJacobian·is·an·Eigen::Ref·like·class·that·can·take·be·constructed·using·either·a·fixed·size·o...</div><div·class="ttdef"><b>Definition</b>·OptionalJacobian.h:41</div></div>282 <div·class="ttc"·id="aa02448_html"><div·class="ttname"><a·href="a02448.html">gtsam::OptionalJacobian</a></div><div·class="ttdoc">OptionalJacobian·is·an·Eigen::Ref·like·class·that·can·take·be·constructed·using·either·a·fixed·size·o...</div><div·class="ttdef"><b>Definition</b>·OptionalJacobian.h:41</div></div>
283 <div·class="ttc"·id="aa03208_html_a12c076407b71b70e1a23523fcbc3047d"><div·class="ttname"><a·href="a03208.html#a12c076407b71b70e1a23523fcbc3047d">gtsam::traits&lt;·QUATERNION_TYPE·&gt;::Expmap</a></div><div·class="ttdeci">static·Q·Expmap(const·Eigen::Ref&lt;·const·TangentVector·&gt;·&amp;omega,·ChartJacobian·H=boost::none)</div><div·class="ttdoc">Exponential·map,·using·the·inlined·code·from·Eigen's·conversion·from·axis/angle.</div><div·class="ttdef"><b>Definition</b>·Quaternion.h:79</div></div>283 <div·class="ttc"·id="aa03208_html_a12c076407b71b70e1a23523fcbc3047d"><div·class="ttname"><a·href="a03208.html#a12c076407b71b70e1a23523fcbc3047d">gtsam::traits&lt;·QUATERNION_TYPE·&gt;::Expmap</a></div><div·class="ttdeci">static·Q·Expmap(const·Eigen::Ref&lt;·const·TangentVector·&gt;·&amp;omega,·ChartJacobian·H=boost::none)</div><div·class="ttdoc">Exponential·map,·using·the·inlined·code·from·Eigen's·conversion·from·axis/angle.</div><div·class="ttdef"><b>Definition</b>·Quaternion.h:79</div></div>
284 <div·class="ttc"·id="aa03208_html_a7a9af0389c59ee4a516b2ce0bbc31d46"><div·class="ttname"><a·href="a03208.html#a7a9af0389c59ee4a516b2ce0bbc31d46">gtsam::traits&lt;·QUATERNION_TYPE·&gt;::Logmap</a></div><div·class="ttdeci">static·TangentVector·Logmap(const·Q·&amp;q,·ChartJacobian·H=boost::none)</div><div·class="ttdoc">We·use·our·own·Logmap,·as·there·is·a·slight·bug·in·Eigen.</div><div·class="ttdef"><b>Definition</b>·Quaternion.h:98</div></div>284 <div·class="ttc"·id="aa03208_html_a7a9af0389c59ee4a516b2ce0bbc31d46"><div·class="ttname"><a·href="a03208.html#a7a9af0389c59ee4a516b2ce0bbc31d46">gtsam::traits&lt;·QUATERNION_TYPE·&gt;::Logmap</a></div><div·class="ttdeci">static·TangentVector·Logmap(const·Q·&amp;q,·ChartJacobian·H=boost::none)</div><div·class="ttdoc">We·use·our·own·Logmap,·as·there·is·a·slight·bug·in·Eigen.</div><div·class="ttdef"><b>Definition</b>·Quaternion.h:98</div></div>
285 <div·class="ttc"·id="aa03304_html_a817f097897b7dd72305aded9092359d2"><div·class="ttname"><a·href="a03304.html#a817f097897b7dd72305aded9092359d2">gtsam::SO&lt;·3·&gt;::ExpmapDerivative</a></div><div·class="ttdeci">static·MatrixDD·ExpmapDerivative(const·TangentVector·&amp;omega)</div><div·class="ttdoc">Derivative·of·Expmap,·currently·only·defined·for·SO3.</div><div·class="ttdef"><b>Definition</b>·SOn-inl.h:72</div></div>285 <div·class="ttc"·id="aa03304_html_a817f097897b7dd72305aded9092359d2"><div·class="ttname"><a·href="a03304.html#a817f097897b7dd72305aded9092359d2">gtsam::SO&lt;·3·&gt;::ExpmapDerivative</a></div><div·class="ttdeci">static·MatrixDD·ExpmapDerivative(const·TangentVector·&amp;omega)</div><div·class="ttdoc">Derivative·of·Expmap,·currently·only·defined·for·SO3.</div><div·class="ttdef"><b>Definition</b>·SOn-inl.h:72</div></div>
286 <div·class="ttc"·id="aa03304_html_a87c100530611732950ccdd2c44cae1c6"><div·class="ttname"><a·href="a03304.html#a87c100530611732950ccdd2c44cae1c6">gtsam::SO&lt;·3·&gt;::LogmapDerivative</a></div><div·class="ttdeci">static·MatrixDD·LogmapDerivative(const·TangentVector·&amp;omega)</div><div·class="ttdoc">Derivative·of·Logmap,·currently·only·defined·for·SO3.</div><div·class="ttdef"><b>Definition</b>·SOn-inl.h:82</div></div>286 <div·class="ttc"·id="aa03304_html_a87c100530611732950ccdd2c44cae1c6"><div·class="ttname"><a·href="a03304.html#a87c100530611732950ccdd2c44cae1c6">gtsam::SO&lt;·3·&gt;::LogmapDerivative</a></div><div·class="ttdeci">static·MatrixDD·LogmapDerivative(const·TangentVector·&amp;omega)</div><div·class="ttdoc">Derivative·of·Logmap,·currently·only·defined·for·SO3.</div><div·class="ttdef"><b>Definition</b>·SOn-inl.h:82</div></div>
287 </div><!--·fragment·--></div><!--·contents·-->287 </div><!--·fragment·--></div><!--·contents·-->
288 </div><!--·doc-content·-->288 </div><!--·doc-content·-->
289 <!--·start·footer·part·-->289 <!--·start·footer·part·-->
290 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->290 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
291 ··<ul>291 ··<ul>
292 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00449.html">Quaternion.h</a></li>292 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00353.html">Quaternion.h</a></li>
293 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>293 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
294 ··</ul>294 ··</ul>
295 </div>295 </div>
296 </body>296 </body>
297 </html>297 </html>
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72 ··</div>72 ··</div>
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74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
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80 /*·@license-end·*/80 /*·@license-end·*/
81 </script>81 </script>
82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">CameraSet.h</div></div>104 ··<div·class="headertitle"><div·class="title">CameraSet.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00464.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00341.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00038.html">gtsam/base/FastMap.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00137.html">gtsam/base/FastMap.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00113.html">gtsam/base/SymmetricBlockMatrix.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00089.html">gtsam/base/SymmetricBlockMatrix.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00443.html">gtsam/geometry/CalibratedCamera.h</a>&gt;</span>··<span·class="comment">//·for·Cheirality·exception</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00410.html">gtsam/geometry/CalibratedCamera.h</a>&gt;</span>··<span·class="comment">//·for·Cheirality·exception</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Point3.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00455.html">gtsam/geometry/Point3.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>
132 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">132 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">
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513 <div·class="line"><a·id="l00448"·name="l00448"></a><span·class="lineno"><a·class="line"·href="a03044.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">··448</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a03044.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>513 <div·class="line"><a·id="l00448"·name="l00448"></a><span·class="lineno"><a·class="line"·href="a03044.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">··448</a></span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span><a·class="code·hl_friend"·href="a03044.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">boost::serialization::access</a>;</div>
514 <div·class="line"><a·id="l00449"·name="l00449"></a><span·class="lineno">··449</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>514 <div·class="line"><a·id="l00449"·name="l00449"></a><span·class="lineno">··449</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
515 <div·class="line"><a·id="l00450"·name="l00450"></a><span·class="lineno">··450</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>515 <div·class="line"><a·id="l00450"·name="l00450"></a><span·class="lineno">··450</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
516 <div·class="line"><a·id="l00451"·name="l00451"></a><span·class="lineno">··451</span>····ar&amp;(*this);</div>516 <div·class="line"><a·id="l00451"·name="l00451"></a><span·class="lineno">··451</span>····ar&amp;(*this);</div>
517 <div·class="line"><a·id="l00452"·name="l00452"></a><span·class="lineno">··452</span>··}</div>517 <div·class="line"><a·id="l00452"·name="l00452"></a><span·class="lineno">··452</span>··}</div>
518 <div·class="line"><a·id="l00453"·name="l00453"></a><span·class="lineno">··453</span>·</div>518 <div·class="line"><a·id="l00453"·name="l00453"></a><span·class="lineno">··453</span>·</div>
519 <div·class="line"><a·id="l00454"·name="l00454"></a><span·class="lineno">··454</span>·<span·class="keyword">public</span>:</div>519 <div·class="line"><a·id="l00454"·name="l00454"></a><span·class="lineno">··454</span>·<span·class="keyword">public</span>:</div>
520 <div·class="line"><a·id="l00455"·name="l00455"></a><span·class="lineno">··455</span>··<a·class="code·hl_define"·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>520 <div·class="line"><a·id="l00455"·name="l00455"></a><span·class="lineno">··455</span>··<a·class="code·hl_define"·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>
521 <div·class="line"><a·id="l00456"·name="l00456"></a><span·class="lineno">··456</span>};</div>521 <div·class="line"><a·id="l00456"·name="l00456"></a><span·class="lineno">··456</span>};</div>
522 </div>522 </div>
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524 <div·class="line"><a·id="l00458"·name="l00458"></a><span·class="lineno">··458</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>524 <div·class="line"><a·id="l00458"·name="l00458"></a><span·class="lineno">··458</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>
525 <div·class="line"><a·id="l00459"·name="l00459"></a><span·class="lineno">··459</span><span·class="keyword">const</span>·<span·class="keywordtype">int</span>·<a·class="code·hl_variable"·href="a03044.html#ab6d158288b56d69a8bf0cab48da204ef">CameraSet&lt;CAMERA&gt;::D</a>;</div>525 <div·class="line"><a·id="l00459"·name="l00459"></a><span·class="lineno">··459</span><span·class="keyword">const</span>·<span·class="keywordtype">int</span>·<a·class="code·hl_variable"·href="a03044.html#ab6d158288b56d69a8bf0cab48da204ef">CameraSet&lt;CAMERA&gt;::D</a>;</div>
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531 <div·class="line"><a·id="l00465"·name="l00465"></a><span·class="lineno"><a·class="line"·href="a03048.html">··465</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03044.html">CameraSet</a>&lt;CAMERA&gt;&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;CameraSet&lt;CAMERA&gt;&gt;·{};</div>531 <div·class="line"><a·id="l00465"·name="l00465"></a><span·class="lineno"><a·class="line"·href="a03048.html">··465</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03044.html">CameraSet</a>&lt;CAMERA&gt;&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;CameraSet&lt;CAMERA&gt;&gt;·{};</div>
532 <div·class="line"><a·id="l00466"·name="l00466"></a><span·class="lineno">··466</span>·</div>532 <div·class="line"><a·id="l00466"·name="l00466"></a><span·class="lineno">··466</span>·</div>
533 <div·class="line"><a·id="l00467"·name="l00467"></a><span·class="lineno">··467</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>533 <div·class="line"><a·id="l00467"·name="l00467"></a><span·class="lineno">··467</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CAMERA&gt;</div>
534 <div·class="line"><a·id="l00468"·name="l00468"></a><span·class="lineno"><a·class="line"·href="a03052.html">··468</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a03044.html">CameraSet</a>&lt;CAMERA&gt;&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;CameraSet&lt;CAMERA&gt;&gt;·{};</div>534 <div·class="line"><a·id="l00468"·name="l00468"></a><span·class="lineno"><a·class="line"·href="a03052.html">··468</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;const·<a·class="code·hl_class"·href="a03044.html">CameraSet</a>&lt;CAMERA&gt;&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;CameraSet&lt;CAMERA&gt;&gt;·{};</div>
535 <div·class="line"><a·id="l00469"·name="l00469"></a><span·class="lineno">··469</span>·</div>535 <div·class="line"><a·id="l00469"·name="l00469"></a><span·class="lineno">··469</span>·</div>
536 <div·class="line"><a·id="l00470"·name="l00470"></a><span·class="lineno">··470</span>}··<span·class="comment">//·namespace·gtsam</span></div>536 <div·class="line"><a·id="l00470"·name="l00470"></a><span·class="lineno">··470</span>}··<span·class="comment">//·namespace·gtsam</span></div>
537 <div·class="ttc"·id="aa00038_html"><div·class="ttname"><a·href="a00038.html">FastMap.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::map·that·uses·boost's·fast_pool_allocator.</div></div>537 <div·class="ttc"·id="aa00089_html"><div·class="ttname"><a·href="a00089.html">SymmetricBlockMatrix.h</a></div><div·class="ttdoc">Access·to·matrices·via·blocks·of·pre-defined·sizes.</div></div>
538 <div·class="ttc"·id="aa00071_html"><div·class="ttname"><a·href="a00071.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>538 <div·class="ttc"·id="aa00107_html"><div·class="ttname"><a·href="a00107.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>
539 <div·class="ttc"·id="aa00113_html"><div·class="ttname"><a·href="a00113.html">SymmetricBlockMatrix.h</a></div><div·class="ttdoc">Access·to·matrices·via·blocks·of·pre-defined·sizes.</div></div>539 <div·class="ttc"·id="aa00137_html"><div·class="ttname"><a·href="a00137.html">FastMap.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::map·that·uses·boost's·fast_pool_allocator.</div></div>
540 <div·class="ttc"·id="aa00125_html_aa123dd61687e08ae328154a1890b7b86"><div·class="ttname"><a·href="a00125.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:308</div></div>540 <div·class="ttc"·id="aa00146_html_aa123dd61687e08ae328154a1890b7b86"><div·class="ttname"><a·href="a00146.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div·class="ttdeci">#define·GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div·class="ttdoc">This·marks·a·GTSAM·object·to·require·alignment.</div><div·class="ttdef"><b>Definition</b>·types.h:308</div></div>
541 <div·class="ttc"·id="aa00332_html"><div·class="ttname"><a·href="a00332.html">Point3.h</a></div><div·class="ttdoc">3D·Point</div></div> 
542 <div·class="ttc"·id="aa00443_html"><div·class="ttname"><a·href="a00443.html">CalibratedCamera.h</a></div><div·class="ttdoc">Calibrated·camera·for·which·only·pose·is·unknown.</div></div>541 <div·class="ttc"·id="aa00410_html"><div·class="ttname"><a·href="a00410.html">CalibratedCamera.h</a></div><div·class="ttdoc">Calibrated·camera·for·which·only·pose·is·unknown.</div></div>
 542 <div·class="ttc"·id="aa00455_html"><div·class="ttname"><a·href="a00455.html">Point3.h</a></div><div·class="ttdoc">3D·Point</div></div>
543 <div·class="ttc"·id="aa00611_html"><div·class="ttname"><a·href="a00611.html">Key.h</a></div></div>543 <div·class="ttc"·id="aa00590_html"><div·class="ttname"><a·href="a00590.html">Key.h</a></div></div>
544 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>544 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
545 <div·class="ttc"·id="aa01428_html_a1c320e42b033352fbbd8266e3bd5faad"><div·class="ttname"><a·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">gtsam::KeyVector</a></div><div·class="ttdeci">FastVector&lt;·Key·&gt;·KeyVector</div><div·class="ttdoc">Define·collection·type·once·and·for·all·-·also·used·in·wrappers.</div><div·class="ttdef"><b>Definition</b>·Key.h:86</div></div>545 <div·class="ttc"·id="aa01428_html_a1c320e42b033352fbbd8266e3bd5faad"><div·class="ttname"><a·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">gtsam::KeyVector</a></div><div·class="ttdeci">FastVector&lt;·Key·&gt;·KeyVector</div><div·class="ttdoc">Define·collection·type·once·and·for·all·-·also·used·in·wrappers.</div><div·class="ttdef"><b>Definition</b>·Key.h:86</div></div>
546 <div·class="ttc"·id="aa01428_html_a21006f326f57cdf7d3f35fec40f43e40"><div·class="ttname"><a·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">gtsam::DenseIndex</a></div><div·class="ttdeci">ptrdiff_t·DenseIndex</div><div·class="ttdoc">The·index·type·for·Eigen·objects.</div><div·class="ttdef"><b>Definition</b>·types.h:106</div></div>546 <div·class="ttc"·id="aa01428_html_a21006f326f57cdf7d3f35fec40f43e40"><div·class="ttname"><a·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">gtsam::DenseIndex</a></div><div·class="ttdeci">ptrdiff_t·DenseIndex</div><div·class="ttdoc">The·index·type·for·Eigen·objects.</div><div·class="ttdef"><b>Definition</b>·types.h:106</div></div>
547 <div·class="ttc"·id="aa01428_html_a2754f325c8600303d627d9e8cf1f9949"><div·class="ttname"><a·href="a01428.html#a2754f325c8600303d627d9e8cf1f9949">gtsam::row</a></div><div·class="ttdeci">const·MATRIX::ConstRowXpr·row(const·MATRIX·&amp;A,·size_t·j)</div><div·class="ttdoc">Extracts·a·row·view·from·a·matrix·that·avoids·a·copy.</div><div·class="ttdef"><b>Definition</b>·Matrix.h:222</div></div>547 <div·class="ttc"·id="aa01428_html_a2754f325c8600303d627d9e8cf1f9949"><div·class="ttname"><a·href="a01428.html#a2754f325c8600303d627d9e8cf1f9949">gtsam::row</a></div><div·class="ttdeci">const·MATRIX::ConstRowXpr·row(const·MATRIX·&amp;A,·size_t·j)</div><div·class="ttdoc">Extracts·a·row·view·from·a·matrix·that·avoids·a·copy.</div><div·class="ttdef"><b>Definition</b>·Matrix.h:222</div></div>
548 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>548 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
549 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>549 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
550 <div·class="ttc"·id="aa02316_html"><div·class="ttname"><a·href="a02316.html">gtsam::FastMap</a></div><div·class="ttdoc">FastMap·is·a·thin·wrapper·around·std::map·that·uses·the·boost·fast_pool_allocator·instead·of·the·defa...</div><div·class="ttdef"><b>Definition</b>·FastMap.h:38</div></div>550 <div·class="ttc"·id="aa02316_html"><div·class="ttname"><a·href="a02316.html">gtsam::FastMap</a></div><div·class="ttdoc">FastMap·is·a·thin·wrapper·around·std::map·that·uses·the·boost·fast_pool_allocator·instead·of·the·defa...</div><div·class="ttdef"><b>Definition</b>·FastMap.h:38</div></div>
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579 <div·class="ttc"·id="aa03044_html_ad959e3709004c7f7c219bd9b52a18ebd"><div·class="ttname"><a·href="a03044.html#ad959e3709004c7f7c219bd9b52a18ebd">gtsam::CameraSet::MatrixZD</a></div><div·class="ttdeci">Eigen::Matrix&lt;·double,·ZDim,·D·&gt;·MatrixZD</div><div·class="ttdoc">Definitions·for·blocks·of·F.</div><div·class="ttdef"><b>Definition</b>·CameraSet.h:77</div></div>579 <div·class="ttc"·id="aa03044_html_ad959e3709004c7f7c219bd9b52a18ebd"><div·class="ttname"><a·href="a03044.html#ad959e3709004c7f7c219bd9b52a18ebd">gtsam::CameraSet::MatrixZD</a></div><div·class="ttdeci">Eigen::Matrix&lt;·double,·ZDim,·D·&gt;·MatrixZD</div><div·class="ttdoc">Definitions·for·blocks·of·F.</div><div·class="ttdef"><b>Definition</b>·CameraSet.h:77</div></div>
580 <div·class="ttc"·id="aa03044_html_afa9d5a849df31c5c564999fef769afef"><div·class="ttname"><a·href="a03044.html#afa9d5a849df31c5c564999fef769afef">gtsam::CameraSet::project2</a></div><div·class="ttdeci">ZVector·project2(const·POINT·&amp;point,·boost::optional&lt;·FBlocks·&amp;·&gt;·Fs=boost::none,·boost::optional&lt;·Matrix·&amp;·&gt;·E=boost::none)·const</div><div·class="ttdoc">Project·a·point·(possibly·Unit3·at·infinity),·with·derivatives·Note·that·F·is·a·sparse·block-diagonal...</div><div·class="ttdef"><b>Definition</b>·CameraSet.h:108</div></div>580 <div·class="ttc"·id="aa03044_html_afa9d5a849df31c5c564999fef769afef"><div·class="ttname"><a·href="a03044.html#afa9d5a849df31c5c564999fef769afef">gtsam::CameraSet::project2</a></div><div·class="ttdeci">ZVector·project2(const·POINT·&amp;point,·boost::optional&lt;·FBlocks·&amp;·&gt;·Fs=boost::none,·boost::optional&lt;·Matrix·&amp;·&gt;·E=boost::none)·const</div><div·class="ttdoc">Project·a·point·(possibly·Unit3·at·infinity),·with·derivatives·Note·that·F·is·a·sparse·block-diagonal...</div><div·class="ttdef"><b>Definition</b>·CameraSet.h:108</div></div>
581 </div><!--·fragment·--></div><!--·contents·-->581 </div><!--·fragment·--></div><!--·contents·-->
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585 ··<ul>585 ··<ul>
586 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00464.html">CameraSet.h</a></li>586 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_be4965403b556e5d04a57d44231dfb01.html">geometry</a></li><li·class="navelem"><a·class="el"·href="a00341.html">CameraSet.h</a></li>
587 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>587 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">HybridFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">SfmData.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00482.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01187.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00257.html">gtsam/discrete/DecisionTree.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00350.html">gtsam/geometry/Cal3Bundler.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00260.html">gtsam/discrete/DiscreteKey.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00440.html">gtsam/geometry/PinholeCamera.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00587.html">gtsam/inference/Factor.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01157.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00770.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01121.html">gtsam/nonlinear/Values.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01073.html">gtsam/nonlinear/Values.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01226.html">gtsam/sfm/SfmTrack.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;cstddef&gt;</span></div> 
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05044.html">HybridValues</a>;</div>131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a01428.html#acab0207730cf78822bdf274b50739d31">···33</a></span><span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03104.html">PinholeCamera&lt;Cal3Bundler&gt;</a>·<a·class="c[·...·truncated·by·diffoscope;·len:·78,·SHA:·786d88a854893500ffc06dfd7421bde34b5fa000c5c0153dba46f23b36b66764·...·]</a>;</div>
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 133 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="};">
 134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a04704.html">···39</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04704.html">SfmData</a>·{</div>
 135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04704.html#aca9835ee681fe7dfbd3d0e2b58d4f50d">···40</a></span>··std::vector&lt;SfmCamera&gt;·<a·class="code·hl_variable"·href="a04704.html#aca9835ee681fe7dfbd3d0e2b58d4f50d">cameras</a>;··</div>
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a01428.html#a8b4a8e0d32b81b0fa2fa15c437b89e7c">···34</a></span><span·class="keyword">using·</span><a·class="code·hl_class"·href="a02796.html">GaussianFactorGraphTree</a>·=·<a·class="code·hl_class"·href="a02796.html">DecisionTree&lt;Key,·GaussianFactorGraph&gt;</a>;</div> 
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·CollectKeys(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;continuousKeys,</div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>······················<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;discreteKeys);</div> 
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·CollectKeys(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;keys1,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;keys2);</div> 
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·CollectDiscreteKeys(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;key1,</div> 
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·································<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;key2);</div> 
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04704.html#ad005f3beddfb6a8f735ad3369d2b81e6">···42</a></span>··std::vector&lt;SfmTrack&gt;·<a·class="code·hl_variable"·href="a04704.html#ad005f3beddfb6a8f735ad3369d2b81e6">tracks</a>;··</div>
141 <div·class="foldopen"·id="foldopen00052"·data-start="{"·data-end="};"> 
142 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a03448.html">···52</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03592.html">Factor</a>·{</div> 
143 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·<span·class="keyword">private</span>:</div> 
144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">bool</span>·isDiscrete_·=·<span·class="keyword">false</span>;</div> 
145 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordtype">bool</span>·isContinuous_·=·<span·class="keyword">false</span>;</div> 
146 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keywordtype">bool</span>·isHybrid_·=·<span·class="keyword">false</span>;</div> 
147 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div> 
148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·<span·class="keyword">protected</span>:</div> 
149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="comment">//·Set·of·DiscreteKeys·for·this·factor.</span></div> 
150 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·discreteKeys_;</div> 
151 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a03448.html#aaa808001f9d06b22b8abd8676254dcfd">···62</a></span>··<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·<a·class="code·hl_variable"·href="a03448.html#aaa808001f9d06b22b8abd8676254dcfd">continuousKeys_</a>;</div> 
152 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
153 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·<span·class="keyword">public</span>:</div> 
154 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="comment">//·typedefs·needed·to·play·nice·with·gtsam</span></div> 
155 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno"><a·class="line"·href="a03448.html#a2dae31181d923450d6f97e0a67670f71">···66</a></span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>·<a·class="code·hl_typedef"·href="a03448.html#a2dae31181d923450d6f97e0a67670f71">This</a>;··</div> 
156 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;HybridFactor&gt;</div> 
157 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno"><a·class="line"·href="a03448.html#a34a545ef27b16eb697ed1bb3b3170a0c">···68</a></span>······<a·class="code·hl_typedef"·href="a03448.html#a34a545ef27b16eb697ed1bb3b3170a0c">shared_ptr</a>;·······</div> 
158 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a03448.html#a9896814056a8770b842862e3fd4b779f">···69</a></span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03592.html">Factor</a>·<a·class="code·hl_typedef"·href="a03448.html#a9896814056a8770b842862e3fd4b779f">Base</a>;··</div> 
159 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div> 
160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div> 
161 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a03448.html#a97bb25c7e119639c38ae44bb05f53775">···75</a></span>··<a·class="code·hl_function"·href="a03448.html#a97bb25c7e119639c38ae44bb05f53775">HybridFactor</a>()·=·<span·class="keywordflow">default</span>;</div> 
162 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>139 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
163 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd[·...·truncated·by·diffoscope;·len:·38,·SHA:·175f77ef19fbb02d479d2599975b827466e71a960373f767deeaafc06cc72bd8·...·]);</div>140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">static</span>·<a·class="code·hl_struct"·href="a04704.html">SfmData</a>·FromBundlerFile(<span·class="keyword">const</span>·std::string&amp;·filename);</div>
164 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>141 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
165 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&am[·...·truncated·by·diffoscope;·len:·14,·SHA:·1c325ed8e6bdb3b2e729239956f6105d572b1a06eecbd3cc9e63762b54daedd8·...·]);</div>142 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">static</span>·<a·class="code·hl_struct"·href="a04704.html">SfmData</a>·FromBalFile(<span·class="keyword">const</span>·std::string&amp;·filename);</div>
 143 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 144 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
 145 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno"><a·class="line"·href="a04704.html#aa45104530ee1f6a59ccd2fb4bfd87e81">···68</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04704.html#aa45104530ee1f6a59ccd2fb4bfd87e81">addTrack</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04716.html">SfmTrack</a>&amp;·t)·{·tracks.push_back(t);·}</div>
166 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div>146 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
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 156 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>
 157 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno"><a·class="line"·href="a04704.html#a0e3c28537291c933634b8be21a3f53bc">···86</a></span>··<span·class="keyword">const</span>·std::vector&lt;SfmCamera&gt;&amp;·<a·class="code·hl_function"·href="a04704.html#a0e3c28537291c933634b8be21a3f53bc">cameraList</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·cameras;·}</div>
 158 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<span·class="keyword">const</span>·std::vector&lt;SfmTrack&gt;&amp;·trackList()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·tracks;·}</div>
 159 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
 160 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>··NonlinearFactorGraph·generalSfmFactors(</div>
 161 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>······<span·class="keyword">const</span>·SharedNoiseModel&amp;·model·=·noiseModel::Isotropic::Sigma(2,</div>
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100 <a·href="#namespaces">Namespaces</a>··</div>100 <a·href="#namespaces">Namespaces</a>··</div>
101 ··<div·class="headertitle"><div·class="title">HybridBayesTree.cpp·File·Reference</div></div>101 ··<div·class="headertitle"><div·class="title">GaussNewtonOptimizer.cpp·File·Reference</div></div>
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104 <p>Hybrid·Bayes·Tree,·the·result·of·eliminating·a·HybridJunctionTree.·· 
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113 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>111 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
114 <div·class="textblock"><p>Hybrid·Bayes·Tree,·the·result·of·eliminating·a·HybridJunctionTree.·</p>112 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
115 <dl·class="section·date"><dt>Date</dt><dd>Mar·11,·2022·</dd></dl>113 <dl·class="section·date"><dt>Date</dt><dd>Feb·26,·2012·</dd></dl>
116 <dl·class="section·author"><dt>Author</dt><dd>Fan·Jiang,·Varun·Agrawal·</dd></dl> 
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103 <div·class="header">103 <div·class="header">
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
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112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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142 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>142 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
143 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03408.html">HybridBayesNet</a>&amp;·<a·class="code·hl_function"·href="a03500.html#a9299d214c6d42ee3b8ad9f9734b78a72">hybridBayesNet</a>()·<span·class="keyword">const</span>;</div>143 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03408.html">HybridBayesNet</a>&amp;·<a·class="code·hl_function"·href="a03500.html#a9299d214c6d42ee3b8ad9f9734b78a72">hybridBayesNet</a>()·<span·class="keyword">const</span>;</div>
144 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>};</div>144 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>};</div>
145 </div>145 </div>
146 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>146 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
147 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>};··<span·class="comment">//·namespace·gtsam</span></div>147 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>};··<span·class="comment">//·namespace·gtsam</span></div>
148 <div·class="ttc"·id="aa00236_html"><div·class="ttname"><a·href="a00236.html">DiscreteFactorGraph.h</a></div></div>148 <div·class="ttc"·id="aa00254_html"><div·class="ttname"><a·href="a00254.html">DiscreteFactorGraph.h</a></div></div>
 149 <div·class="ttc"·id="aa00548_html"><div·class="ttname"><a·href="a00548.html">HybridBayesNet.h</a></div><div·class="ttdoc">A·Bayes·net·of·Gaussian·Conditionals·indexed·by·discrete·keys.</div></div>
149 <div·class="ttc"·id="aa00554_html"><div·class="ttname"><a·href="a00554.html">HybridGaussianFactorGraph.h</a></div><div·class="ttdoc">Linearized·Hybrid·factor·graph·that·uses·type·erasure.</div></div>150 <div·class="ttc"·id="aa00554_html"><div·class="ttname"><a·href="a00554.html">HybridGaussianFactorGraph.h</a></div><div·class="ttdoc">Linearized·Hybrid·factor·graph·that·uses·type·erasure.</div></div>
150 <div·class="ttc"·id="aa00569_html"><div·class="ttname"><a·href="a00569.html">HybridBayesNet.h</a></div><div·class="ttdoc">A·Bayes·net·of·Gaussian·Conditionals·indexed·by·discrete·keys.</div></div> 
151 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>151 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
152 <div·class="ttc"·id="aa03408_html"><div·class="ttname"><a·href="a03408.html">gtsam::HybridBayesNet</a></div><div·class="ttdoc">A·hybrid·Bayes·net·is·a·collection·of·HybridConditionals,·which·can·have·discrete·conditionals,...</div><div·class="ttdef"><b>Definition</b>·HybridBayesNet.h:35</div></div>152 <div·class="ttc"·id="aa03408_html"><div·class="ttname"><a·href="a03408.html">gtsam::HybridBayesNet</a></div><div·class="ttdoc">A·hybrid·Bayes·net·is·a·collection·of·HybridConditionals,·which·can·have·discrete·conditionals,...</div><div·class="ttdef"><b>Definition</b>·HybridBayesNet.h:35</div></div>
153 <div·class="ttc"·id="aa03464_html"><div·class="ttname"><a·href="a03464.html">gtsam::HybridGaussianFactorGraph</a></div><div·class="ttdef"><b>Definition</b>·HybridGaussianFactorGraph.h:102</div></div>153 <div·class="ttc"·id="aa03464_html"><div·class="ttname"><a·href="a03464.html">gtsam::HybridGaussianFactorGraph</a></div><div·class="ttdef"><b>Definition</b>·HybridGaussianFactorGraph.h:102</div></div>
154 <div·class="ttc"·id="aa03500_html"><div·class="ttname"><a·href="a03500.html">gtsam::HybridSmoother</a></div><div·class="ttdef"><b>Definition</b>·HybridSmoother.h:25</div></div>154 <div·class="ttc"·id="aa03500_html"><div·class="ttname"><a·href="a03500.html">gtsam::HybridSmoother</a></div><div·class="ttdef"><b>Definition</b>·HybridSmoother.h:25</div></div>
155 <div·class="ttc"·id="aa03500_html_a03051d582bb0d74411ce47ae54dbfb5e"><div·class="ttname"><a·href="a03500.html#a03051d582bb0d74411ce47ae54dbfb5e">gtsam::HybridSmoother::gaussianMixture</a></div><div·class="ttdeci">GaussianMixture::shared_ptr·gaussianMixture(size_t·index)·const</div><div·class="ttdoc">Get·the·Gaussian·Mixture·from·the·Bayes·Net·posterior·at·index.</div><div·class="ttdef"><b>Definition</b>·HybridSmoother.cpp:131</div></div>155 <div·class="ttc"·id="aa03500_html_a03051d582bb0d74411ce47ae54dbfb5e"><div·class="ttname"><a·href="a03500.html#a03051d582bb0d74411ce47ae54dbfb5e">gtsam::HybridSmoother::gaussianMixture</a></div><div·class="ttdeci">GaussianMixture::shared_ptr·gaussianMixture(size_t·index)·const</div><div·class="ttdoc">Get·the·Gaussian·Mixture·from·the·Bayes·Net·posterior·at·index.</div><div·class="ttdef"><b>Definition</b>·HybridSmoother.cpp:131</div></div>
156 <div·class="ttc"·id="aa03500_html_a2019e739c3b9c81b2eba08a6803ceb6f"><div·class="ttname"><a·href="a03500.html#a2019e739c3b9c81b2eba08a6803ceb6f">gtsam::HybridSmoother::update</a></div><div·class="ttdeci">void·update(HybridGaussianFactorGraph·graph,·const·Ordering·&amp;ordering,·boost::optional&lt;·size_t·&gt;·maxNrLeaves=boost::none)</div><div·class="ttdoc">Given·new·factors,·perform·an·incremental·update.</div><div·class="ttdef"><b>Definition</b>·HybridSmoother.cpp:58</div></div>156 <div·class="ttc"·id="aa03500_html_a2019e739c3b9c81b2eba08a6803ceb6f"><div·class="ttname"><a·href="a03500.html#a2019e739c3b9c81b2eba08a6803ceb6f">gtsam::HybridSmoother::update</a></div><div·class="ttdeci">void·update(HybridGaussianFactorGraph·graph,·const·Ordering·&amp;ordering,·boost::optional&lt;·size_t·&gt;·maxNrLeaves=boost::none)</div><div·class="ttdoc">Given·new·factors,·perform·an·incremental·update.</div><div·class="ttdef"><b>Definition</b>·HybridSmoother.cpp:58</div></div>
157 <div·class="ttc"·id="aa03500_html_a60da1543da39899f313495794d8a1419"><div·class="ttname"><a·href="a03500.html#a60da1543da39899f313495794d8a1419">gtsam::HybridSmoother::addConditionals</a></div><div·class="ttdeci">std::pair&lt;·HybridGaussianFactorGraph,·HybridBayesNet·&gt;·addConditionals(const·HybridGaussianFactorGraph·&amp;graph,·const·HybridBayesNet·&amp;hybridBayesNet,·const·Ordering·&amp;ordering)·const</div><div·class="ttdoc">Add·conditionals·from·previous·timestep·as·part·of·liquefication.</div><div·class="ttdef"><b>Definition</b>·HybridSmoother.cpp:85</div></div>157 <div·class="ttc"·id="aa03500_html_a60da1543da39899f313495794d8a1419"><div·class="ttname"><a·href="a03500.html#a60da1543da39899f313495794d8a1419">gtsam::HybridSmoother::addConditionals</a></div><div·class="ttdeci">std::pair&lt;·HybridGaussianFactorGraph,·HybridBayesNet·&gt;·addConditionals(const·HybridGaussianFactorGraph·&amp;graph,·const·HybridBayesNet·&amp;hybridBayesNet,·const·Ordering·&amp;ordering)·const</div><div·class="ttdoc">Add·conditionals·from·previous·timestep·as·part·of·liquefication.</div><div·class="ttdef"><b>Definition</b>·HybridSmoother.cpp:85</div></div>
158 <div·class="ttc"·id="aa03500_html_a9299d214c6d42ee3b8ad9f9734b78a72"><div·class="ttname"><a·href="a03500.html#a9299d214c6d42ee3b8ad9f9734b78a72">gtsam::HybridSmoother::hybridBayesNet</a></div><div·class="ttdeci">const·HybridBayesNet·&amp;·hybridBayesNet()·const</div><div·class="ttdoc">Return·the·Bayes·Net·posterior.</div><div·class="ttdef"><b>Definition</b>·HybridSmoother.cpp:137</div></div>158 <div·class="ttc"·id="aa03500_html_a9299d214c6d42ee3b8ad9f9734b78a72"><div·class="ttname"><a·href="a03500.html#a9299d214c6d42ee3b8ad9f9734b78a72">gtsam::HybridSmoother::hybridBayesNet</a></div><div·class="ttdeci">const·HybridBayesNet·&amp;·hybridBayesNet()·const</div><div·class="ttdoc">Return·the·Bayes·Net·posterior.</div><div·class="ttdef"><b>Definition</b>·HybridSmoother.cpp:137</div></div>
159 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>159 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>
160 </div><!--·fragment·--></div><!--·contents·-->160 </div><!--·fragment·--></div><!--·contents·-->
161 </div><!--·doc-content·-->161 </div><!--·doc-content·-->
162 <!--·start·footer·part·-->162 <!--·start·footer·part·-->
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164 ··<ul>164 ··<ul>
165 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_56c2e1a1204958ddcb066d7d52d67173.html">hybrid</a></li><li·class="navelem"><a·class="el"·href="a00512.html">HybridSmoother.h</a></li>165 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_56c2e1a1204958ddcb066d7d52d67173.html">hybrid</a></li><li·class="navelem"><a·class="el"·href="a00530.html">HybridSmoother.h</a></li>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">GaussianMixtureFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">HybridNonlinearISAM.h</div></div>
105 </div><!--header-->105 </div><!--header-->
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107 <a·href="a00533.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00560.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00500.html">gtsam/hybrid/HybridGaussianISAM.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00506.html">gtsam/hybrid/HybridNonlinearFactorGraph.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00242.html">gtsam/discrete/AlgebraicDecisionTree.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00257.html">gtsam/discrete/DecisionTree.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00260.html">gtsam/discrete/DiscreteKey.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00482.html">gtsam/hybrid/HybridFactor.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00815.html">gtsam/linear/GaussianFactor.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00770.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div> 
126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div> 
127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 124 <div·class="foldopen"·id="foldopen00027"·data-start="{"·data-end="};">
 125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno"><a·class="line"·href="a03496.html">···27</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03496.html">HybridNonlinearISAM</a>·{</div>
 126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·<span·class="keyword">protected</span>:</div>
 127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a03496.html#abc388dedfd3df948cce9e9844eb07f86">···30</a></span>··<a·class="code·hl_class"·href="a03468.html">gtsam::HybridGaussianISAM</a>·<a·class="code·hl_variable"·href="a03496.html#abc388dedfd3df948cce9e9844eb07f86">isam_</a>;</div>
128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
 129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a03496.html#a8a56f5375ea8088c0a1b017a4be8528d">···33</a></span>··<a·class="code·hl_class"·href="a04612.html">Values</a>·<a·class="code·hl_variable"·href="a03496.html#a8a56f5375ea8088c0a1b017a4be8528d">linPoint_</a>;</div>
129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05044.html">HybridValues</a>;</div> 
130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05040.html">DiscreteValues</a>;</div> 
131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div> 
132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
133 <div·class="foldopen"·id="foldopen00047"·data-start="{"·data-end="};"> 
134 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a03400.html">···47</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03400.html">GaussianMixtureFactor</a>·:·<span·class="keyword">public</span>·<a·cla[·...·truncated·by·diffoscope;·len:·56,·SHA:·ea0945a94171f9140c169ebb2508a039d285173afbf0d951dc4633e197a7be5e·...·]</div>131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03496.html#a231caf8f3176fa7e5000ba121baf4de4">···36</a></span>··<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>·<a·class="code·hl_variable"·href="a03496.html#a231caf8f3176fa7e[·...·truncated·by·diffoscope;·len:·34,·SHA:·d861f6e8fd43fe69c8d5af7c8dadee192772dae4d42a3bc2332e0f0fcb64c89d·...·]</div>
 132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
 133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03496.html#a37f1f9aa1ba8caa26e236e5bf7326969">···39</a></span>··<a·class="code·hl_class"·href="a03488.html">HybridNonlinearFactorGraph</a>·<a·class="code·hl_variable"·href="a03496.html#a37f1f9aa1ba8caa26e236e5bf7326969">factors_</a>;</div>
 134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
 135 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a03496.html#a83959d538b1f8c11e5d2d18098320d16">···42</a></span>··<span·class="keywordtype">int</span>·<a·class="code·hl_variable"·href="a03496.html#a83959d538b1f8c11e5d2d18098320d16">reorderInterval_</a>;</div>
 136 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keywordtype">int</span>·reorderCounter_;</div>
 137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
 138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a03496.html#ac1b5740936424126b8adf617f7700058">···46</a></span>··<a·class="code·hl_typedef"·href="a03580.html#a4053522180fd649baf38a49c515e7b53">HybridGaussianFactorGraph::Eliminate</a>·<a·class="code·hl_variable"·href="a03496.html#ac1b5740936424126b8adf617f7700058">eliminationFunction_</a>;</div>
 139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
135 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·<span·class="keyword">public</span>:</div>140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·<span·class="keyword">public</span>:</div>
136 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03448.html">Base</a>·=·<a·class="code·hl_class"·href="a03448.html">HybridFactor</a>;</div> 
137 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03400.html">This</a>·=·<a·class="code·hl_class"·href="a03400.html">GaussianMixtureFactor</a>;</div> 
138 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;This&gt;;</div> 
139 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>141 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">using·</span>sharedFactor·=·boost::shared_ptr&lt;GaussianFactor&gt;;</div>142 <div·class="foldopen"·id="foldopen00059"·data-start="{"·data-end="}">
 143 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a03496.html#a343272d257ca8e8c59b1e8a3d35a9371">···59</a></span>··<a·class="code·hl_function"·href="a03496.html#a343272d257ca8e8c59b1e8a3d35a9371">HybridNonlinearISAM</a>(</div>
 144 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<span·class="keywordtype">int</span>·reorderInterval·=·1,</div>
 145 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03580.html#a4053522180fd649baf38a49c515e7b53">HybridGaussianFactorGraph::Eliminate</a>&amp;·eliminationFunction·=</div>
 146 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··········HybridGaussianFactorGraph::EliminationTraitsType::DefaultEliminate)</div>
 147 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······:·reorderInterval_(reorderInterval),</div>
141 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>148 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>········reorderCounter_(0),</div>
142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a03400.html#aa9e043f6c690cc0c6f224b0ac0281106">···56</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a02796.html">Factors</a>·=·<a·class="code·hl_class"·href="a02796.html">DecisionTree&lt;Key,·sharedFactor&gt;</a>;</div> 
143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>149 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>········eliminationFunction_(eliminationFunction)·{}</div>
 150 </div>
144 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·<span·class="keyword">private</span>:</div> 
145 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<a·class="code·hl_class"·href="a02796.html">Factors</a>·factors_;</div> 
146 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>151 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
147 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<a·class="code·hl_class"·href="a02796.html">GaussianFactorGraphTree</a>·asGaussianFactorGraphTree()·<span·class="keyword">const</span>;</div> 
148 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>152 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
149 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·<span·class="keyword">public</span>:</div>153 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<a·class="code·hl_class"·href="a04612.html">Values</a>·estimate();</div>
150 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>154 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>
151 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a03400.html#a1fd07541d71b0fc8de61ee3be36c86dc">···75</a></span>··<a·class="code·hl_function"·href="a03400.html#a1fd07541d71b0fc8de61ee3be36c86dc">GaussianMixtureFactor</a>()·=·<span·class="key[·...·truncated·by·diffoscope;·len:·25,·SHA:·16d7d0a776dae4061dd96a239a39064732f0dc10a94f2f20295ae9d847bb08c3·...·]</div>155 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<span·class="comment">//·/**·find·the·marginal·covariance·for·a·single·variable·*/</span></div>
 156 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<span·class="comment">//·Matrix·marginalCovariance(Key·key)·const;</span></div>
152 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>157 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 158 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="comment">//·access</span></div>
153 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··<a·class="code·hl_class"·href="a03400.html">GaussianMixtureFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;continuousKeys,</div> 
154 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>························<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a02876.html">DiscreteKeys</a>·&amp;discreteKeys,</div> 
155 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02796.html">Factors</a>·&amp;factors);</div> 
156 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>159 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>
 160 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a03496.html#aea6998c026e45222627a188a5927aa24">···80</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03468.html">HybridGaussianISAM</a>&amp;·<a·class="code·hl_function"·href="a03496.html#aea6998c026e45222627a188a5927aa24">bayesTree</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·isam_;·}</div>
 161 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
 162 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a03496.html#a772d1dff43202c1969a55ddc6cb78188">···87</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03496.html#a772d1dff43202c1969a55ddc6cb78188">prune</a>(<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·maxNumberLeaves)·{·isam_.<a·class="code·hl_function"·href="a03424.html#a8989c38cd20a34a5e44c1a1fa7b5612d">prune</a>(maxNumberLeaves);·}</div>
 163 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>
 164 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno"><a·class="line"·href="a03496.html#a2dba72b454d069ce34eb9f867351e864">···90</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·<a·class="code·hl_function"·href="a03496.html#a2dba72b454d069ce34eb9f867351e864">getLinearizationPoint</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·linPoint_;·}</div>
 165 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>
 166 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno"><a·class="line"·href="a03496.html#a53c3580a43dd330492780e45bb94f2b8">···93</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02900.html">DiscreteValues</a>&amp;·<a·class="code·hl_function"·href="a03496.html#a53c3580a43dd330492780e45bb94f2b8">assignment</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·assignment_;·}</div>
 167 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno">···94</span>·</div>
157 <div·class="foldopen"·id="foldopen00098"·data-start="{"·data-end="}">168 <div·class="foldopen"·id="foldopen00096"·data-start="{"·data-end="}">
 169 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno"><a·class="line"·href="a03496.html#a07b6c6589c3b45b0e6d6cfa98415d09f">···96</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03488.html">HybridNonlinearFactorGraph</a>&amp;·<a·class="code·hl_function"·href="a03496.html#a07b6c6589c3b45b0e6d6cfa98415d09f">getFactorsUnsafe</a>()<span·class="keyword">·const·</span>{</div>
 170 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>····<span·class="keywordflow">return</span>·factors_;</div>
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
79 $(document).ready(function(){initNavTree('a00545_source.html','');·initResizable();·});79 $(document).ready(function(){initNavTree('a00503_source.html','');·initResizable();·});
80 /*·@license-end·*/80 /*·@license-end·*/
81 </script>81 </script>
82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">HybridJunctionTree.h</div></div>104 ··<div·class="headertitle"><div·class="title">HybridJunctionTree.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00545.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00503.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00497.html">gtsam/hybrid/HybridBayesTree.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00539.html">gtsam/hybrid/HybridBayesTree.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00554.html">gtsam/hybrid/HybridGaussianFactorGraph.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00554.html">gtsam/hybrid/HybridGaussianFactorGraph.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00692.html">gtsam/inference/JunctionTree.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00659.html">gtsam/inference/JunctionTree.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="comment">//·Forward·declarations</span></div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="comment">//·Forward·declarations</span></div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">class·</span>HybridEliminationTree;</div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">class·</span>HybridEliminationTree;</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
129 <div·class="foldopen"·id="foldopen00052"·data-start="{"·data-end="};">129 <div·class="foldopen"·id="foldopen00052"·data-start="{"·data-end="};">
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138 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a03484.html#a500b8a70d2480bd538d99ebf3be546f9">···59</a></span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03484.html#a500b8a70d2480bd538d99ebf3be546f9">shared_ptr</a>;··</div>138 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a03484.html#a500b8a70d2480bd538d99ebf3be546f9">···59</a></span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03484.html#a500b8a70d2480bd538d99ebf3be546f9">shared_ptr</a>;··</div>
139 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>139 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
140 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<a·class="code·hl_class"·href="a03484.html">HybridJunctionTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03444.html">HybridEliminationTree</a>&amp;·eliminationTree);</div>140 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<a·class="code·hl_class"·href="a03484.html">HybridJunctionTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03444.html">HybridEliminationTree</a>&amp;·eliminationTree);</div>
141 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>};</div>141 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>};</div>
142 </div>142 </div>
143 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>143 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
144 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>}··<span·class="comment">//·namespace·gtsam</span></div>144 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>}··<span·class="comment">//·namespace·gtsam</span></div>
145 <div·class="ttc"·id="aa00497_html"><div·class="ttname"><a·href="a00497.html">HybridBayesTree.h</a></div><div·class="ttdoc">Hybrid·Bayes·Tree,·the·result·of·eliminating·a·HybridJunctionTree.</div></div>145 <div·class="ttc"·id="aa00539_html"><div·class="ttname"><a·href="a00539.html">HybridBayesTree.h</a></div><div·class="ttdoc">Hybrid·Bayes·Tree,·the·result·of·eliminating·a·HybridJunctionTree.</div></div>
146 <div·class="ttc"·id="aa00554_html"><div·class="ttname"><a·href="a00554.html">HybridGaussianFactorGraph.h</a></div><div·class="ttdoc">Linearized·Hybrid·factor·graph·that·uses·type·erasure.</div></div>146 <div·class="ttc"·id="aa00554_html"><div·class="ttname"><a·href="a00554.html">HybridGaussianFactorGraph.h</a></div><div·class="ttdoc">Linearized·Hybrid·factor·graph·that·uses·type·erasure.</div></div>
147 <div·class="ttc"·id="aa00692_html"><div·class="ttname"><a·href="a00692.html">JunctionTree.h</a></div><div·class="ttdoc">The·junction·tree.</div></div>147 <div·class="ttc"·id="aa00659_html"><div·class="ttname"><a·href="a00659.html">JunctionTree.h</a></div><div·class="ttdoc">The·junction·tree.</div></div>
148 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>148 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
149 <div·class="ttc"·id="aa03444_html"><div·class="ttname"><a·href="a03444.html">gtsam::HybridEliminationTree</a></div><div·class="ttdoc">Elimination·Tree·type·for·Hybrid·Factor·Graphs.</div><div·class="ttdef"><b>Definition</b>·HybridEliminationTree.h:32</div></div>149 <div·class="ttc"·id="aa03444_html"><div·class="ttname"><a·href="a03444.html">gtsam::HybridEliminationTree</a></div><div·class="ttdoc">Elimination·Tree·type·for·Hybrid·Factor·Graphs.</div><div·class="ttdef"><b>Definition</b>·HybridEliminationTree.h:32</div></div>
150 <div·class="ttc"·id="aa03484_html"><div·class="ttname"><a·href="a03484.html">gtsam::HybridJunctionTree</a></div><div·class="ttdoc">An·EliminatableClusterTree,·i.e.,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·HybridJunctionTree.h:53</div></div>150 <div·class="ttc"·id="aa03484_html"><div·class="ttname"><a·href="a03484.html">gtsam::HybridJunctionTree</a></div><div·class="ttdoc">An·EliminatableClusterTree,·i.e.,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·HybridJunctionTree.h:53</div></div>
151 <div·class="ttc"·id="aa03484_html_a500b8a70d2480bd538d99ebf3be546f9"><div·class="ttname"><a·href="a03484.html#a500b8a70d2480bd538d99ebf3be546f9">gtsam::HybridJunctionTree::shared_ptr</a></div><div·class="ttdeci">boost::shared_ptr&lt;·This·&gt;·shared_ptr</div><div·class="ttdoc">Shared·pointer·to·this·class.</div><div·class="ttdef"><b>Definition</b>·HybridJunctionTree.h:59</div></div>151 <div·class="ttc"·id="aa03484_html_a500b8a70d2480bd538d99ebf3be546f9"><div·class="ttname"><a·href="a03484.html#a500b8a70d2480bd538d99ebf3be546f9">gtsam::HybridJunctionTree::shared_ptr</a></div><div·class="ttdeci">boost::shared_ptr&lt;·This·&gt;·shared_ptr</div><div·class="ttdoc">Shared·pointer·to·this·class.</div><div·class="ttdef"><b>Definition</b>·HybridJunctionTree.h:59</div></div>
152 <div·class="ttc"·id="aa03484_html_adc5a4ce83a37d629dd2a33f22123a9ab"><div·class="ttname"><a·href="a03484.html#adc5a4ce83a37d629dd2a33f22123a9ab">gtsam::HybridJunctionTree::Base</a></div><div·class="ttdeci">JunctionTree&lt;·HybridBayesTree,·HybridGaussianFactorGraph·&gt;·Base</div><div·class="ttdoc">Base·class.</div><div·class="ttdef"><b>Definition</b>·HybridJunctionTree.h:57</div></div>152 <div·class="ttc"·id="aa03484_html_adc5a4ce83a37d629dd2a33f22123a9ab"><div·class="ttname"><a·href="a03484.html#adc5a4ce83a37d629dd2a33f22123a9ab">gtsam::HybridJunctionTree::Base</a></div><div·class="ttdeci">JunctionTree&lt;·HybridBayesTree,·HybridGaussianFactorGraph·&gt;·Base</div><div·class="ttdoc">Base·class.</div><div·class="ttdef"><b>Definition</b>·HybridJunctionTree.h:57</div></div>
153 <div·class="ttc"·id="aa03484_html_ae1e6fccff4dbeb26ab992853a2f3d333"><div·class="ttname"><a·href="a03484.html#ae1e6fccff4dbeb26ab992853a2f3d333">gtsam::HybridJunctionTree::This</a></div><div·class="ttdeci">HybridJunctionTree·This</div><div·class="ttdoc">This·class.</div><div·class="ttdef"><b>Definition</b>·HybridJunctionTree.h:58</div></div>153 <div·class="ttc"·id="aa03484_html_ae1e6fccff4dbeb26ab992853a2f3d333"><div·class="ttname"><a·href="a03484.html#ae1e6fccff4dbeb26ab992853a2f3d333">gtsam::HybridJunctionTree::This</a></div><div·class="ttdeci">HybridJunctionTree·This</div><div·class="ttdoc">This·class.</div><div·class="ttdef"><b>Definition</b>·HybridJunctionTree.h:58</div></div>
154 <div·class="ttc"·id="aa03652_html"><div·class="ttname"><a·href="a03652.html">gtsam::JunctionTree</a></div><div·class="ttdoc">A·JunctionTree·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·JunctionTree.h:50</div></div>154 <div·class="ttc"·id="aa03652_html"><div·class="ttname"><a·href="a03652.html">gtsam::JunctionTree</a></div><div·class="ttdoc">A·JunctionTree·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·JunctionTree.h:50</div></div>
155 </div><!--·fragment·--></div><!--·contents·-->155 </div><!--·fragment·--></div><!--·contents·-->
156 </div><!--·doc-content·-->156 </div><!--·doc-content·-->
157 <!--·start·footer·part·-->157 <!--·start·footer·part·-->
158 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->158 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
159 ··<ul>159 ··<ul>
160 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_56c2e1a1204958ddcb066d7d52d67173.html">hybrid</a></li><li·class="navelem"><a·class="el"·href="a00545.html">HybridJunctionTree.h</a></li>160 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_56c2e1a1204958ddcb066d7d52d67173.html">hybrid</a></li><li·class="navelem"><a·class="el"·href="a00503.html">HybridJunctionTree.h</a></li>
161 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>161 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
162 ··</ul>162 ··</ul>
163 </div>163 </div>
164 </body>164 </body>
165 </html>165 </html>
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
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82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">HybridFactorGraph.h</div></div>104 ··<div·class="headertitle"><div·class="title">HybridFactorGraph.h</div></div>
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106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00563.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00527.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
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169 <div·class="ttc"·id="aa03456_html"><div·class="ttname"><a·href="a03456.html">gtsam::HybridFactorGraph</a></div><div·class="ttdoc">Hybrid·Factor·Graph·Factor·graph·with·utilities·for·hybrid·factors.</div><div·class="ttdef"><b>Definition</b>·HybridFactorGraph.h:39</div></div>169 <div·class="ttc"·id="aa03456_html"><div·class="ttname"><a·href="a03456.html">gtsam::HybridFactorGraph</a></div><div·class="ttdoc">Hybrid·Factor·Graph·Factor·graph·with·utilities·for·hybrid·factors.</div><div·class="ttdef"><b>Definition</b>·HybridFactorGraph.h:39</div></div>
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177 <div·class="ttc"·id="aa03524_html"><div·class="ttname"><a·href="a03524.html">gtsam::FactorGraph</a></div><div·class="ttdoc">A·factor·graph·is·a·bipartite·graph·with·factor·nodes·connected·to·variable·nodes.</div><div·class="ttdef"><b>Definition</b>·FactorGraph.h:97</div></div>177 <div·class="ttc"·id="aa03524_html"><div·class="ttname"><a·href="a03524.html">gtsam::FactorGraph</a></div><div·class="ttdoc">A·factor·graph·is·a·bipartite·graph·with·factor·nodes·connected·to·variable·nodes.</div><div·class="ttdef"><b>Definition</b>·FactorGraph.h:97</div></div>
178 <div·class="ttc"·id="aa04612_html"><div·class="ttname"><a·href="a04612.html">gtsam::Values</a></div><div·class="ttdoc">A·non-templated·config·holding·any·types·of·Manifold-group·elements.</div><div·class="ttdef"><b>Definition</b>·Values.h:65</div></div>178 <div·class="ttc"·id="aa04612_html"><div·class="ttname"><a·href="a04612.html">gtsam::Values</a></div><div·class="ttdoc">A·non-templated·config·holding·any·types·of·Manifold-group·elements.</div><div·class="ttdef"><b>Definition</b>·Values.h:65</div></div>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">VariableSlots.h</div></div>104 ··<div·class="headertitle"><div·class="title">factorTesting.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00575.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01142.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01397.html">gtsam/global_includes.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00038.html">gtsam/base/FastMap.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00074.html">gtsam/base/FastVector.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00140.html">gtsam/base/numericalDerivative.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/timing.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/tuple/tuple.hpp&gt;</span></div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;iostream&gt;</span></div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div> 
133 <div·class="foldopen"·id="foldopen00052"·data-start="{"·data-end="};">127 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="}">
134 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a03708.html">···52</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03708.html">VariableSlots</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·hr[·...·truncated·by·diffoscope;·len:·68,·SHA:·90484b44c446c5d86272e981975188b8525dc3331b9f7808f6662cdf1c44c077·...·]</div>128 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a01428.html#a9753b4e62378151d30bf8af5e2fc1602">···39</a></span><span·class="keyword">inline</span>·<a·class="code·hl_class"·href="a03844.html">JacobianFactor</a>·<a·class="code·hl_function"·h[·...·truncated·by·diffoscope;·len:·189,·SHA:·981b629dc3a9e00b1bcfa02352b2260cff1fd91978439fddcb06565a8928d1da·...·]</div>
 129 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>···········································<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·values,</div>
 130 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>···········································<span·class="keywordtype">double</span>·delta·=·1e-5)·{</div>
 131 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="comment">//·We·will·fill·a·vector·of·key/Jacobians·pairs·(a·map·would·sort)</span></div>
 132 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··std::vector&lt;std::pair&lt;Key,·Matrix&gt;·&gt;·jacobians;</div>
135 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>133 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
136 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keyword">public</span>:</div>134 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="comment">//·Get·size</span></div>
 135 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">const</span>·Vector·e·=·factor.<a·class="code·hl_function"·href="a04504.html#a484903c979489804e42fe58504de41cc">whitenedError</a>(values);</div>
137 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
138 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02316.html">FastMap&lt;Key,·FastVector&lt;size_t&gt;</a>·&gt;·<a·class="code·hl_class"·href="a02316.html">Base</a>;</div> 
139 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··GTSAM_EXPORT·<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·Empty;</div>136 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·rows·=·e.size();</div>
140 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>137 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 138 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="comment">//·Loop·over·all·variables</span></div>
 139 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·one_over_2delta·=·1.0·/·(2.0·*·delta);</div>
 140 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keywordflow">for</span>·(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key·:·factor)·{</div>
 141 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="comment">//·Compute·central·differences·using·the·values·struct.</span></div>
 142 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·dX·=·values.<a·class="code·hl_function"·href="a04612.html#ad5e2e1be633690309497f1b732639c05">zeroVectors</a>();</div>
 143 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·cols·=·dX.<a·class="code·hl_function"·href="a04064.html#a677694d125aaa594bfb6f6140937eb9a">dim</a>(key);</div>
 144 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····Matrix·J·=·Matrix::Zero(rows,·cols);</div>
 145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·col·=·0;·col·&lt;·cols;·++col)·{</div>
 146 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······Vector·dx·=·Vector::Zero(cols);</div>
 147 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······dx(col)·=·delta;</div>
 148 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······dX[key]·=·dx;</div>
 149 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<a·class="code·hl_class"·href="a04612.html">Values</a>·eval_values·=·values.<a·class="code·hl_function"·href="a04612.html#a51f57aaa9ec0a606d8b27290b19b49e3">retract</a>(dX);</div>
 150 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······<span·class="keyword">const</span>·Vector·left·=·factor.<a·class="code·hl_function"·href="a04504.html#a484903c979489804e42fe58504de41cc">whitenedError</a>(eval_values);</div>
 151 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······dx(col)·=·-delta;</div>
 152 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······dX[key]·=·dx;</div>
 153 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······eval_values·=·values.<a·class="code·hl_function"·href="a04612.html#a51f57aaa9ec0a606d8b27290b19b49e3">retract</a>(dX);</div>
 154 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="keyword">const</span>·Vector·right·=·factor.<a·class="code·hl_function"·href="a04504.html#a484903c979489804e42fe58504de41cc">whitenedError</a>(eval_values);</div>
 155 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······J.col(col)·=·(left·-·right)·*·one_over_2delta;</div>
141 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>156 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····}</div>
 157 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····jacobians.emplace_back(key,·J);</div>
142 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·FG&gt;</div> 
143 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<a·class="code·hl_class"·href="a03708.html">VariableSlots</a>(<span·class="keyword">const</span>·FG&amp;·factorGraph);</div> 
144 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>158 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··}</div>
145 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>159 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
 160 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<span·class="comment">//·Next·step...return·JacobianFactor</span></div>
 161 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="keywordflow">return</span>·<a·class="code·hl_class"·href="a03844.html">JacobianFactor</a>(jacobians,·-e);</div>
146 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>162 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>}</div>
147 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··GTSAM_EXPORT·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03708.html#a6dff67f5fe6b5d92e2a8f57f71afaee0">print</a>(<span·class="keyword">const</span>·std::string&amp;·str·=·<span·class="stringliteral">&quot;VariableSlots:·&quot;</span>)·<span·class="keyword">const</span>;</div> 
148 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div> 
149 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··GTSAM_EXPORT·<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03708.html">VariableSlots</a>&amp;·rhs,·<span·class="keywordtype">double</span>·tol·=·0.0)·<span·class="keyword">const</span>;</div> 
150 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div> 
151 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>};</div> 
152 </div>163 </div>
 164 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 165 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span><span·class="keyword">namespace·</span>internal·{</div>
 166 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span><span·class="comment">//·CPPUnitLite-style·test·for·linearization·of·a·factor</span></div>
 167 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span><span·class="keyword">inline</span>·<span·class="keywordtype">bool</span>·testFactorJacobians(<span·class="keyword">const</span>·std::string&amp;·name_,</div>
 168 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>································<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05080.html">NoiseModelFactor</a>&amp;·factor,</div>
 169 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>································<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">gtsam::Values</a>&amp;·values,·<span·class="keywordtype">double</span>·delta,</div>
 170 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>································<span·class="keywordtype">double</span>·tolerance)·{</div>
 171 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="comment">//·Create·expected·value·by·numerical·differentiation</span></div>
 172 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<a·class="code·hl_class"·href="a05064.html">JacobianFactor</a>·expected·=·<a·class="code·hl_function"·href="a01428.html#a9753b4e62378151d30bf8af5e2fc1602">linearizeNumerically</a>(factor,·values,·delta);</div>
153 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>173 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
154 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno"><a·class="line"·href="a03712.html">···85</a></span><span·class="keyword">template</span>&lt;&gt;·<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_clas[·...·truncated·by·diffoscope;·len:·164,·SHA:·054081445ce78d3c73a18ebd768e4d8d785190679a3843d96318d68de6e177d5·...·]</div>174 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<span·class="comment">//·Create·actual·value·by·linearize</span></div>
 175 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··<span·class="keyword">auto</span>·actual·=</div>
 176 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>······boost::dynamic_pointer_cast&lt;JacobianFactor&gt;(factor.linearize(values));</div>
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2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">2 <html·xmlns="http://www.w3.org/1999/xhtml"·lang="en-US">
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7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>7 <meta·name="viewport"·content="width=device-width,·initial-scale=1"/>
8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/LabeledSymbol.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/navigation/Scenario.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
11 <script·type="text/javascript"·src="dynsections.js"></script>11 <script·type="text/javascript"·src="dynsections.js"></script>
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13 <script·type="text/javascript"·src="resize.js"></script>13 <script·type="text/javascript"·src="resize.js"></script>
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15 <script·type="text/javascript"·src="navtree.js"></script>15 <script·type="text/javascript"·src="navtree.js"></script>
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
79 $(document).ready(function(){initNavTree('a00578_source.html','');·initResizable();·});79 $(document).ready(function(){initNavTree('a00989_source.html','');·initResizable();·});
80 /*·@license-end·*/80 /*·@license-end·*/
81 </script>81 </script>
82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">LabeledSymbol.h</div></div>104 ··<div·class="headertitle"><div·class="title">Scenario.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00578.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00989.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00839.html">gtsam/linear/NoiseModel.h</a>&gt;</span></div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00980.html">gtsam/navigation/NavState.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;functional&gt;</span></div> 
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08137.html">gtsam/inference/Symbol.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div> 
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
125 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">124 <div·class="foldopen"·id="foldopen00025"·data-start="{"·data-end="};">
126 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03668.html">···35</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>·{</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno"><a·class="line"·href="a04224.html">···25</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04224.html">Scenario</a>·{</div>
127 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">protected</span>:</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·<span·class="keyword">public</span>:</div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno"><a·class="line"·href="a04224.html#ae8038fa841d5344145b545a150e9ff67">···28</a></span>··<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a04224.html#ae8038fa841d5344145b545a150e9ff67">~Scenario</a>()·{}</div>
128 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·c_,·label_;</div> 
129 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··std::uint64_t·j_;</div> 
130 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
131 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">public</span>:</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="comment">//·Quantities·a·Scenario·needs·to·specify:</span></div>
132 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>();</div> 
133 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
134 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>&amp;·key);</div>131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04224.html#a6463a26287f7e5d3ec6792f05f81211e">···32</a></span>··<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>·<a·class="code·hl_function"·href="a[·...·truncated·by·diffoscope;·len:·139,·SHA:·659c1a9f2cd46b094c8099f86b47763c0227b533b59042bc19076433d5a29a9d·...·]</div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a04224.html#af820f44e5f5d6916856e21eee855d3ff">···33</a></span>··<span·class="keyword">virtual</span>·Vector3·<a·class="code·hl_function"·href="a04224.html#af820f44e5f5d6916856e21eee855d3ff">omega_b</a>(<span·class="keywordtype">double</span>·t)·<span·class="keyword">const</span>·=·0;··</div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04224.html#ad696947e9da2987f0913113957b64162">···34</a></span>··<span·class="keyword">virtual</span>·Vector3·<a·class="code·hl_function"·href="a04224.html#ad696947e9da2987f0913113957b64162">velocity_n</a>(<span·class="keywordtype">double</span>·t)·<span·class="keyword">const</span>·=·0;··</div>
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04224.html#ad590b2a67dc6c674d25cf39638849655">···35</a></span>··<span·class="keyword">virtual</span>·Vector3·<a·class="code·hl_function"·href="a04224.html#ad590b2a67dc6c674d25cf39638849655">acceleration_n</a>(<span·class="keywordtype">double</span>·t)·<span·class="keyword">const</span>·=·0;··</div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="comment">//·Derived·quantities:</span></div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<a·class="code·hl_class"·href="a03228.html">Rot3</a>·rotation(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a04224.html#a6463a26287f7e5d3ec6792f05f81211e">pose</a>(t).<a·class="code·hl_function"·href="a03180.html#afafe5e27cd633890ebd79169e4481311">rotation</a>();·}</div>
 139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<a·class="code·hl_class"·href="a04196.html">NavState</a>·navState(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·<a·class="code·hl_class"·href="a04196.html">NavState</a>(<a·class="code·hl_function"·href="a04224.html#a6463a26287f7e5d3ec6792f05f81211e">pose</a>(t),·<a·class="code·hl_function"·href="a04224.html#ad696947e9da2987f0913113957b64162">velocity_n</a>(t));·}</div>
 140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··Vector3·velocity_b(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·</span>{</div>
 142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keyword">const</span>·Rot3·nRb·=·rotation(t);</div>
 143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="keywordflow">return</span>·nRb.transpose()·*·<a·class="code·hl_function"·href="a04224.html#ad696947e9da2987f0913113957b64162">velocity_n</a>(t);</div>
 144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··}</div>
135 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
136 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>(<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·c,·<span·class="keywordtype">unsigned</span>·<span·class="[·...·truncated·by·diffoscope;·len:·49,·SHA:·0db455c116a7232a62fb7fe3bad4c236f02843e9765cb12997ecb91e7c436bef·...·]</div>146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··Vector3·acceleration_b(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·</span>{</div>
 147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keyword">const</span>·Rot3·nRb·=·rotation(t);</div>
 148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keywordflow">return</span>·nRb.transpose()·*·<a·class="code·hl_function"·href="a04224.html#ad590b2a67dc6c674d25cf39638849655">acceleration_n</a>(t);</div>
137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··}</div>
138 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>·key);</div>150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>};</div>
 151 </div>
139 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>
140 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">operator</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>()·<span·class="keyword">const</span>;</div>153 <div·class="foldopen"·id="foldopen00060"·data-start="{"·data-end="};">
 154 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a04228.html">···60</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04228.html">ConstantTwistScenario</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04224.html">Scenario</a>·{</div>
 155 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·<span·class="keyword">public</span>:</div>
 156 <div·class="foldopen"·id="foldopen00063"·data-start="{"·data-end="}">
 157 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a04228.html#a30f972429efb00671fc30d6c958d13b3">···63</a></span>··<a·class="code·hl_function"·href="a04228.html#a30f972429efb00671fc30d6c958d13b3">ConstantTwistScenario</a>(<span·class="keyword">const</span>·Vector3&amp;·w,·<span·class="keyword">const</span>·Vector3&amp;·v,</div>
 158 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>&amp;·nTb0·=·<a·class="code·hl_class"·href="a03180.html">Pose3</a>())</div>
 159 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······:·twist_((Vector6()·&lt;&lt;·w,·v).finished()),·a_b_(w.<a·class="code·hl_function"·href="a01428.html#a86bf6ed2ffb0ecc42a7deb8922f4ca4f">cross</a>(v)),·nTb0_(nTb0)·{}</div>
 160 </div>
141 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>161 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
 162 <div·class="foldopen"·id="foldopen00067"·data-start="{"·data-end="}">
 163 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a04228.html#acd96948b7aabca8d3edd32986f6ea517">···67</a></span>··<a·class="code·hl_class"·href="a03180.html">Pose3</a>·<a·class="code·hl_function"·href="a04228.html#acd96948b7aabca8d3edd32986f6ea517">pose</a>(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·override·</span>{</div>
 164 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="keywordflow">return</span>·nTb0_·*·<a·class="code·hl_function"·href="a03180.html#a52ab9cbf3ed295e298676fa46413cc2c">Pose3::Expmap</a>(twist_·*·t);</div>
142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="comment">//·Testable·Requirements</span></div> 
143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const</span>;</div> 
144 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div> 
145 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03668.html">LabeledSymbol</a>&amp;·expected,·<span·class="keywordtype">double</span>·tol·=·0.0)<span·class="keyword">·const·</span>{</div> 
146 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">return</span>·(*<span·class="keyword">this</span>)·==·expected;</div> 
147 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div>165 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··}</div>
 166 </div>
 167 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a04228.html#a922a598b52121b45d9ae492453401f5c">···70</a></span>··Vector3·<a·class="code·hl_function"·href="a04228.html#a922a598b52121b45d9ae492453401f5c">omega_b</a>(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·twist_.head&lt;3&gt;();·}</div>
 168 <div·class="foldopen"·id="foldopen00071"·data-start="{"·data-end="}">
 169 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno"><a·class="line"·href="a04228.html#ad1ef4f451f2f8d8413424778ab3e1791">···71</a></span>··Vector3·<a·class="code·hl_function"·href="a04228.html#ad1ef4f451f2f8d8413424778ab3e1791">velocity_n</a>(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·override·</span>{</div>
 170 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="keywordflow">return</span>·rotation(t).<a·class="code·hl_function"·href="a03228.html#aece3904d5ef70057da19943b10cb8fd0">matrix</a>()·*·twist_.tail&lt;3&gt;();</div>
148 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>171 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··}</div>
149 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03668.html#aab3ca67a6a5cf4956873157e03b98a40">···64</a></span>··<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>·<a·[·...·truncated·by·diffoscope;·len:·300,·SHA:·10a6fe6339e07f94c49909ccd262f0ac9d6e90679a8ee7a3aaae782911cee996·...·]/div>172 </div>
 173 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno"><a·class="line"·href="a04228.html#a313d9f5f2edd143748c1e20fddcd3bde">···74</a></span>··Vector3·<a·class="code·hl_function"·href="a04228.html#a313d9f5f2edd143748c1e20fddcd3bde">acceleration_n</a>(<span·class="keywordtype">double</span>·t)<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·rotation(t)·*·a_b_;·}</div>
150 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>174 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
151 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a03668.html#ad222539e4fb96408cb54a19cdd736a5b">···67</a></span>··<span·class="keyword">inline</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">char</span>·<a·class="[·...·truncated·by·diffoscope;·len:·169,·SHA:·fb094c67a04ca2f9125407cadc3706cf12d6eeee85e51370b3f07c9f98134ccf·...·]</div>175 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·<span·class="keyword">private</span>:</div>
 176 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··<span·class="keyword">const</span>·Vector6·twist_;</div>
 177 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">const</span>·Vector3·a_b_;··<span·class="comment">//·constant·centripetal·acceleration·in·body·=·w_b·*·v_b</span></div>
 178 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03180.html">Pose3</a>·nTb0_;</div>
 179 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>};</div>
 180 </div>
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">MetisIndex.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">SmartFactorBase.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
 105 <p>Base·class·to·create·smart·factors·on·poses·or·cameras.··
 106 <a·href="#details">More...</a></p>
  
105 <p><a·href="a00584_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a01307_source.html">Go·to·the·source·code·of·this·file.</a></p>
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108 Classes</h2></td></tr>110 Classes</h2></td></tr>
109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03676.html">gtsam::MetisIndex</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04928.html">gtsam::SmartFactorBase&lt;·CAMERA·&gt;</a></td></tr>
110 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">The·<a·class="el"·href="a03676.html"·title="The·MetisIndex·class·converts·a·factor·graph·into·the·Compressed·Sparse·Row·format·for·use·in·METIS·a...">MetisIndex</a>·class·converts·a·factor·graph·into·the·Compressed·Sparse·Row·format·for·use·in·METIS·algori[·...·truncated·by·diffoscope;·len:·22,·SHA:·f1e471b18a42c8450d3a6bc4576a5eaf6d288564d5990ffb6575a1cfeb701722·...·].html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Base·class·for·smart·factors.··<a·href="a04928.html#details">More...</a><br·/></td></tr>
111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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114 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
115 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
116 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
117 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
118 </table>120 </table>
119 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
120 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Andrew·Melim·</dd></dl> 
121 <dl·class="section·date"><dt>Date</dt><dd>Oct.·10,·2014·</dd></dl>122 <div·class="textblock"><p>Base·class·to·create·smart·factors·on·poses·or·cameras.·</p>
 123 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
 124 <dd>
 125 Antoni·Rosinol·</dd>
 126 <dd>
 127 Zsolt·Kira·</dd>
 128 <dd>
 129 Frank·Dellaert·</dd>
 130 <dd>
 131 Chris·Beall·</dd></dl>
122 </div></div><!--·contents·-->132 </div></div><!--·contents·-->
123 </div><!--·doc-content·-->133 </div><!--·doc-content·-->
124 <!--·start·footer·part·-->134 <!--·start·footer·part·-->
125 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->135 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
126 ··<ul>136 ··<ul>
127 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00584.html">MetisIndex.h</a></li>137 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_323e70a1eef083399c870cf8a6035771.html">slam</a></li><li·class="navelem"><a·class="el"·href="a01307.html">SmartFactorBase.h</a></li>
128 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>138 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
129 ··</ul>139 ··</ul>
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./usr/share/doc/libgtsam-dev/html/a00596.html vs.
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104 </div><!--header-->104 </div><!--header-->
105 <div·class="contents">105 <div·class="contents">
  
106 <p>Variable·ordering·for·the·elimination·algorithm.··106 <p>Variable·ordering·for·the·elimination·algorithm.··
107 <a·href="#details">More...</a></p>107 <a·href="#details">More...</a></p>
  
108 <p><a·href="a00596_source.html">Go·to·the·source·code·of·this·file.</a></p>108 <p><a·href="a00614_source.html">Go·to·the·source·code·of·this·file.</a></p>
109 <table·class="memberdecls">109 <table·class="memberdecls">
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111 Classes</h2></td></tr>111 Classes</h2></td></tr>
112 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03680.html">gtsam::Ordering</a></td></tr>112 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03680.html">gtsam::Ordering</a></td></tr>
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03684.html">gtsam::traits&lt;·Ordering·&gt;</a></td></tr>114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03684.html">gtsam::traits&lt;·Ordering·&gt;</a></td></tr>
115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a03684.html#details">More...</a><br·/></td></tr>115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a03684.html#details">More...</a><br·/></td></tr>
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132 Frank·Dellaert·</dd></dl>132 Frank·Dellaert·</dd></dl>
133 <dl·class="section·date"><dt>Date</dt><dd>Sep·2,·2010·</dd></dl>133 <dl·class="section·date"><dt>Date</dt><dd>Sep·2,·2010·</dd></dl>
134 </div></div><!--·contents·-->134 </div></div><!--·contents·-->
135 </div><!--·doc-content·-->135 </div><!--·doc-content·-->
136 <!--·start·footer·part·-->136 <!--·start·footer·part·-->
137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->137 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
138 ··<ul>138 ··<ul>
139 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00596.html">Ordering.h</a></li>139 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00614.html">Ordering.h</a></li>
140 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>140 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
141 ··</ul>141 ··</ul>
142 </div>142 </div>
143 </body>143 </body>
144 </html>144 </html>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/Key.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/AntiFactor.h·Source·File</title>
9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>9 <link·href="tabs.css"·rel="stylesheet"·type="text/css"/>
10 <script·type="text/javascript"·src="jquery.js"></script>10 <script·type="text/javascript"·src="jquery.js"></script>
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
75 ··</div>75 ··</div>
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77 <script·type="text/javascript">77 <script·type="text/javascript">
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80 /*·@license-end·*/80 /*·@license-end·*/
81 </script>81 </script>
82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Key.h</div></div>104 ··<div·class="headertitle"><div·class="title">AntiFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00611.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01238.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span>·</div>
 120 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#include·&lt;ostream&gt;</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>121 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00047.html">gtsam/base/FastList.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00038.html">gtsam/base/FastMap.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00737.html">gtsam/linear/GaussianFactor.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/FastSet.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00074.html">gtsam/base/FastVector.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00125.html">gtsam/base/types.h</a>&gt;</span></div> 
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div> 
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>124 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;functional&gt;</span></div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div> 
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">···35</a></span><span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·=·std::function&lt;std::string(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>)&gt;;</div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">//·Helper·function·for·DefaultKeyFormatter</span></div> 
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>GTSAM_EXPORT·std::string·_defaultKeyFormatter(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key);</div> 
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div> 
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">static</span>·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·DefaultKeyFormatter·=·&amp;_defaultKeyFormatter;</div> 
140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>126 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 127 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};">
 128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a04760.html">···31</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a04760.html">AntiFactor</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>·{</div>
 129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="comment">//·Helper·function·for·Multi-robot·Key·Formatter</span></div>130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">private</span>:</div>
142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>GTSAM_EXPORT·std::string·_multirobotKeyFormatter(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a>·key);</div> 
143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keyword">static</span>·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">gtsam::KeyFormatter</a>·MultiRobotKeyFormatter·=</div>132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04760.html">AntiFactor</a>·<a·class="code·hl_class"·href="a04760.html">This</a>;</div>
 133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>·<a·class="code·hl_class"·href="a04496.html">Base</a>;</div>
 134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="keyword">typedef</span>·NonlinearFactor::shared_ptr·sharedFactor;</div>
 135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
145 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····&amp;_multirobotKeyFormatter;</div>136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····sharedFactor·factor_;</div>
 137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
 138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">public</span>:</div>
 139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="comment">//·shorthand·for·a·smart·pointer·to·a·factor</span></div>
 141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;AntiFactor&gt;·shared_ptr;</div>
146 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a04760.html#a344e9905b3dbb09d34599cf6c59ccbf7">···47</a></span>····<a·class="code·hl_function"·href="a04760.html#a344e9905b3dbb09d34599cf6c59ccbf7">AntiFactor</a>()·{}</div>
 144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a04760.html#a0db982b2aa42e353e2c17e0ebf379602">···50</a></span>····<a·class="code·hl_function"·href="a04760.html#a0db982b2aa42e353e2c17e0ebf379602">AntiFactor</a>(NonlinearFactor::shared_ptr·factor)·:·<a·class="code·hl_class"·href="a04496.html">Base</a>(factor-&gt;<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>()),·factor_(factor)·{}</div>
 146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 147 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<a·class="code·hl_class"·href="a04760.html">~AntiFactor</a>()<span·class="keyword">·override·</span>{}</div>
 148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
147 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="};">149 <div·class="foldopen"·id="foldopen00055"·data-start="{"·data-end="}">
 150 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a04760.html#aaae5776982262946ead794d553e860ff">···55</a></span>····gtsam::NonlinearFactor::shared_ptr·<a·class="code·hl_function"·href="a04760.html#aaae5776982262946ead794d553e860ff">clone</a>()<span·class="keyword">·const·override·</span>{</div>
 151 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<span·class="keywordflow">return</span>·boost::static_pointer_cast&lt;gtsam::NonlinearFactor&gt;(</div>
 152 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··········gtsam::NonlinearFactor::shared_ptr(<span·class="keyword">new</span>·<a·class="code·hl_class"·href="a04760.html">This</a>(*<span·class="keyword">this</span>)));·}</div>
148 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a03656.html">···58</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03656.html">StreamedKey</a>·{</div> 
149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·&amp;key_;</div> 
150 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_struct"·href="a03656.html">StreamedKey</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·&amp;key)·:·key_(key)·{}</div> 
151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··GTSAM_EXPORT·<span·class="keyword">friend</span>·std::ostream·&amp;operator&lt;&lt;(std::ostream·&amp;,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03656.html">StreamedKey</a>·&amp;);</div> 
152 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>};</div> 
153 </div>153 </div>
154 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>154 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
155 <div·class="foldopen"·id="foldopen00072"·data-start="{"·data-end="};">155 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="}">
 156 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a04760.html#a85a0261a0789115da7828b5b04f1fbbd">···62</a></span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04760.html#a85a0261a0789115da7828b5b04f1fbbd">print</a>(<span·class="keyword">const</span>·std::string&amp;·s,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·keyFormatter·=·DefaultKeyFormatter)<span·class="keyword">·const·override·</span>{</div>
 157 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······std::cout·&lt;&lt;·s·&lt;&lt;·<span·class="stringliteral">&quot;AntiFactor·version·of:&quot;</span>·&lt;&lt;·std::endl;</div>
 158 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······factor_-&gt;print(s,·keyFormatter);</div>
156 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno"><a·class="line"·href="a03660.html">···72</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03660.html">key_formatter</a>·{</div> 
157 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·<span·class="keyword">public</span>:</div> 
158 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a03660.html">key_formatter</a>(<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·v)·:·formatter_(v)·{}</div> 
159 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··GTSAM_EXPORT·<span·class="keyword">friend</span>·std::ostream·&amp;operator&lt;&lt;(std::ostream·&amp;,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03660.html">key_formatter</a>·&amp;);</div> 
160 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··GTSAM_EXPORT·<span·class="keyword">friend</span>·std::ostream·&amp;operator&lt;&lt;(std::ostream·&amp;,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a03656.html">StreamedKey</a>·&amp;);</div> 
161 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>159 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····}</div>
162 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·<span·class="keyword">private</span>:</div> 
163 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·formatter_;</div> 
164 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·*&amp;property(std::ios_base·&amp;s);</div> 
165 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keyword">static</span>·<span·class="keywordtype">void</span>·set_property(std::ios_base·&amp;s,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;f);</div> 
166 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keyword">static</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·*get_property(std::ios_base·&amp;s);</div> 
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72 ··</div>72 ··</div>
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84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
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100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">JunctionTree-inst.h</div></div>104 ··<div·class="headertitle"><div·class="title">ScenarioRunner.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00650.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00917.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00833.html">gtsam/linear/Sampler.h</a>&gt;</span></div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00956.html">gtsam/navigation/CombinedImuFactor.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00950.html">gtsam/navigation/ImuFactor.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00989.html">gtsam/navigation/Scenario.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00692.html">gtsam/inference/JunctionTree.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00701.html">gtsam/inference/ClusterTree-inst.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01346.html">gtsam/symbolic/SymbolicConditional.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01364.html">gtsam/symbolic/SymbolicFactor-inst.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div> 
125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="comment">//·Convert·covariance·to·diagonal·noise·model,·if·possible,·otherwise·throw</span></div>
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">static</span>·noiseModel::Diagonal::shared_ptr·Diagonal(<span·class="keyword">const</span>·Matrix&amp;·covariance)·{</div>
127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·BAYESTREE,·<span·class="keyword">class</span>·GRAPH,·<span·class="keyword">class</span>·ETREE_NODE&gt;</div> 
128 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};"> 
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a03644.html">···31</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>·{</div> 
130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·<a·class="code·hl_struct"·href="a03568.html">JunctionTree&lt;BAYESTREE,·GRAPH&gt;::Node</a>·<a·class="code·hl_struct"·href="a03568.html">Node</a>;</div> 
131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·JunctionTree&lt;BAYESTREE,·GRAPH&gt;::sharedNode·sharedNode;</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="keywordtype">bool</span>·smart·=·<span·class="keyword">true</span>;</div>
 129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">auto</span>·model·=·<a·class="code·hl_function"·href="a03924.html#a3ed257b6e9a8016cc3c76a8962a64ba0">noiseModel::Gaussian::Covariance</a>(covariance,·smart);</div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">auto</span>·diagonal·=·boost::dynamic_pointer_cast&lt;noiseModel::Diagonal&gt;(model);</div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keywordflow">if</span>·(!diagonal)</div>
 132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<span·class="keywordflow">throw</span>·std::invalid_argument(<span·class="stringliteral">&quot;ScenarioRunner::Diagonal:·not·a·diagonal&quot;</span>);</div>
 133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keywordflow">return</span>·diagonal;</div>
132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>}</div>
133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>*·<span·class="keyword">const</span>·parentData;</div> 
134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··sharedNode·junctionTreeNode;</div> 
135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector&lt;SymbolicConditional::shared_ptr&gt;</a>·childSymbolicConditionals;</div> 
136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector&lt;SymbolicFactor::shared_ptr&gt;</a>·childSymbolicFactors;</div> 
137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
 136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="comment">/*</span></div>
138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="comment">//·Small·inner·class·to·store·symbolic·factors</span></div>137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">·*··Simple·class·to·test·navigation·scenarios.</span></div>
 138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="comment">·*··Takes·a·trajectory·scenario·as·input,·and·can·generate·IMU·measurements</span></div>
 139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="comment">·*/</span></div>
139 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="};">140 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="};">
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a03648.html">···41</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03648.html">SymbolicFactors</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·[·...·truncated·by·diffoscope;·len:·48,·SHA:·cfd1afab77cf966fda68384e382812876bab7d91e5d2d7c1a1ecf1214e0a3025·...·]·{</div>141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04236.html">···40</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04236.html">ScenarioRunner</a>·{</div>
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··};</div>142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·<span·class="keyword">public</span>:</div>
142 </div>143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>·<a·class="code·hl_class"·href="a04140.html">Bias</a>;</div>
 144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;PreintegrationParams&gt;·SharedParams;</div>
143 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
144 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>(<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>*·_parentData)·:</div> 
145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······parentData(_parentData)·{</div> 
146 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··}</div> 
147 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
148 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="comment">//·Pre-order·visitor·function</span></div> 
149 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">static</span>·<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>·ConstructorTraversalVisitorPre(</div> 
150 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>······<span·class="keyword">const</span>·boost::shared_ptr&lt;ETREE_NODE&gt;&amp;·node,</div> 
151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>&amp;·parentData)·{</div> 
152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="comment">//·On·the·pre-order·pass,·before·children·have·been·visited,·we·just·set·up</span></div> 
153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="comment">//·a·traversal·data·structure·with·its·own·JT·node,·and·create·a·child</span></div> 
154 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="comment">//·pointer·in·its·parent.</span></div> 
155 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>·myData·=·<a·class="code·hl_struct"·href="a03644.html">ConstructorTraversalData</a>(&amp;parentData);</div> 
156 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····myData.junctionTreeNode·=</div> 
157 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>········boost::make_shared&lt;Node&gt;(node-&gt;key,·node-&gt;factors);</div> 
158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····parentData.junctionTreeNode-&gt;addChild(myData.junctionTreeNode);</div> 
159 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keywordflow">return</span>·myData;</div>146 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·<span·class="keyword">private</span>:</div>
 147 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04224.html">Scenario</a>&amp;·scenario_;</div>
 148 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">const</span>·SharedParams·p_;</div>
 149 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">const</span>·<span·class="keywordtype">double</span>·imuSampleTime_,·sqrt_dt_;</div>
 150 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">Bias</a>·estimatedBias_;</div>
160 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··}</div>151 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 152 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·Create·two·samplers·for·acceleration·and·omega·noise</span></div>
 153 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<a·class="code·hl_class"·href="a04020.html">Sampler</a>·gyroSampler_,·accSampler_;</div>
 154 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 155 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·<span·class="keyword">public</span>:</div>
 156 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<a·class="code·hl_class"·href="a04236.html">ScenarioRunner</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04224.html">Scenario</a>&amp;·scenario,·<span·class="keyword">const</span>·SharedParams&amp;·p,</div>
 157 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·················<span·class="keywordtype">double</span>·imuSampleTime·=·1.0·/·100.0,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">Bias</a>&amp;·bias·=·<a·class="code·hl_class"·href="a04140.html">Bias</a>())</div>
 158 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······:·scenario_(scenario),</div>
 159 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>········p_(p),</div>
 160 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>········imuSampleTime_(imuSampleTime),</div>
 161 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>········sqrt_dt_(std::sqrt(imuSampleTime)),</div>
 162 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>········estimatedBias_(bias),</div>
 163 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>········<span·class="comment">//·NOTE(duy):·random·seeds·that·work·well:</span></div>
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102 ··<div·class="headertitle"><div·class="title">inferenceExceptions.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">TangentPreintegration.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Exceptions·that·may·be·thrown·by·inference·algorithms.·· 
106 <a·href="#details">More...</a></p> 
  
107 <p><a·href="a00665_source.html">Go·to·the·source·code·of·this·file.</a></p>105 <p><a·href="a00977_source.html">Go·to·the·source·code·of·this·file.</a></p>
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110 Classes</h2></td></tr>108 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03636.html">gtsam::InconsistentEliminationRequested</a></td></tr>109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04244.html">gtsam::TangentPreintegration</a></td></tr>
112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">An·inference·algorithm·was·called·with·inconsistent·arguments.··<a·href="a03636.html#details">More...</a><br·/></td></tr>110 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Integrate·on·the·9D·tangent·space·of·the·<a·class="el"·href="a04196.html"·title="Navigation·state:·Pose·(rotation,·translation)·+·velocity·NOTE(frank):·it·does·not·make·sense·to·make...">NavState</a>·manifold.··<a·href="a04244.html#details">More...</a><br·/></td></tr>
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121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>119 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
122 <div·class="textblock"><p>Exceptions·that·may·be·thrown·by·inference·algorithms.·</p> 
123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl> 
124 <dl·class="section·date"><dt>Date</dt><dd>Apr·25,·2013·</dd></dl>120 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 121 <dd>
 122 Adam·Bry·</dd></dl>
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129 ··<ul>127 ··<ul>
130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00665.html">inferenceExceptions.h</a></li>128 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00977.html">TangentPreintegration.h</a></li>
131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>129 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">inferenceExceptions.h</div></div>104 ··<div·class="headertitle"><div·class="title">GaussianISAM.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00665.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00851.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
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118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
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121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;boost/lexical_cast.hpp&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;exception&gt;</span></div> 
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00752.html">gtsam/linear/GaussianBayesTree.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00680.html">gtsam/inference/ISAM.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
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128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">public</span>:</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">public</span>:</div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03640.html">ISAM&lt;GaussianBayesTree&gt;</a>·<a·class="code·hl_class"·href="a03640.html">Base</a>;</div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03800.html">GaussianISAM</a>·<a·class="code·hl_class"·href="a03800.html">This</a>;</div>
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>····<a·class="code·hl_class"·href="a03636.html">InconsistentEliminationRequested</a>()·<span·class="keyword">noexcept</span>·{}</div> 
130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<a·class="code·hl_class"·href="a03636.html">~InconsistentEliminationRequested</a>()·<span·class="keyword">noexcept</span>·<span·class="keyword">override</span>·{}</div> 
131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keyword">const</span>·<span·class="keywordtype">char</span>*·what()·<span·class="keyword">const</span>·<span·class="keyword">noexcept</span>·<span·class="keyword">override</span>·{</div> 
132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>······<span·class="keywordflow">return</span></div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
 133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
 134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<a·class="code·hl_class"·href="a03800.html">GaussianISAM</a>();</div>
133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>········<span·class="stringliteral">&quot;An·inference·algorithm·was·called·with·inconsistent·arguments.··The\n&quot;</span></div> 
134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>········<span·class="stringliteral">&quot;factor·graph,·ordering,·or·variable·index·were·inconsistent·with·each\n&quot;</span></div> 
135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>········<span·class="stringliteral">&quot;other,·or·a·full·elimination·routine·was·called·with·an·ordering·that\n&quot;</span></div> 
136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>········<span·class="stringliteral">&quot;does·not·include·all·of·the·variables.&quot;</span>;</div> 
137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····}</div>136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
 137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<a·class="code·hl_class"·href="a03800.html">GaussianISAM</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03756.html">GaussianBayesTree</a>&amp;·bayesTree);</div>
 138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··};</div>140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··};</div>
139 </div>141 </div>
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">template</span>·&lt;&gt;</div>
 144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a03804.html">···49</a></span>··<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_class"·href="a03800.html">GaussianISAM</a>&gt;·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;GaussianISAM&gt;·{};</div>
 145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>}</div>146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>}</div>
 147 <div·class="ttc"·id="aa00107_html"><div·class="ttname"><a·href="a00107.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>
142 <div·class="ttc"·id="aa01397_html"><div·class="ttname"><a·href="a01397.html">global_includes.h</a></div><div·class="ttdoc">Included·from·all·GTSAM·files.</div></div>148 <div·class="ttc"·id="aa00680_html"><div·class="ttname"><a·href="a00680.html">ISAM.h</a></div><div·class="ttdoc">Incremental·update·functionality·(iSAM)·for·BayesTree.</div></div>
 149 <div·class="ttc"·id="aa00752_html"><div·class="ttname"><a·href="a00752.html">GaussianBayesTree.h</a></div><div·class="ttdoc">Gaussian·Bayes·Tree,·the·result·of·eliminating·a·GaussianJunctionTree.</div></div>
143 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>150 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
144 <div·class="ttc"·id="aa03636_html"><div·class="ttname"><a·href="a03636.html">gtsam::InconsistentEliminationRequested</a></div><div·class="ttdoc">An·inference·algorithm·was·called·with·inconsistent·arguments.</div><div·class="ttdef"><b>Definition</b>·inferenceExceptions.h:29</div></div>151 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
 152 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>
 153 <div·class="ttc"·id="aa03640_html"><div·class="ttname"><a·href="a03640.html">gtsam::ISAM</a></div><div·class="ttdoc">A·Bayes·tree·with·an·update·methods·that·implements·the·iSAM·algorithm.</div><div·class="ttdef"><b>Definition</b>·ISAM.h:31</div></div>
 154 <div·class="ttc"·id="aa03756_html"><div·class="ttname"><a·href="a03756.html">gtsam::GaussianBayesTree</a></div><div·class="ttdoc">A·Bayes·tree·representing·a·Gaussian·density.</div><div·class="ttdef"><b>Definition</b>·GaussianBayesTree.h:52</div></div>
 155 <div·class="ttc"·id="aa03800_html"><div·class="ttname"><a·href="a03800.html">gtsam::GaussianISAM</a></div><div·class="ttdef"><b>Definition</b>·GaussianISAM.h:28</div></div>
145 </div><!--·fragment·--></div><!--·contents·-->156 </div><!--·fragment·--></div><!--·contents·-->
146 </div><!--·doc-content·-->157 </div><!--·doc-content·-->
147 <!--·start·footer·part·-->158 <!--·start·footer·part·-->
148 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->159 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
149 ··<ul>160 ··<ul>
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96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">EliminationTree.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">GaussianConditional.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
 105 <p>Conditional·Gaussian·Base·class.··
 106 <a·href="#details">More...</a></p>
  
105 <p><a·href="a00671_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00749_source.html">Go·to·the·source·code·of·this·file.</a></p>
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108 Classes</h2></td></tr>110 Classes</h2></td></tr>
109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03584.html">gtsam::EliminationTree&lt;·BAYESNET,·GRAPH·&gt;</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03764.html">gtsam::GaussianConditional</a></td></tr>
110 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">An·elimination·tree·is·a·data·structure·used·intermediately·during·elimination.··<a·href="a03584.html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·<a·class="el"·href="a03764.html"·title="A·GaussianConditional·functions·as·the·node·in·a·Bayes·network.">GaussianConditional</a>·functions·as·the·node·in·a·Bayes·network.··<a·href="a03764.html#details">More...</a><br·/></td></tr>
111 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
112 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03588.html">gtsam::EliminationTree&lt;·BAYESNET,·GRAPH·&gt;::Node</a></td></tr>114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03768.html">gtsam::traits&lt;·GaussianConditional·&gt;</a></td></tr>
 115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a03768.html#details">More...</a><br·/></td></tr>
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>116 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>120 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>122 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
120 </table>123 </table>
121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 125 <div·class="textblock"><p>Conditional·Gaussian·Base·class.·</p>
 126 <dl·class="section·author"><dt>Author</dt><dd>Christian·Potthast·</dd></dl>
122 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd> 
123 <dd> 
124 Richard·Roberts·</dd></dl> 
125 <dl·class="section·date"><dt>Date</dt><dd>Oct·13,·2010·</dd></dl> 
126 </div></div><!--·contents·-->127 </div></div><!--·contents·-->
127 </div><!--·doc-content·-->128 </div><!--·doc-content·-->
128 <!--·start·footer·part·-->129 <!--·start·footer·part·-->
129 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->130 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
130 ··<ul>131 ··<ul>
131 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00671.html">EliminationTree.h</a></li>132 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_8b9ec42722111795f76d34c6471319a6.html">linear</a></li><li·class="navelem"><a·class="el"·href="a00749.html">GaussianConditional.h</a></li>
132 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>133 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
133 ··</ul>134 ··</ul>
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135 </body>136 </body>
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72 ··</div>72 ··</div>
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75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">EliminationTree.h</div></div>104 ··<div·class="headertitle"><div·class="title">EliminationTree.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00671.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00638.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">*·See·LICENSE·for·the·license·information</span></div>
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117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">*·--------------------------------------------------------------------------·*/</span></div>117 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">*·--------------------------------------------------------------------------·*/</span></div>
118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>118 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00074.html">gtsam/base/FastVector.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00134.html">gtsam/base/FastVector.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
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222 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div>222 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div>
223 <div·class="ttc"·id="aa03584_html"><div·class="ttname"><a·href="a03584.html">gtsam::EliminationTree</a></div><div·class="ttdoc">An·elimination·tree·is·a·data·structure·used·intermediately·during·elimination.</div><div·class="ttdef"><b>Definition</b>·EliminationTree.h:52</div></div>223 <div·class="ttc"·id="aa03584_html"><div·class="ttname"><a·href="a03584.html">gtsam::EliminationTree</a></div><div·class="ttdoc">An·elimination·tree·is·a·data·structure·used·intermediately·during·elimination.</div><div·class="ttdef"><b>Definition</b>·EliminationTree.h:52</div></div>
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245 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>245 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>
246 <div·class="ttc"·id="aa03700_html"><div·class="ttname"><a·href="a03700.html">gtsam::VariableIndex</a></div><div·class="ttdoc">The·VariableIndex·class·computes·and·stores·the·block·column·structure·of·a·factor·graph.</div><div·class="ttdef"><b>Definition</b>·VariableIndex.h:43</div></div>246 <div·class="ttc"·id="aa03700_html"><div·class="ttname"><a·href="a03700.html">gtsam::VariableIndex</a></div><div·class="ttdoc">The·VariableIndex·class·computes·and·stores·the·block·column·structure·of·a·factor·graph.</div><div·class="ttdef"><b>Definition</b>·VariableIndex.h:43</div></div>
247 </div><!--·fragment·--></div><!--·contents·-->247 </div><!--·fragment·--></div><!--·contents·-->
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251 ··<ul>251 ··<ul>
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101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">ClusterTree.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">IterativeSolver.h·File·Reference</div></div>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">PowerMethod.h</div></div>104 ··<div·class="headertitle"><div·class="title">PowerMethod.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00716.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00866.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
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118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
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120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Vector.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00104.html">gtsam/base/Vector.h</a>&gt;</span></div>
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123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;Eigen/Core&gt;</span></div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;Eigen/Core&gt;</span></div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;Eigen/Sparse&gt;</span></div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;Eigen/Sparse&gt;</span></div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;random&gt;</span></div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;random&gt;</span></div>
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
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128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
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204 <div·class="line"><a·id="l00146"·name="l00146"></a><span·class="lineno"><a·class="line"·href="a03980.html#a50cd517d97bfb4e1ab29c1b7b9b8aec5">··146</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a03980.html#a50cd517d97bfb4e1ab29c1b7b9b8aec5">eigenvalue</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·ritzValue_;·}</div>204 <div·class="line"><a·id="l00146"·name="l00146"></a><span·class="lineno"><a·class="line"·href="a03980.html#a50cd517d97bfb4e1ab29c1b7b9b8aec5">··146</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a03980.html#a50cd517d97bfb4e1ab29c1b7b9b8aec5">eigenvalue</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·ritzValue_;·}</div>
205 <div·class="line"><a·id="l00147"·name="l00147"></a><span·class="lineno">··147</span>·</div>205 <div·class="line"><a·id="l00147"·name="l00147"></a><span·class="lineno">··147</span>·</div>
206 <div·class="line"><a·id="l00149"·name="l00149"></a><span·class="lineno"><a·class="line"·href="a03980.html#a15e499d997ab3e8d388cb8d2cfe138f2">··149</a></span>··Vector·<a·class="code·hl_function"·href="a03980.html#a15e499d997ab3e8d388cb8d2cfe138f2">eigenvector</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·ritzVector_;·}</div>206 <div·class="line"><a·id="l00149"·name="l00149"></a><span·class="lineno"><a·class="line"·href="a03980.html#a15e499d997ab3e8d388cb8d2cfe138f2">··149</a></span>··Vector·<a·class="code·hl_function"·href="a03980.html#a15e499d997ab3e8d388cb8d2cfe138f2">eigenvector</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·ritzVector_;·}</div>
207 <div·class="line"><a·id="l00150"·name="l00150"></a><span·class="lineno">··150</span>};</div>207 <div·class="line"><a·id="l00150"·name="l00150"></a><span·class="lineno">··150</span>};</div>
208 </div>208 </div>
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210 <div·class="line"><a·id="l00152"·name="l00152"></a><span·class="lineno">··152</span>}··<span·class="comment">//·namespace·gtsam</span></div>210 <div·class="line"><a·id="l00152"·name="l00152"></a><span·class="lineno">··152</span>}··<span·class="comment">//·namespace·gtsam</span></div>
 211 <div·class="ttc"·id="aa00044_html"><div·class="ttname"><a·href="a00044.html">Matrix.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·MatrixXd</div></div>
211 <div·class="ttc"·id="aa00014_html"><div·class="ttname"><a·href="a00014.html">Vector.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·VectorXd</div></div>212 <div·class="ttc"·id="aa00104_html"><div·class="ttname"><a·href="a00104.html">Vector.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·VectorXd</div></div>
212 <div·class="ttc"·id="aa00095_html"><div·class="ttname"><a·href="a00095.html">Matrix.h</a></div><div·class="ttdoc">typedef·and·functions·to·augment·Eigen's·MatrixXd</div></div> 
213 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>213 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
214 <div·class="ttc"·id="aa03980_html"><div·class="ttname"><a·href="a03980.html">gtsam::PowerMethod</a></div><div·class="ttdoc">Compute·maximum·Eigenpair·with·power·method.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:57</div></div>214 <div·class="ttc"·id="aa03980_html"><div·class="ttname"><a·href="a03980.html">gtsam::PowerMethod</a></div><div·class="ttdoc">Compute·maximum·Eigenpair·with·power·method.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:57</div></div>
215 <div·class="ttc"·id="aa03980_html_a0f67a41b8945aadb46d2c83167a6dd4c"><div·class="ttname"><a·href="a03980.html#a0f67a41b8945aadb46d2c83167a6dd4c">gtsam::PowerMethod::powerIteration</a></div><div·class="ttdeci">Vector·powerIteration(const·Vector·&amp;x)·const</div><div·class="ttdoc">Run·power·iteration·to·get·ritzVector·with·previous·ritzVector·x,·and·return·A·*·x·/·||·A·*·x·||.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:95</div></div>215 <div·class="ttc"·id="aa03980_html_a0f67a41b8945aadb46d2c83167a6dd4c"><div·class="ttname"><a·href="a03980.html#a0f67a41b8945aadb46d2c83167a6dd4c">gtsam::PowerMethod::powerIteration</a></div><div·class="ttdeci">Vector·powerIteration(const·Vector·&amp;x)·const</div><div·class="ttdoc">Run·power·iteration·to·get·ritzVector·with·previous·ritzVector·x,·and·return·A·*·x·/·||·A·*·x·||.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:95</div></div>
216 <div·class="ttc"·id="aa03980_html_a15e499d997ab3e8d388cb8d2cfe138f2"><div·class="ttname"><a·href="a03980.html#a15e499d997ab3e8d388cb8d2cfe138f2">gtsam::PowerMethod::eigenvector</a></div><div·class="ttdeci">Vector·eigenvector()·const</div><div·class="ttdoc">Return·the·eigenvector.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:149</div></div>216 <div·class="ttc"·id="aa03980_html_a15e499d997ab3e8d388cb8d2cfe138f2"><div·class="ttname"><a·href="a03980.html#a15e499d997ab3e8d388cb8d2cfe138f2">gtsam::PowerMethod::eigenvector</a></div><div·class="ttdeci">Vector·eigenvector()·const</div><div·class="ttdoc">Return·the·eigenvector.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:149</div></div>
217 <div·class="ttc"·id="aa03980_html_a403a1a99553f905fb490b12c44be24f8"><div·class="ttname"><a·href="a03980.html#a403a1a99553f905fb490b12c44be24f8">gtsam::PowerMethod::A_</a></div><div·class="ttdeci">const·Operator·&amp;·A_</div><div·class="ttdoc">Const·reference·to·an·externally-held·matrix·whose·minimum-eigenvalue·we·want·to·compute.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:63</div></div>217 <div·class="ttc"·id="aa03980_html_a403a1a99553f905fb490b12c44be24f8"><div·class="ttname"><a·href="a03980.html#a403a1a99553f905fb490b12c44be24f8">gtsam::PowerMethod::A_</a></div><div·class="ttdeci">const·Operator·&amp;·A_</div><div·class="ttdoc">Const·reference·to·an·externally-held·matrix·whose·minimum-eigenvalue·we·want·to·compute.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:63</div></div>
218 <div·class="ttc"·id="aa03980_html_a50cd517d97bfb4e1ab29c1b7b9b8aec5"><div·class="ttname"><a·href="a03980.html#a50cd517d97bfb4e1ab29c1b7b9b8aec5">gtsam::PowerMethod::eigenvalue</a></div><div·class="ttdeci">double·eigenvalue()·const</div><div·class="ttdoc">Return·the·eigenvalue.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:146</div></div>218 <div·class="ttc"·id="aa03980_html_a50cd517d97bfb4e1ab29c1b7b9b8aec5"><div·class="ttname"><a·href="a03980.html#a50cd517d97bfb4e1ab29c1b7b9b8aec5">gtsam::PowerMethod::eigenvalue</a></div><div·class="ttdeci">double·eigenvalue()·const</div><div·class="ttdoc">Return·the·eigenvalue.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:146</div></div>
219 <div·class="ttc"·id="aa03980_html_a72f5174af96689cf0a4b2586c592351c"><div·class="ttname"><a·href="a03980.html#a72f5174af96689cf0a4b2586c592351c">gtsam::PowerMethod::PowerMethod</a></div><div·class="ttdeci">PowerMethod(const·Operator·&amp;A,·const·boost::optional&lt;·Vector·&gt;·initial=boost::none)</div><div·class="ttdoc">Construct·from·the·aim·matrix·and·intial·ritz·vector.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:77</div></div>219 <div·class="ttc"·id="aa03980_html_a72f5174af96689cf0a4b2586c592351c"><div·class="ttname"><a·href="a03980.html#a72f5174af96689cf0a4b2586c592351c">gtsam::PowerMethod::PowerMethod</a></div><div·class="ttdeci">PowerMethod(const·Operator·&amp;A,·const·boost::optional&lt;·Vector·&gt;·initial=boost::none)</div><div·class="ttdoc">Construct·from·the·aim·matrix·and·intial·ritz·vector.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:77</div></div>
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222 <div·class="ttc"·id="aa03980_html_adf125a55542b6b8889e1fbbf8ca6d412"><div·class="ttname"><a·href="a03980.html#adf125a55542b6b8889e1fbbf8ca6d412">gtsam::PowerMethod::compute</a></div><div·class="ttdeci">bool·compute(size_t·maxIterations,·double·tol)</div><div·class="ttdoc">Start·the·power/accelerated·iteration,·after·performing·the·power/accelerated·iteration,...</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:129</div></div>222 <div·class="ttc"·id="aa03980_html_adf125a55542b6b8889e1fbbf8ca6d412"><div·class="ttname"><a·href="a03980.html#adf125a55542b6b8889e1fbbf8ca6d412">gtsam::PowerMethod::compute</a></div><div·class="ttdeci">bool·compute(size_t·maxIterations,·double·tol)</div><div·class="ttdoc">Start·the·power/accelerated·iteration,·after·performing·the·power/accelerated·iteration,...</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:129</div></div>
223 <div·class="ttc"·id="aa03980_html_af6ad9276cf74347a207fc72cac5d79cd"><div·class="ttname"><a·href="a03980.html#af6ad9276cf74347a207fc72cac5d79cd">gtsam::PowerMethod::nrIterations</a></div><div·class="ttdeci">size_t·nrIterations()·const</div><div·class="ttdoc">Return·the·number·of·iterations.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:121</div></div>223 <div·class="ttc"·id="aa03980_html_af6ad9276cf74347a207fc72cac5d79cd"><div·class="ttname"><a·href="a03980.html#af6ad9276cf74347a207fc72cac5d79cd">gtsam::PowerMethod::nrIterations</a></div><div·class="ttdeci">size_t·nrIterations()·const</div><div·class="ttdoc">Return·the·number·of·iterations.</div><div·class="ttdef"><b>Definition</b>·PowerMethod.h:121</div></div>
224 </div><!--·fragment·--></div><!--·contents·-->224 </div><!--·fragment·--></div><!--·contents·-->
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228 ··<ul>228 ··<ul>
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103 <div·class="header">103 <div·class="header">
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117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00728.html">gtsam/linear/ConjugateGradientSolver.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00857.html">gtsam/linear/SubgraphBuilder.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#define·BOOST_NO_HASH··</span><span·class="comment">//·to·pacify·the·warnings·about·depricated·headers·in·boost.graph</span></div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/graph/graph_traits.hpp&gt;</span></div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/graph/adjacency_list.hpp&gt;</span></div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01121.html">gtsam/nonlinear/Values.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;utility&gt;</span>··<span·class="comment">//·pair</span></div> 
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div> 
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·Forward·declarations</span></div> 
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">class·</span>GaussianFactorGraph;</div> 
130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">class·</span>GaussianBayesNet;</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">class·</span>SubgraphPreconditioner;</div> 
132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="comment">//·type·definitions·:</span></div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
 133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·KEY&gt;</div>
133 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">134 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">
 135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03616.html">···38</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03616.html">SDGraph</a>:·<span·class="keyword">public</span>·boost::adjacency_list&lt;boost::vecS,·boost::vecS,·boost::undirectedS,</div>
 136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··boost::property&lt;boost::vertex_name_t,·KEY&gt;,·boost::property&lt;</div>
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04056.html">···35</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04056.html">SubgraphSolverParameters</a></div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03728.html">ConjugateGradientParameters</a>·{</div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>·builderParams;</div> 
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_struct"·href="a04056.html">SubgraphSolverParameters</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>·&amp;p·=·<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>())</div> 
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····:·builderParams(p)·{}</div> 
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>()<span·class="keyword">·const·</span>{·Base::print();·}</div> 
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(std::ostream·&amp;os)<span·class="keyword">·const·override·</span>{</div> 
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····Base::print(os);</div>137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··boost::edge_weight_t,·double&gt;·&gt;·{</div>
 138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">public</span>:</div>
 139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·boost::graph_traits&lt;SDGraph&lt;KEY&gt;·&gt;::vertex_descriptor·Vertex;</div>
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··}</div>140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··};</div>
143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>};</div> 
144 </div>141 </div>
145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
 143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·KEY&gt;</div>
146 <div·class="foldopen"·id="foldopen00076"·data-start="{"·data-end="};">144 <div·class="foldopen"·id="foldopen00046"·data-start="{"·data-end="};">
147 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno"><a·class="line"·href="a04060.html">···76</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04060.html">SubgraphSolver</a>·:·<span·class="keyword">public</span>·<a·class="cod[·...·truncated·by·diffoscope;·len:·52,·SHA:·a75d252f920ddb4810c5c001524180faf08d7bcfe451d509331497adaa3c8540·...·]</div>145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a03620.html">···46</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03620.html">SGraph</a>·:·<span·class="keyword">public</span>·boost::adjacency_list&lt;boost::[·...·truncated·by·diffoscope;·len:·36,·SHA:·b3cd3516a658f3b3c95154b305bd454e9e3f9b1663acea06937e2afca1ea885c·...·]</div>
 146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······boost::property&lt;boost::vertex_name_t,·KEY&gt;·&gt;·{</div>
148 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·<span·class="keyword">public</span>:</div>147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">public</span>:</div>
149 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_struct"·href="a04056.html">SubgraphSolverParameters</a>·<a·class="code·hl_struct"·href="a04056.html">Parameters</a>;</div>148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·boost::graph_traits&lt;SGraph&lt;KEY&gt;·&gt;::vertex_descriptor·Vertex;</div>
 149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··};</div>
 150 </div>
 151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="comment">//typedef·boost::graph_traits&lt;SGraph&gt;::vertex_descriptor·SVertex;</span></div>
 153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·KEY&gt;</div>
 155 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="};">
 156 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a03624.html">···58</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03624.html">PredecessorMap</a>:·<span·class="keyword">public</span>·std::map&lt;KEY,·KEY&gt;·{</div>
 157 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">public</span>:</div>
 158 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}">
 159 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a03624.html#a682e34c430a538cf5792a49b2d4697e9">···61</a></span>····<span·class="keyword">inline</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03624.html#a682e34c430a538cf5792a49b2d4697e9">insert</a>(<span·class="keyword">const</span>·KEY&amp;·key,·<span·class="keyword">const</span>·KEY&amp;·parent)·{</div>
 160 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······std::map&lt;KEY,·KEY&gt;::insert(std::make_pair(key,·parent));</div>
 161 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····}</div>
 162 </div>
 163 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··};</div>
 164 </div>
 165 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 166 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·KEY&gt;</div>
 167 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··std::list&lt;KEY&gt;·<a·class="code·hl_function"·href="a01428.html#a18a265afdea057ea54be10262396be12">predecessorMap2Keys</a>(<span·class="keyword">const</span>·PredecessorMap&lt;KEY&gt;&amp;·p_map);</div>
 168 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>
 169 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·G,·<span·class="keyword">class</span>·F,·<span·class="keyword">class</span>·KEY&gt;·SDGraph&lt;KEY&gt;·<a·class="code·hl_function"·href="a01428.html#a6c0319a6ebcc83d4a5cf9ff51729bb80">toBoostGraph</a>(<span·class="keyword">const</span>·G&amp;·graph);</div>
150 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>170 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
 171 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·G,·<span·class="keyword">class</span>·V,·<span·class="keyword">class</span>·KEY&gt;</div>
 172 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··boost::tuple&lt;G,·V,·std::map&lt;KEY,V&gt;·&gt;··<a·class="code·hl_function"·href="a01428.html#ae67d0d86c4e55b175859967a70b36983">predecessorMap2Graph</a>(<span·class="keyword">const</span>·PredecessorMap&lt;KEY&gt;&amp;·p_map);</div>
151 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·<span·class="keyword">protected</span>:</div> 
152 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<a·class="code·hl_struct"·href="a04056.html">Parameters</a>·parameters_;</div> 
153 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno"><a·class="line"·href="a04060.html#ade9c0e75a53cc84a283c0b19c6965ceb">···82</a></span>··boost::shared_ptr&lt;SubgraphPreconditioner&gt;·<a·class="code·hl_variable"·href="a04060.html#ade9c0e75a53cc84a283c0b19c6965ceb">pc_</a>;··</div> 
154 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div> 
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ConjugateGradientSolver.h</div></div>104 ··<div·class="headertitle"><div·class="title">ImuBias.h</div></div>
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106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00728.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00962.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00035.html">gtsam/base/OptionalJacobian.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;gtsam/base/VectorSpace.h&gt;</span></div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00782.html">gtsam/linear/IterativeSolver.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span>imuBias·{</div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
124 <div·class="foldopen"·id="foldopen00029"·data-start="{"·data-end="};">129 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a04140.html">···30</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04140.html">ConstantBias</a>·{</div>
125 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno"><a·class="line"·href="a03728.html">···29</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03728.html">ConjugateGradientParameters</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03828.html">IterativeOptimizationParameters</a>·{</div> 
126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div> 
127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">public</span>:</div>131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">private</span>:</div>
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03828.html">IterativeOptimizationParameters</a>·<a·class="code·hl_class"·href="a03828.html">Base</a>;</div> 
129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;ConjugateGradientParameters&gt;·shared_ptr;</div>132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··Vector3·biasAcc_;·</div>
 133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··Vector3·biasGyro_;·</div>
130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">public</span>:</div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04140.html#a85ba8cd799a5771ad8ac8669e1377f1d">···37</a></span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·dimension·=·6;</div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03728.html#a02664c7fcb805142421484310dafc7a4">···35</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_variable"·href="a03728.html#a02664c7fcb805142421484310dafc7a4">minIterations_</a>;··</div> 
132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03728.html#abe70bda38b526a112fa873a6b042502c">···36</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_variable"·href="a03728.html#abe70bda38b526a112fa873a6b042502c">maxIterations_</a>;··</div> 
133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a03728.html#a347b5ce7b42d5eb5722eed23db93a5eb">···37</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_variable"·href="a03728.html#a347b5ce7b42d5eb5722eed23db93a5eb">reset_</a>;··········</div> 
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03728.html#a74161c7d0a842b59501281ccdf584590">···38</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a03728.html#a74161c7d0a842b59501281ccdf584590">epsilon_rel_</a>;····</div> 
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03728.html#ad48e0d1383ab5cabb17d268244af3b14">···39</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a03728.html#ad48e0d1383ab5cabb17d268244af3b14">epsilon_abs_</a>;····</div> 
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<a·class="code·hl_class"·href="a04140.html">ConstantBias</a>()·:</div>
 140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>······biasAcc_(0.0,·0.0,·0.0),·biasGyro_(0.0,·0.0,·0.0)·{</div>
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">/*·Matrix·Operation·Kernel·*/</span></div> 
138 <div·class="foldopen"·id="foldopen00042"·data-start="{"·data-end="};"> 
139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a03728.html#a5f3c3b9315279cf2112501b7c0a3b499">···42</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a03728.html#a5f3c3b9315279cf2112501b7c0a3b499">BLASKernel</a>·{</div> 
140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a03728.html#a5f3c3b9315279cf2112501b7c0a3b499a6899bab70a92ace73fecfa9de464de3c">···43</a></span>····GTSAM·=·0,········</div> 
141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··}·blas_kernel_·;</div>141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··}</div>
142 </div> 
143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_class"·href="a03728.html">ConjugateGradientParameters</a>()</div> 
145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····:·minIterations_(1),·maxIterations_(500),·reset_(501),·epsilon_rel_(1e-3),</div>143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_class"·href="a04140.html">ConstantBias</a>(<span·class="keyword">const</span>·Vector3&amp;·biasAcc,·<span·class="keyword">const</span>·Vector3&amp;·biasGyro)·:</div>
 144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······biasAcc_(biasAcc),·biasGyro_(biasGyro)·{</div>
146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······epsilon_abs_(1e-3),·blas_kernel_(GTSAM)·{}</div>145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··}</div>
147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
148 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··ConjugateGradientParameters(<span·class="keywordtype">size_t</span>·minIterations,·<span·class="keywordtype">size_t</span>·maxIterations,·<span·class="keywordtype">size_t</span>·reset,</div> 
149 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····<span·class="keywordtype">double</span>·epsilon_rel,·<span·class="keywordtype">double</span>·epsilon_abs,·BLASKernel·blas)</div>147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">explicit</span>·ConstantBias(<span·class="keyword">const</span>·Vector6&amp;·v)·:</div>
150 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····:·minIterations_(minIterations),·maxIterations_(maxIterations),·reset_(reset),</div> 
151 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······epsilon_rel_(epsilon_rel),·epsilon_abs_(epsilon_abs),·blas_kernel_(blas)·{}</div>148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······biasAcc_(v.head&lt;3&gt;()),·biasGyro_(v.tail&lt;3&gt;())·{</div>
 149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div>
152 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
153 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··ConjugateGradientParameters(<span·class="keyword">const</span>·ConjugateGradientParameters·&amp;p)</div> 
154 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····:·Base(p),·minIterations_(p.minIterations_),·maxIterations_(p.maxIterations_),·reset_(p.reset_),</div> 
155 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>···············epsilon_rel_(p.epsilon_rel_),·epsilon_abs_(p.epsilon_abs_),·blas_kernel_(GTSAM)·{}</div> 
156 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 152 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}">
 153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a04140.html#a93610c76ef81c251cb8d5697ee9334bd">···57</a></span>··Vector6·<a·class="code·hl_function"·href="a04140.html#a93610c76ef81c251cb8d5697ee9334bd">vector</a>()<span·class="keyword">·const·</span>{</div>
 154 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····Vector6·v;</div>
 155 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····v·&lt;&lt;·biasAcc_,·biasGyro_;</div>
 156 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">return</span>·v;</div>
 157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div>
 158 </div>
 159 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 160 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}">
 161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a04140.html#ada5994c047f61ce4052159928b44d624">···64</a></span>··<span·class="keyword">const</span>·Vector3&amp;·<a·class="code·hl_function"·href="a04140.html#ada5994c047f61ce4052159928b44d624">accelerometer</a>()<span·class="keyword">·const·</span>{</div>
157 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="comment">/*·general·interface·*/</span></div>162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">return</span>·biasAcc_;</div>
158 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">size_t</span>·minIterations()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·minIterations_;·}</div> 
159 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">size_t</span>·maxIterations()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·maxIterations_;·}</div> 
160 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">size_t</span>·reset()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·reset_;·}</div> 
161 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·epsilon()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·epsilon_rel_;·}</div> 
162 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·epsilon_rel()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·epsilon_rel_;·}</div> 
163 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">double</span>·epsilon_abs()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·epsilon_abs_;·}</div> 
164 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>163 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div>
 164 </div>
165 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">size_t</span>·getMinIterations()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·minIterations_;·}</div> 
166 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="keyword">inline</span>·<span·class="keywordtype">size_t</span>·getMaxIterations()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·maxIterations_;·}</div> 
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/Sampler.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/slam/lago.h·Source·File</title>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Sampler.h</div></div>104 ··<div·class="headertitle"><div·class="title">lago.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00764.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01340.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div> 
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00824.html">gtsam/linear/NoiseModel.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;random&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>119 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 120 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01157.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00890.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00593.html">gtsam/inference/graph.h</a>&gt;</span></div>
126 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="};"> 
127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a04020.html">···31</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04020.html">Sampler</a>·{</div> 
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·<span·class="keyword">protected</span>:</div> 
129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04020.html#a715947053d2c801444799e4ce00e6118">···34</a></span>··noiseModel::Diagonal::shared_ptr·<a·class="code·hl_variable"·href="a04020.html#a715947053d2c801444799e4ce00e6118">model_</a>;</div> 
130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div> 
131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04020.html#aafc871086f7dd8ee5bf99795c8f98ba1">···37</a></span>··<span·class="keyword">mutable</span>·std::mt19937_64·<a·class="code·hl_variable"·href="a04020.html#aafc871086f7dd8ee5bf99795c8f98ba1">generator_</a>;</div> 
132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div> 
133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·<span·class="keyword">public</span>:</div> 
134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;Sampler&gt;·shared_ptr;</div> 
135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>124 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 125 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 126 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">namespace·</span>lago·{</div>
136 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>127 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
137 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a04020.html">Sampler</a>(<span·class="keyword">const</span>·noiseModel::Diagonal::shared_ptr&amp;·model,</div>128 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="keyword">typedef</span>·std::map&lt;Key,·double&gt;·key2doubleMap;</div>
138 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>···················uint_fast64_t·seed·=·42u);</div>129 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 130 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>GTSAM_EXPORT·key2doubleMap·computeThetasToRoot(</div>
 131 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">const</span>·key2doubleMap&amp;·deltaThetaMap,·<span·class="keyword">const</span>·PredecessorMap&lt;Key&gt;&amp;·tree);</div>
139 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>132 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
140 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_class"·href="a04020.html">Sampler</a>(<span·class="keyword">const</span>·Vector&amp;·sigmas,·uint_fast64_t·seed·=·42u);</div>133 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>GTSAM_EXPORT·<span·class="keywordtype">void</span>·getSymbolicGraph(</div>
 134 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span><span·class="comment">/*OUTPUTS*/</span>std::vector&lt;size_t&gt;&amp;·spanningTreeIds,·std::vector&lt;size_t&gt;&amp;·chordsIds,</div>
 135 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····key2doubleMap&amp;·deltaThetaMap,</div>
 136 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="comment">/*INPUTS*/</span><span·class="keyword">const</span>·PredecessorMap&lt;Key&gt;&amp;·tree,·<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·g);</div>
141 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>137 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
142 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div> 
143 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="keywordtype">size_t</span>·dim()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·model_-&gt;dim();·}</div>138 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>GTSAM_EXPORT·GaussianFactorGraph·buildLinearOrientationGraph(</div>
 139 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="keyword">const</span>·std::vector&lt;size_t&gt;&amp;·spanningTreeIds,</div>
 140 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keyword">const</span>·std::vector&lt;size_t&gt;&amp;·chordsIds,·<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·g,</div>
 141 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="keyword">const</span>·key2doubleMap&amp;·orientationsToRoot,·<span·class="keyword">const</span>·PredecessorMap&lt;Key&gt;&amp;·tree);</div>
144 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>142 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
145 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··Vector·sigmas()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·model_-&gt;sigmas();·}</div>143 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05072.html">VectorValues</a>·initializeOrientations(</div>
 144 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·graph,·<span·class="keywordtype">bool</span>·useOdometricPath·=·<span·class="keyword">true</span>);</div>
146 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>145 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 146 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05076.html">Values</a>·initialize(<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·graph,</div>
147 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keyword">const</span>·noiseModel::Diagonal::shared_ptr&amp;·model()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·model_;·}</div> 
148 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div> 
149 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div> 
150 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··Vector·sample()·<span·class="keyword">const</span>;</div>147 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordtype">bool</span>·useOdometricPath·=·<span·class="keyword">true</span>);</div>
151 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>148 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>
152 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keyword">static</span>·Vector·sampleDiagonal(<span·class="keyword">const</span>·Vector&amp;·sigmas,·std::mt19937_64*·rng);</div>149 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a05076.html">Values</a>·initialize(<span·class="keyword">const</span>·NonlinearFactorGraph&amp;·graph,</div>
 150 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05076.html">Values</a>&amp;·initialGuess);</div>
153 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>151 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>
154 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·<span·class="keyword">protected</span>:</div>152 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>}·<span·class="comment">//·end·of·namespace·lago</span></div>
155 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>··Vector·sampleDiagonal(<span·class="keyword">const</span>·Vector&amp;·sigmas)·<span·class="keyword">const</span>;</div> 
156 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>};</div> 
157 </div> 
158 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div> 
159 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>}··<span·class="comment">//·namespace·gtsam</span></div>153 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>}·<span·class="comment">//·end·of·namespace·gtsam</span></div>
160 <div·class="ttc"·id="aa00824_html"><div·class="ttname"><a·href="a00824.html">NoiseModel.h</a></div></div>154 <div·class="ttc"·id="aa00593_html"><div·class="ttname"><a·href="a00593.html">graph.h</a></div><div·class="ttdoc">Graph·algorithm·using·boost·library.</div></div>
 155 <div·class="ttc"·id="aa00848_html"><div·class="ttname"><a·href="a00848.html">GaussianFactorGraph.h</a></div><div·class="ttdoc">Linear·Factor·Graph·where·all·factors·are·Gaussians.</div></div>
 156 <div·class="ttc"·id="aa00890_html"><div·class="ttname"><a·href="a00890.html">VectorValues.h</a></div><div·class="ttdoc">Factor·Graph·Values.</div></div>
 157 <div·class="ttc"·id="aa01157_html"><div·class="ttname"><a·href="a01157.html">NonlinearFactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·consisting·of·non-linear·factors.</div></div>
161 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>158 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
 159 <div·class="ttc"·id="aa05072_html"><div·class="ttname"><a·href="a05072.html">VectorValues</a></div><div·class="ttdoc">The·Factor::error·simply·extracts·the.</div></div>
 160 <div·class="ttc"·id="aa05076_html"><div·class="ttname"><a·href="a05076.html">Values</a></div><div·class="ttdoc">In·nonlinear·factors,·the·error·function·returns·the·negative·log-likelihood·as·a·non-linear·function...</div></div>
162 <div·class="ttc"·id="aa04020_html"><div·class="ttname"><a·href="a04020.html">gtsam::Sampler</a></div><div·class="ttdoc">Sampling·structure·that·keeps·internal·random·number·generators·for·diagonal·distributions·specified·...</div><div·class="ttdef"><b>Definition</b>·Sampler.h:31</div></div> 
163 <div·class="ttc"·id="aa04020_html_a715947053d2c801444799e4ce00e6118"><div·class="ttname"><a·href="a04020.html#a715947053d2c801444799e4ce00e6118">gtsam::Sampler::model_</a></div><div·class="ttdeci">noiseModel::Diagonal::shared_ptr·model_</div><div·class="ttdoc">noiseModel·created·at·generation</div><div·class="ttdef"><b>Definition</b>·Sampler.h:34</div></div> 
164 <div·class="ttc"·id="aa04020_html_aafc871086f7dd8ee5bf99795c8f98ba1"><div·class="ttname"><a·href="a04020.html#aafc871086f7dd8ee5bf99795c8f98ba1">gtsam::Sampler::generator_</a></div><div·class="ttdeci">std::mt19937_64·generator_</div><div·class="ttdoc">generator</div><div·class="ttdef"><b>Definition</b>·Sampler.h:37</div></div> 
165 </div><!--·fragment·--></div><!--·contents·-->161 </div><!--·fragment·--></div><!--·contents·-->
166 </div><!--·doc-content·-->162 </div><!--·doc-content·-->
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169 ··<ul>165 ··<ul>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/IterativeSolver.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/GaussianBayesNet.h·Source·File</title>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">IterativeSolver.h</div></div>104 ··<div·class="headertitle"><div·class="title">GaussianBayesNet.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00782.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00734.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">//·\callgraph</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00596.html">gtsam/inference/Ordering.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Vector.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00749.html">gtsam/linear/GaussianConditional.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/tuple/tuple.hpp&gt;</span></div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00692.html">gtsam/inference/BayesNet.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00599.html">gtsam/inference/FactorGraph.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01394.html">gtsam/global_includes.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;map&gt;</span></div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">//·Forward·declarations</span></div> 
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">struct·</span>KeyInfoEntry;</div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">class·</span>KeyInfo;</div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">class·</span>GaussianFactorGraph;</div> 
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05076.html">Values</a>;</div> 
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div> 
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
140 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="};">130 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a03828.html">···44</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03828.html">IterativeOptimizationParameters</a>·{</div>131 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03740.html">···35</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03740.html">GaussianBayesNet</a>:·<span·class="keyword">public</span>·<a·class="[·...·truncated·by·diffoscope;·len:·73,·SHA:·99555447c54237581533934621fbd292cf58953e15469af082d467c3e555376a·...·]</div>
 132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··{</div>
 133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">public</span>:</div>
 134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
 135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03516.html">BayesNet&lt;GaussianConditional&gt;</a>·<a·class="code·hl_class"·href="a03516.html">Base</a>;</div>
 136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03740.html">GaussianBayesNet</a>·<a·class="code·hl_class"·href="a03740.html">This</a>;</div>
 137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>·<a·class="code·hl_class"·href="a03764.html">ConditionalType</a>;</div>
 138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
 139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;ConditionalType&gt;·sharedConditional;</div>
142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">public</span>:</div> 
144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 142 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a03740.html#adecacf9eadcbced34a26cd234e34d197">···49</a></span>····<a·class="code·hl_function"·href="a03740.html#adecacf9eadcbced34a26cd234e34d197">GaussianBayesNet</a>()·{}</div>
145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;IterativeOptimizationParameters&gt;·shared_ptr;</div> 
146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">enum</span>·Verbosity·{</div> 
147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····SILENT·=·0,·COMPLEXITY,·ERROR</div> 
148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··}·verbosity_;</div> 
149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">public</span>:</div>144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·ITERATOR&gt;</div>
 145 <div·class="foldopen"·id="foldopen00053"·data-start="{"·data-end="}">
 146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a03740.html#ae4f5f693d7582da70a64ea80024fdf12">···53</a></span>····<a·class="code·hl_function"·href="a03740.html#ae4f5f693d7582da70a64ea80024fdf12">GaussianBayesNet</a>(ITERATOR·firstConditional,·ITERATOR·lastConditional)</div>
 147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(firstConditional,·lastConditional)·{}</div>
 148 </div>
151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<a·class="code·hl_class"·href="a03828.html">IterativeOptimizationParameters</a>(Verbosity·v·=·SILENT)·:</div>150 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·CONTAINER&gt;</div>
 151 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="}">
 152 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a03740.html#ac863c8c8203f4cb9d099d6d1adf8fb3b">···58</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03740.html#ac863c8c8203f4cb9d099d6d1adf8fb3b">GaussianBayesNet</a>(<span·class="keyword">const</span>·CONTAINER&amp;·conditionals)·{</div>
153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······verbosity_(v)·{</div>153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······push_back(conditionals);</div>
154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··}</div> 
155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div> 
156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a03828.html">~IterativeOptimizationParameters</a>()·{</div> 
157 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··}</div>154 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····}</div>
 155 </div>
158 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>156 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
159 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="comment">/*·utility·*/</span></div> 
160 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keyword">inline</span>·Verbosity·verbosity()<span·class="keyword">·const·</span>{</div>157 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·DERIVEDCONDITIONAL&gt;</div>
 158 <div·class="foldopen"·id="foldopen00065"·data-start="{"·data-end="}">
 159 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a03740.html#a91b6b8d6390efc036e690dbaf5493ff4">···65</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03740.html#a91b6b8d6390efc036e690dbaf5493ff4">GaussianBayesNet</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03524.html">FactorGraph&lt;DERIVEDCONDITIONAL&gt;</a>&amp;·graph)</div>
 160 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>········:·<a·class="code·hl_class"·href="a03516.html">Base</a>(graph)·{}</div>
161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keywordflow">return</span>·verbosity_;</div> 
162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··}</div> 
163 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··GTSAM_EXPORT·std::string·getVerbosity()·<span·class="keyword">const</span>;</div> 
164 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··GTSAM_EXPORT·<span·class="keywordtype">void</span>·setVerbosity(<span·class="keyword">const</span>·std::string·&amp;s);</div> 
165 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div> 
166 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="comment">/*·matlab·interface·*/</span></div> 
167 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··GTSAM_EXPORT·<span·class="keywordtype">void</span>·print()·<span·class="keyword">const</span>;</div> 
168 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div> 
169 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<span·class="comment">/*·virtual·print·function·*/</span></div> 
170 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··GTSAM_EXPORT·<span·class="keyword">virtual</span>·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(std::ostream·&amp;os)·<span·class="keyword">const</span>;</div> 
171 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div> 
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75 ··</div>75 ··</div>
76 </div>76 </div>
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78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
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82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">GaussianJunctionTree.h</div></div>104 ··<div·class="headertitle"><div·class="title">GaussianJunctionTree.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00788.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00755.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00770.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00785.html">gtsam/linear/GaussianBayesTree.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00752.html">gtsam/linear/GaussianBayesTree.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00692.html">gtsam/inference/JunctionTree.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00659.html">gtsam/inference/JunctionTree.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="comment">//·Forward·declarations</span></div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="comment">//·Forward·declarations</span></div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="keyword">class·</span>GaussianEliminationTree;</div>127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="keyword">class·</span>GaussianEliminationTree;</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
129 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">129 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">
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136 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a03808.html#af18233320fb77123cdc946164743704f">···43</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03808.html#af18233320fb77123cdc946164743704f">shared_ptr</a>;·</div>136 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a03808.html#af18233320fb77123cdc946164743704f">···43</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03808.html#af18233320fb77123cdc946164743704f">shared_ptr</a>;·</div>
137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>137 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div>
138 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<a·class="code·hl_class"·href="a03808.html">GaussianJunctionTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03776.html">GaussianEliminationTree</a>&amp;·eliminationTree);</div>138 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<a·class="code·hl_class"·href="a03808.html">GaussianJunctionTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03776.html">GaussianEliminationTree</a>&amp;·eliminationTree);</div>
139 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··};</div>139 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··};</div>
140 </div>140 </div>
141 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>141 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>}</div>142 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>}</div>
143 <div·class="ttc"·id="aa00692_html"><div·class="ttname"><a·href="a00692.html">JunctionTree.h</a></div><div·class="ttdoc">The·junction·tree.</div></div>143 <div·class="ttc"·id="aa00659_html"><div·class="ttname"><a·href="a00659.html">JunctionTree.h</a></div><div·class="ttdoc">The·junction·tree.</div></div>
144 <div·class="ttc"·id="aa00770_html"><div·class="ttname"><a·href="a00770.html">GaussianFactorGraph.h</a></div><div·class="ttdoc">Linear·Factor·Graph·where·all·factors·are·Gaussians.</div></div> 
145 <div·class="ttc"·id="aa00785_html"><div·class="ttname"><a·href="a00785.html">GaussianBayesTree.h</a></div><div·class="ttdoc">Gaussian·Bayes·Tree,·the·result·of·eliminating·a·GaussianJunctionTree.</div></div>144 <div·class="ttc"·id="aa00752_html"><div·class="ttname"><a·href="a00752.html">GaussianBayesTree.h</a></div><div·class="ttdoc">Gaussian·Bayes·Tree,·the·result·of·eliminating·a·GaussianJunctionTree.</div></div>
 145 <div·class="ttc"·id="aa00848_html"><div·class="ttname"><a·href="a00848.html">GaussianFactorGraph.h</a></div><div·class="ttdoc">Linear·Factor·Graph·where·all·factors·are·Gaussians.</div></div>
146 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>146 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
147 <div·class="ttc"·id="aa03652_html"><div·class="ttname"><a·href="a03652.html">gtsam::JunctionTree</a></div><div·class="ttdoc">A·JunctionTree·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·JunctionTree.h:50</div></div>147 <div·class="ttc"·id="aa03652_html"><div·class="ttname"><a·href="a03652.html">gtsam::JunctionTree</a></div><div·class="ttdoc">A·JunctionTree·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...</div><div·class="ttdef"><b>Definition</b>·JunctionTree.h:50</div></div>
148 <div·class="ttc"·id="aa03776_html"><div·class="ttname"><a·href="a03776.html">gtsam::GaussianEliminationTree</a></div><div·class="ttdef"><b>Definition</b>·GaussianEliminationTree.h:29</div></div>148 <div·class="ttc"·id="aa03776_html"><div·class="ttname"><a·href="a03776.html">gtsam::GaussianEliminationTree</a></div><div·class="ttdef"><b>Definition</b>·GaussianEliminationTree.h:29</div></div>
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152 <div·class="ttc"·id="aa03808_html_af18233320fb77123cdc946164743704f"><div·class="ttname"><a·href="a03808.html#af18233320fb77123cdc946164743704f">gtsam::GaussianJunctionTree::shared_ptr</a></div><div·class="ttdeci">boost::shared_ptr&lt;·This·&gt;·shared_ptr</div><div·class="ttdoc">Shared·pointer·to·this·class.</div><div·class="ttdef"><b>Definition</b>·GaussianJunctionTree.h:43</div></div>152 <div·class="ttc"·id="aa03808_html_af18233320fb77123cdc946164743704f"><div·class="ttname"><a·href="a03808.html#af18233320fb77123cdc946164743704f">gtsam::GaussianJunctionTree::shared_ptr</a></div><div·class="ttdeci">boost::shared_ptr&lt;·This·&gt;·shared_ptr</div><div·class="ttdoc">Shared·pointer·to·this·class.</div><div·class="ttdef"><b>Definition</b>·GaussianJunctionTree.h:43</div></div>
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157 ··<ul>157 ··<ul>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">SubgraphPreconditioner.h</div></div>104 ··<div·class="headertitle"><div·class="title">PCGSolver.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00794.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div>
 119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·PCGSolver.h</span></div>
 120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@brief·Preconditioned·Conjugate·Gradient·Solver·for·linear·systems</span></div>
 121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·Jan·31,·2012</span></div>
 122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*·@author·Yong-Dian·Jian</span></div>
 123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">·*·@author·Sungtae·An</span></div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">·*/</span></div>
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120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00857.html">gtsam/linear/SubgraphBuilder.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00806.html">gtsam/linear/Errors.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00776.html">gtsam/linear/GaussianBayesNet.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00770.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00782.html">gtsam/linear/IterativeSolver.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;gtsam/linear/Preconditioner.h&gt;</span></div> 
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/VectorValues.h</a>&gt;</span></div> 
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
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 128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/ConjugateGradientSolver.h</a>&gt;</span></div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
 133 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">class·</span>GaussianFactorGraph;</div>
 134 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">class·</span>KeyInfo;</div>
 135 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">class·</span>Preconditioner;</div>
 136 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div>
 137 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">struct·</span>PreconditionerParameters;</div>
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>138 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div> 
135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="comment">//·Forward·declarations</span></div> 
136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">class·</span>GaussianBayesNet;</div> 
137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">class·</span>GaussianFactorGraph;</div> 
138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div> 
139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div> 
140 <div·class="foldopen"·id="foldopen00040"·data-start="{"·data-end="};">139 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">
141 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04048.html">···40</a></span>··<span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04048.html">SubgraphPreconditionerParameters</a>·:·<span·class="keyword">publi[·...·truncated·by·diffoscope;·len:·68,·SHA:·de1af557f25ab495940378dae69615173b7d9b6a7ba55890c80f047accd426e3·...·]Parameters</a>·{</div>140 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03968.html">···36</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a03968.html">PCGSolverParameters</a>:·<span·class="keyword">public</span>·<a·clas[·...·truncated·by·diffoscope;·len:·54,·SHA:·aed8e4e47919f3feb29ebcff2f36e583f3d2a2e0977def5c6d17b9be4d14e1f1·...·]Parameters</a>·{</div>
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142 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;SubgraphPreconditionerParameters&gt;·shared_ptr;</div>143 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;PCGSolverParameters&gt;·shared_ptr;</div>
143 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<a·class="code·hl_struct"·href="a04048.html">SubgraphPreconditionerParameters</a>(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>·&amp;p[·...·truncated·by·diffoscope;·len:·80,·SHA:·6e4c31b890d81a4362ddfa57771b8274c138c726224c5844b05f4a8402a90017·...·]</div>144 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
 145 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<a·class="code·hl_struct"·href="a03968.html">PCGSolverParameters</a>()·{</div>
 146 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··}</div>
144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>······:·builderParams(p)·{}</div>147 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<a·class="code·hl_struct"·href="a04040.html">SubgraphBuilderParameters</a>·builderParams;</div>148 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(std::ostream·&amp;os)·<span·class="keyword">const·override</span>;</div>
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147 </div>150 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">/*·interface·to·preconditioner·parameters·*/</span></div>
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 152 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keywordflow">return</span>·*preconditioner_;</div>
148 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>153 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··}</div>
149 <div·class="foldopen"·id="foldopen00054"·data-start="{"·data-end="};"> 
150 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a04052.html">···54</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04052.html">SubgraphPreconditioner</a>·:·<span·class="keyword">public</span>·<a·c[·...·truncated·by·diffoscope;·len:·60,·SHA:·6ae386a5e85161d3d370b35d907dfd54f6bdbe6bf60004bacf5f556c227831e5·...·]</div>154 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 155 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·needed·for·python·wrapper</span></div>
 156 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string·&amp;s)·<span·class="keyword">const</span>;</div>
 157 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 158 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··boost::shared_ptr&lt;PreconditionerParameters&gt;·preconditioner_;</div>
151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>159 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 160 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keywordtype">void</span>·setPreconditionerParams(<span·class="keyword">const</span>·boost::shared_ptr&lt;PreconditionerParameters&gt;·preconditioner);</div>
152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">public</span>:</div>161 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>};</div>
153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;SubgraphPreconditioner&gt;·shared_ptr;</div>162 </div>
154 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>163 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 164 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="};">
 165 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a03972.html">···62</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03972.html">PCGSolver</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03832.html">IterativeSolver</a>·{</div>
155 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="keyword">private</span>:</div> 
156 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·Ab2_;</div> 
157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<a·class="code·hl_class"·href="a03740.html">GaussianBayesNet</a>·Rc1_;</div> 
158 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>····<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·xbar_;··</div> 
159 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<a·class="code·hl_class"·href="a02312.html">Errors</a>·b2bar_;·</div> 
160 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div> 
161 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<a·class="code·hl_class"·href="a03840.html">KeyInfo</a>·keyInfo_;</div> 
162 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····<a·class="code·hl_struct"·href="a04048.html">SubgraphPreconditionerParameters</a>·parameters_;</div> 
163 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div> 
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">iterative.h</div></div>104 ··<div·class="headertitle"><div·class="title">FitBasis.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00797.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00152.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">/*</span></div>
 119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="comment">·*··Concept·needed·for·LS.·Parameters·=·Coefficients·|·Values</span></div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="comment">·*····-·Parameters,·Jacobian</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="comment">·*····-·PredictFactor(double·x)(Parameters·p,·OptionalJacobian&lt;1,N&gt;·H)</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="comment">·*/</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/VectorValues.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00728.html">gtsam/linear/ConjugateGradientSolver.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#pragma·once</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
126 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·S,·<span·class="keyword">class</span>·V,·<span·class="keyword">class</span>·E&gt;</div> 
127 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··V·<a·class="code·hl_function"·href="a01428.html#a6516ea957c3a22ddf429cefef1fe9486">conjugateGradients</a>(<span·class="keyword">const</span>·S&amp;·Ab,·V·x,</div> 
128 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>······<span·class="keyword">const</span>·ConjugateGradientParameters·&amp;parameters,·<span·class="keywordtype">bool</span>·steepest·=·<span·class="keyword">false</span>);</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00158.html">gtsam/basis/Basis.h</a>&gt;</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00161.html">gtsam/basis/BasisFactors.h</a>&gt;</span></div>
 128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
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133 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">private</span>:</div> 
134 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="keyword">const</span>·Matrix&amp;·A_;</div> 
135 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keyword">const</span>·Vector&amp;·b_;</div> 
136 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
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141 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····}</div> 
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143 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a03824.html#a3941a6711f3fe29c7880f349bf23f61c">···57</a></span>····<span·class="keyword">const</span>·Matrix&amp;·<a·class="code·hl_function"·href="a03824.html#a3941a6711f3fe29c7880f349bf23f61[·...·truncated·by·diffoscope;·len:·93,·SHA:·3f7e39931e734de363891b5a258e6590477a53e8e336236af22a8b267fba4891·...·]</div>143 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·<span·class="keyword">private</span>:</div>
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145 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a03824.html#a47bfe00d3b15d9a270173e4da239873f">···60</a></span>····<span·class="keyword">const</span>·Vector&amp;·<a·class="code·hl_function"·href="a03824.html#a47bfe00d3b15d9a270173e4da239873f">b</a>()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·b_;·}</div> 
146 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>146 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·<span·class="keyword">public</span>:</div>
147 <div·class="foldopen"·id="foldopen00063"·data-start="{"·data-end="}">147 <div·class="foldopen"·id="foldopen00061"·data-start="{"·data-end="}">
148 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno"><a·class="line"·href="a03824.html#ae9b8a03088b3e2177470bb22482d769f">···63</a></span>····Vector·<a·class="code·hl_function"·href="a03824.html#ae9b8a03088b3e2177470bb22482d769f">operator^</a>(<span·class="keyword">c[·...·truncated·by·diffoscope;·len:·63,·SHA:·45438b04975f7fc33794ecc9722c724cc0cc19805c047b0eb78cf74ad70bb704·...·]</div>148 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno"><a·class="line"·href="a02744.html#a9442ab6aec5ec45fb14d4b3eaeeb3a85">···61</a></span>··<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>·<a·class="code·hl_func[·...·truncated·by·diffoscope;·len:·220,·SHA:·8498832dc8c7a33414f4afa127660f544bc3aa3ae577ff8944c0e54c97ece5ba·...·]</div>
 149 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·············································<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model,</div>
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 162 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a24ec5d6ec6b211d0cbaf645c11c198de">Sequence</a>&amp;·sequence,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·model,·<span·class="keywordtype">size_t</span>·N)·{</div>
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 165 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>····values.<a·class="code·hl_function"·href="a04612.html#a77b14a449ab47e1ef75b6d909cb434ca">insert</a>&lt;Parameters&gt;(0,·Parameters::Zero(N));</div>
 166 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>····<a·class="code·hl_typedef"·href="a03792.html#a1f73f4987b9bdaac5c1414a401c0364c">GaussianFactorGraph::shared_ptr</a>·gfg·=·graph.linearize(values);</div>
156 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a03824.html#a8f944ee551d3aa5fbc31319ef1bc2617">···73</a></span>····Vector·<a·class="code·hl_function"·href="a03824.html#a8f944ee551d3aa5fbc31319ef1bc2617">gradient</a>(<span·class="keyword">const</span>·Vector&amp;·x)<span·class="keyword">·const·</span>{</div> 
157 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>······<span·class="keywordflow">return</span>·A()·^·(A()·*·x·-·b());</div> 
158 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····}</div> 
159 </div> 
160 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div> 
161 <div·class="foldopen"·id="foldopen00078"·data-start="{"·data-end="}"> 
162 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a03824.html#a2d9cdad1b0fe8837a466567e8fa889c3">···78</a></span>····Vector·<a·class="code·hl_function"·href="a03824.html#a2d9cdad1b0fe8837a466567e8fa889c3">operator*</a>(<span·class="keyword">const</span>·Vector&amp;·x)<span·class="keyword">·const·</span>{</div> 
163 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>······<span·class="keywordflow">return</span>·A()·*·x;</div>167 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordflow">return</span>·gfg;</div>
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104 ··<div·class="headertitle"><div·class="title">SparseEigen.h·File·Reference</div></div>104 ··<div·class="headertitle"><div·class="title">SparseEigen.h·File·Reference</div></div>
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107 <p>Utilities·for·creating·Eigen·sparse·matrices·(<a·class="el"·href="a01428.html#a52b9b28b076a8ae17d6d3d72ee1229c3"·title="Eigen-format·sparse·matrix.">gtsam::SparseEigen</a>)··107 <p>Utilities·for·creating·Eigen·sparse·matrices·(<a·class="el"·href="a01428.html#a52b9b28b076a8ae17d6d3d72ee1229c3"·title="Eigen-format·sparse·matrix.">gtsam::SparseEigen</a>)··
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109 <p><a·href="a00803_source.html">Go·to·the·source·code·of·this·file.</a></p>109 <p><a·href="a00779_source.html">Go·to·the·source·code·of·this·file.</a></p>
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143 <dd>143 <dd>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/Errors.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/hybrid/HybridNonlinearFactorGraph.h·Source·File</title>
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84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">Errors.h</div></div>104 ··<div·class="headertitle"><div·class="title">HybridNonlinearFactorGraph.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00806.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00506.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">//·\callgraph</span></div> 
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00047.html">gtsam/base/FastList.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00527.html">gtsam/hybrid/HybridFactorGraph.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div> 
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00014.html">gtsam/base/Vector.h</a>&gt;</span></div> 
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;string&gt;</span></div> 
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div> 
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·Forward·declarations</span></div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">class·</span>HybridGaussianFactorGraph;</div>
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a01428.html#a74eb09e3192f06bae9de746aa981624a">···34</a></span><span·class="keyword">using·</span><a·class="code·hl_class"·href="a02312.html">Errors</a>·=·<a·class="code·hl_c[·...·truncated·by·diffoscope;·len:·57,·SHA:·47d47e78997d1268b9904d9823d39990c08dc20de28a084193ab74f4702b9270·...·]>126 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">
 127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a03488.html">···33</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03488.html">HybridNonlinearFactorGraph</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03456.html">HybridFactorGraph</a>·{</div>
 128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·<span·class="keyword">protected</span>:</div>
 129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·<span·class="keyword">public</span>:</div>
 130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03456.html">Base</a>·=·<a·class="code·hl_class"·href="a03456.html">HybridFactorGraph</a>;</div>
 131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a03488.html#ae2c01ee4996d8ed75c96a4c054d7dfd6">···37</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a03488.html">This</a>·=·<a·class="code·hl_class"·href="a03488.html">HybridNonlinearFactorGraph</a>;·····</div>
 132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03488.html#a43cb2e97c91584ea7accd643ab3a265a">···38</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a03488.html#a43cb2e97c91584ea7accd643ab3a265a">shared_ptr</a>·=·boost::shared_ptr&lt;This&gt;;··</div>
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
 134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a03488.html#abf62482973bac8d302dba0441ed08b8b">···40</a></span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04612.html">Values</a>·=·<a·class="code·hl_class"·href="a04612.html">gtsam::Values</a>;··</div>
 135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">using·</span>Indices·=·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>;·····</div>
135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02312.html">Errors</a>·<a·class="code·hl_function"·href="a01428.html#aa84fa88db91d429bec261c655fc54bd6">createErrors</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04064.html">VectorValues</a>&amp;·V);</div> 
136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div> 
137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>GTSAM_EXPORT·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·e,·<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;Errors&quot;</span>);</div> 
138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>136 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="comment">//·Check·equality·for·unit·testing.</span></div> 
140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>GTSAM_EXPORT·<span·class="keywordtype">bool</span>·equality(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·actual,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·expected,</div> 
141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>···························<span·class="keywordtype">double</span>·tol·=·1e-9);</div> 
142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02312.html">Errors</a>·<a·class="code·hl_function"·href="a01428.html#a552de56fca49d1b4942dd9b8e8357b0a">operator+</a>(<span·class="keyword">const</span>·<a·c[·...·truncated·by·diffoscope;·len:·156,·SHA:·0842e94e5d920d29e1f4258f7b1f30b626bae29990c1f53b3debbda14bc64823·...·];</div>138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_class"·href="a03488.html">HybridNonlinearFactorGraph</a>()·=·<span·class="keywordflow">default</span>;</div>
144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02312.html">Errors</a>·<a·class="code·hl_function"·href="a01428.html#af2dc48a6a2e9abf4d0636578847a6b5a">operator-</a>(<span·class="keyword">const</span>·<a·c[·...·truncated·by·diffoscope;·len:·156,·SHA:·0842e94e5d920d29e1f4258f7b1f30b626bae29990c1f53b3debbda14bc64823·...·];</div>140 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·DERIVEDFACTOR&gt;</div>
 141 <div·class="foldopen"·id="foldopen00054"·data-start="{"·data-end="}">
 142 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03488.html#ad849edb68524c55be377f4edd217ec4e">···54</a></span>··<a·class="code·hl_function"·href="a03488.html#ad849edb68524c55be377f4edd217ec4e">HybridNonlinearFactorGraph</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03524.html">FactorGraph&lt;DERIVEDFACTOR&gt;</a>&amp;·graph)</div>
 143 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······:·<a·class="code·hl_class"·href="a03456.html">Base</a>(graph)·{}</div>
 144 </div>
146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
147 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02312.html">Errors</a>·<a·class="code·hl_function"·href="a01428.html#af2dc48a6a2e9abf4d0636578847a6b5a">operator-</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·a);</div> 
148 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div> 
149 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>GTSAM_EXPORT·<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a01428.html#ad80249acf12bbea741e755cd8fc73042">dot</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·a,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·b);</div> 
150 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div> 
151 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>GTSAM_EXPORT·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a5644e12e89afaac433f5d61c3d8e9003">axpy</a>(<span·class="keywordtype">double</span>·alpha,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·x,·<a·class="code·hl_class"·href="a02312.html">Errors</a>&amp;·y);</div> 
152 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>146 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span><span·class="keyword">template</span>·&lt;&gt;</div> 
154 <div·class="foldopen"·id="foldopen00063"·data-start="{"·data-end="};"> 
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105 <p>A·Gaussian·Density.··105 <p>A·factor·with·a·quadratic·error·function·-·a·Gaussian.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a00812_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00737_source.html">Go·to·the·source·code·of·this·file.</a></p>
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 113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 125 <div·class="textblock"><p>A·factor·with·a·quadratic·error·function·-·a·Gaussian.·</p>
 126 <p>GaussianFactor·</p><dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts,·Christian·Potthast·</dd></dl>
122 <div·class="textblock"><p>A·Gaussian·Density.·</p> 
123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl> 
124 <dl·class="section·date"><dt>Date</dt><dd>Jan·21,·2012·</dd></dl> 
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105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00812.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01217.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2020,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">//·\callgraph</span></div> 
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#pragma·once</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00455.html">gtsam/geometry/Point3.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00773.html">gtsam/linear/GaussianConditional.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Unit3.h&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00839.html">gtsam/linear/NoiseModel.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
125 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">127 <div·class="foldopen"·id="foldopen00042"·data-start="{"·data-end="};">
126 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a03772.html">···32</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03772.html">GaussianDensity</a>·:·<span·class="keyword">public</span>·<a·class="[·...·truncated·by·diffoscope;·len:·57,·SHA:·95ea0b762bfc686ad3c409a593a1ea18547cd7aa997bac67475a43f304e2ef29·...·]·{</div>128 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04752.html">···42</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04752.html">TranslationFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class[·...·truncated·by·diffoscope;·len:·64,·SHA:·977b3a4ace386f75b8408d626cc58e1d658346e44680160bb3ee170b8bb05cc1·...·]·{</div>
 129 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·<span·class="keyword">private</span>:</div>
 130 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN&lt;Point3,·Point3&gt;</a>·<a·class="code·hl_class"·href="a04536.html">Base</a>;</div>
 131 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·measured_w_aZb_;</div>
127 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>132 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keyword">public</span>:</div>133 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·<span·class="keyword">public</span>:</div>
 134 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a04752.html#a7c01dfa0ae1540c90d4439671b5a74d4">···49</a></span>··<a·class="code·hl_function"·href="a04752.html#a7c01dfa0ae1540c90d4439671b5a74d4">TranslationFactor</a>()·{}</div>
129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>135 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
130 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;GaussianDensity&gt;·shared_ptr;</div>136 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<a·class="code·hl_function"·href="a04752.html#a7c01dfa0ae1540c90d4439671b5a74d4">TranslationFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·a,·<a·cl[·...·truncated·by·diffoscope;·len:·186,·SHA:·46f5e1f3a2073b89e5a25d33e941ed6a2b76bc85d87a06bac7ad415c2db87969·...·]</div>
 137 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····················<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>&amp;·noiseModel)</div>
 138 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······:·Base(noiseModel,·a,·b),·measured_w_aZb_(w_aZb.point3())·{}</div>
131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>139 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
132 <div·class="foldopen"·id="foldopen00039"·data-start="{"·data-end="}">140 <div·class="foldopen"·id="foldopen00066"·data-start="{"·data-end="}">
133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno"><a·class="line"·href="a03772.html#a5e87d41948515b0ea5548aed04227acd">···39</a></span>····<a·class="code·hl_function"·href="a03772.html#a5e87d41948515b0ea5548aed04227acd">GaussianDensity</a>()·:</div> 
134 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>······<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>()·{</div>141 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno"><a·class="line"·href="a04752.html#a863b3218f0ab46be65181c66c5e182d5">···66</a></span>··Vector·<a·class="code·hl_function"·href="a04752.html#a863b3218f0ab46be65181c66c5e182d5">evaluateError</a>(</div>
 142 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·Ta,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>&amp;·Tb,</div>
 143 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······boost::optional&lt;Matrix&amp;&gt;·H1·=·boost::none,</div>
 144 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······boost::optional&lt;Matrix&amp;&gt;·H2·=·boost::none)<span·class="keyword">·const·override·</span>{</div>
 145 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·dir·=·Tb·-·Ta;</div>
 146 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····Matrix33·H_predicted_dir;</div>
 147 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#aaa8ed89fd60ea4601d9de63c4811525b">Point3</a>·predicted·=·<a·class="code·hl_function"·href="a01428.html#abb52bb00c68909fc1147e5d112e8c2ae">normalize</a>(dir,·H1·||·H2·?·&amp;H_predicted_dir·:·<span·class="keyword">nullptr</span>);</div>
 148 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="keywordflow">if</span>·(H1)·*H1·=·-H_predicted_dir;</div>
 149 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="keywordflow">if</span>·(H2)·*H2·=·H_predicted_dir;</div>
 150 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="keywordflow">return</span>·predicted·-·measured_w_aZb_;</div>
135 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····}</div>151 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··}</div>
136 </div>152 </div>
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>153 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
138 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="}"> 
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a03772.html#ab87337fa52b848ce99be24006daef46c">···44</a></span>····<a·class="code·hl_function"·href="a03772.html#ab87337fa52b848ce99be24006daef46c">GaussianDensity</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>&amp;·conditional)·:</div> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>(conditional)·{</div> 
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>········<span·class="keywordflow">if</span>(conditional.<a·class="code·hl_function"·href="a03572.html#ae19763bc0d1b12bea9e7bfcb304b40bb">nrParents</a>()·!=·0)</div> 
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··········<span·class="keywordflow">throw</span>·std::invalid_argument(<span·class="stringliteral">&quot;GaussianDensity·can·only·be·created·from·a·conditional·with·no·parents&quot;</span>);</div>154 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·<span·class="keyword">private</span>:</div>
 155 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··<span·class="keyword">friend</span>·<span·class="keyword">class·</span>boost::serialization::access;</div>
 156 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
 157 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keywordtype">void</span>·serialize(ARCHIVE&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 158 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····ar&amp;·boost::serialization::make_nvp(</div>
 159 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>········<span·class="stringliteral">&quot;Base&quot;</span>,·boost::serialization::base_object&lt;Base&gt;(*<span·class="keyword">this</span>));</div>
143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····}</div>160 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··}</div>
 161 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>};··<span·class="comment">//·\·TranslationFactor</span></div>
144 </div>162 </div>
145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
146 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="}"> 
147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a03772.html#a4c8ce2cd6b2708df545c4fe7778169ee">···51</a></span>····<a·class="code·hl_function"·href="a03772.html#a4c8ce2cd6b2708df545c4fe7778169ee">GaussianDensity</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keyword">const</span>·Vector&amp;·d,·<span·class="keyword">const</span>·Matrix&amp;·R,·<span·class="keyword">const</span>·SharedDiagonal&amp;·noiseModel·=·SharedDiagonal())·:</div> 
148 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>(key,·d,·R,·noiseModel)·{}</div> 
149 </div> 
150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div> 
151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03772.html">GaussianDensity</a>·FromMeanAndStddev(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keyword">const</span>·Vector&amp;·mean,</div> 
152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·············································<span·class="keywordtype">double</span>·sigma);</div> 
153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div> 
154 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·=·<span·class="stringliteral">&quot;GaussianDensity&quot;</span>,</div> 
155 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>······<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>;</div> 
156 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div> 
157 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····Vector·<a·class="code·hl_function"·href="a01428.html#a300205092710091b8745c0a145da20a1">mean</a>()·<span·class="keyword">const</span>;</div> 
158 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div> 
159 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····Matrix·covariance()·<span·class="keyword">const</span>;</div> 
160 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div> 
161 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··};</div> 
162 </div> 
163 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="comment">//·GaussianDensity</span></div> 
164 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div> 
165 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>}<span·class="comment">//·gtsam</span></div>163 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>}··<span·class="comment">//·namespace·gtsam</span></div>
 164 <div·class="ttc"·id="aa00455_html"><div·class="ttname"><a·href="a00455.html">Point3.h</a></div><div·class="ttdoc">3D·Point</div></div>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/linear/GaussianFactor.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/Factor.h·Source·File</title>
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
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75 ··</div>75 ··</div>
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77 <script·type="text/javascript">77 <script·type="text/javascript">
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80 /*·@license-end·*/80 /*·@license-end·*/
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82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">GaussianFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">Factor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00815.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00632.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="comment">//·\callgraph</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="comment">//·\callgraph</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00587.html">gtsam/inference/Factor.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
 125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00146.html">gtsam/base/types.h</a>&gt;</span></div>
 126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00134.html">gtsam/base/FastVector.h</a>&gt;</span></div>
 127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
 128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
 131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a01428.html#a99e63c90a8ac740d99716e73fe97e054">···34</a></span>··<span·class="keyword">typedef</span>·<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector&lt;FactorIndex&gt;</a>·<a·class="code·hl_typedef"·href="a01428.html#a99e63c90a8ac740d99716e73fe97e054">FactorIndices</a>;</div>
 132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a02320.html">FastSet&lt;FactorIndex&gt;</a>·FactorIndexSet;</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="comment">//·Forward·declarations</span></div> 
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a05072.html">VectorValues</a>;</div> 
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="keyword">class·</span>Scatter;</div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··<span·class="keyword">class·</span>SymmetricBlockMatrix;</div> 
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03504.html">HybridValues</a>;·<span·class="comment">//·forward·declaration·of·a·Value·type·for·error.</span></div>
 135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
133 <div·class="foldopen"·id="foldopen00038"·data-start="{"·data-end="};">136 <div·class="foldopen"·id="foldopen00067"·data-start="{"·data-end="};">
134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03780.html">···38</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03780.html">GaussianFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03592.html">Factor</a></div>137 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a03592.html">···67</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03592.html">Factor</a></div>
135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··{</div>138 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··{</div>
136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">public</span>:</div> 
137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a03780.html#ac49aaf7a5ac8bbf486762e9321a3d34f">···41</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03780.html">GaussianFactor</a>·<a·class="code·hl_typedef"·href="a03780.html#ac49aaf7a5ac8bbf486762e9321a3d34f">This</a>;·</div> 
138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a03780.html#a0eeee0de6e144fedc937d7272be80a36">···42</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03780.html#a0eeee0de6e144fedc937d7272be80a36">shared_ptr</a>;·</div> 
139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a03780.html#a3fe9ce76eaef7dac2a434408e960bbd8">···43</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03592.html">Factor</a>·<a·class="code·hl_typedef"·href="a03780.html#a3fe9ce76eaef7dac2a434408e960bbd8">Base</a>;·</div> 
140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div> 
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a03780.html#ab31173c32b976a81d76af85e1d49e24a">···46</a></span>····<a·class="code·hl_function"·href="a03780.html#ab31173c32b976a81d76af85e1d49e24a">GaussianFactor</a>()·{}</div> 
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div> 
143 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CONTAINER&gt;</div> 
144 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a03780.html#a7fc8684c852571ea09ecea36847ed7a2">···51</a></span>····<a·class="code·hl_function"·href="a03780.html#a7fc8684c852571ea09ecea36847ed7a2">GaussianFactor</a>(<span·class="keyword">const</span>·CONTAINER&amp;·keys)·:·<a·class="code·hl_class"·href="a03592.html">Base</a>(keys)·{}</div> 
145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03780.html#a5b1351803dd692f18042e2516ce1d42e">···54</a></span>····<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a03780.html#a5b1351803dd692f18042e2516ce1d42e">~GaussianFactor</a>()·{}</div> 
147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
148 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····<span·class="comment">//·Implementing·Testable·interface</span></div> 
149 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div> 
150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a03780.html#ace5d1eb61005ebed0c5b111891dcbb7a">···59</a></span>····<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03780.html#ace5d1eb61005ebed0c5b111891dcbb7a">print</a>(</div> 
151 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>········<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>,</div> 
152 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>········<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>&amp;·formatter·=·DefaultKeyFormatter)·<span·class="keyword">const·override</span>·=·0;</div> 
153 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>139 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
154 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a03780.html#a995962014c602d30330eedc0718a5c1b">···64</a></span>····<span·class="keyword">virtual</span>·<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a03780.html#a995962014c602d30330eedc0718a5c1b">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03780.html">GaussianFactor</a>&amp;·lf,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>·=·0;</div> 
155 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>140 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keyword">private</span>:</div>
156 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="keyword">virtual</span>·<span·class="keywordtype">double</span>·error(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04064.html">VectorValues</a>&amp;·c)·<span·class[·...·truncated·by·diffoscope;·len:·24,·SHA:·b6cc7d7c31248448b13e30a0b7df2c5fe9a9cdb7003a421c8ebd7ad08d75be92·...·]</div>141 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····<span·class="comment">//·These·typedefs·are·private·because·they·must·be·overridden·in·derived·classes.</span></div>
 142 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03592.html">Factor</a>·<a·class="code·hl_class"·href="a03592.html">This</a>;·</div>
 143 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;Factor&gt;·shared_ptr;·</div>
157 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>144 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
158 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>····<span·class="keywordtype">double</span>·error(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03504.html">HybridValues</a>&amp;·c)·<span·class="keyword">const·override</span>;</div>145 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··<span·class="keyword">public</span>:</div>
 146 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno"><a·class="line"·href="a03592.html#acb069f38cc81bea20cecfad4070da59e">···77</a></span>····<span·class="keyword">typedef</span>·KeyVector::iterator·<a·class="code·hl_typedef"·href="a03592.html#acb069f38cc81bea20cecfad4070da59e">iterator</a>;</div>
159 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>147 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>
160 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno"><a·class="line"·href="a03780.html#a043b7743551077755ab0a2f7ce9145a9">···82</a></span>····<span·class="keyword">virtual</span>·<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseInd[·...·truncated·by·diffoscope;·len:·246,·SHA:·d3f02ef3f2eadf827dd3df49f1c62a7be9a646891bd14e64c3a4974cdc268417·...·];</div>148 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a03592.html#a71af7ad9e9474ebbcf2fdffc7f31251b">···80</a></span>····<span·class="keyword">typedef</span>·KeyVector::const_iterator·<a·class="code·hl_typedef"·href="a03592.html#a71af7ad9e9474ebb[·...·truncated·by·diffoscope;·len:·36,·SHA:·09f0c27bb52bdbe2cd18d828cd36a324feca2edb16feb1b671d15ddd3688d00c·...·];</div>
 149 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>
 150 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keyword">protected</span>:</div>
161 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>151 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·</div>
162 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno"><a·class="line"·href="a03780.html#aad92ba2bc352ae0e4c8e3089684f2fd2">···91</a></span>····<span·class="keyword">virtual</span>·Matrix·<a·class="code·hl_function"·href="a03780.html#aad92ba2bc352ae0e4c8e3089684f2fd2"[·...·truncated·by·diffoscope;·len:·63,·SHA:·356fb1891b02c1e58f24c1628be1c8f10477b75e630590d36ecc51985b288e73·...·];</div>152 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno"><a·class="line"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">···85</a></span>····<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·<a·class="code·hl_variable"·hr[·...·truncated·by·diffoscope;·len:·60,·SHA:·2b4c138c82c22074d47d3d0c4285fc6d06529c52afb5a6c0453155144f67af45·...·];</div>
 153 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>·</div>
 154 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>
 155 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno"><a·class="line"·href="a03592.html#a322a4d391be45b5909a65895fb7b023d">···91</a></span>····<a·class="code·hl_function"·href="a03592.html#a322a4d391be45b5909a65895fb7b023d">Factor</a>()·{}</div>
163 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div>156 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno">···92</span>·</div>
164 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno"><a·class="line"·href="a03780.html#a11f09725e7f12bb6a17d0b883c336908">··100</a></span>····<span·class="keyword">virtual</span>·std::pair&lt;Matrix,Vector&gt;·<a·class="code·hl_function"·href="a03780.html#a11f09725[·...·truncated·by·diffoscope;·len:·79,·SHA:·e39fc6f294885332fdd598293dc6a9d2171fe9720b8327518532efe5706f5968·...·];</div>157 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CONTAINER&gt;</div>
 158 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno"><a·class="line"·href="a03592.html#aa3d2ef6b21961e708a4cbe10b55be59b">···96</a></span>····<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03592.html#aa3d2ef6b21961e708a4cbe10b55be59b">Factor</a>(<span·class="keyword">const</span>·CONTAINER&amp;·keys)·:·keys_(keys.begin(),·keys.end())·{}</div>
 159 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>·</div>
 160 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·ITERATOR&gt;</div>
 161 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno"><a·class="line"·href="a03592.html#a70ff55886664229a25e29cf2a7bb1bb7">··101</a></span>····<a·class="code·hl_function"·href="a03592.html#a70ff55886664229a25e29cf2a7bb1bb7">Factor</a>(ITERATOR·first,·ITERATOR·last)·:·keys_(first,·last)·{}</div>
165 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>·</div>162 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>·</div>
166 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno"><a·class="line"·href="a03780.html#a9d0075b3f0fd624c5ae50784e29f9dc6">··110</a></span>····<span·class="keyword">virtual</span>·Matrix·<a·class="code·hl_function"·href="a03780.html#a9d0075b3f0fd624c5ae50784e29f9dc6"[·...·truncated·by·diffoscope;·len:·66,·SHA:·6318bfd5ff7e67adb7f1e2a74bae19f54c0effe95793b88ea8a6d30059748936·...·];</div>163 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·CONTAINER&gt;</div>
 164 <div·class="foldopen"·id="foldopen00106"·data-start="{"·data-end="}">
 165 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno"><a·class="line"·href="a03592.html#a5087976b9e398cd21305d33972feedad">··106</a></span>····<span·class="keyword">static</span>·<a·class="code·hl_class"·href="a03592.html">Factor</a>·<a·class="code·hl_function"·href="a03592.html#a5087976b9e398cd21305d33972feedad">FromKeys</a>(<span·class="keyword">const</span>·CONTAINER&amp;·keys)·{</div>
 166 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>······<span·class="keywordflow">return</span>·<a·class="code·hl_class"·href="a03592.html">Factor</a>(keys.begin(),·keys.end());·}</div>
 167 </div>
 168 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>·</div>
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75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
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82 <div·id="doc-content">82 <div·id="doc-content">
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">GaussianBayesTree-inl.h</div></div>104 ··<div·class="headertitle"><div·class="title">GaussianBayesTree-inl.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00854.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00827.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00785.html">gtsam/linear/GaussianBayesTree.h</a>&gt;</span>·<span·class="comment">//·Only·to·help·Eclipse</span></div>120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00752.html">gtsam/linear/GaussianBayesTree.h</a>&gt;</span>·<span·class="comment">//·Only·to·help·Eclipse</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;stdarg.h&gt;</span></div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;stdarg.h&gt;</span></div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="comment">/*·*************************************************************************·*/</span></div>126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="comment">/*·*************************************************************************·*/</span></div>
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span>internal·{</div>127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span>internal·{</div>
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150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keywordflow">return</span>·result;</div>151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keywordflow">return</span>·result;</div>
152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>}</div>152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>}</div>
153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="comment">/*·*************************************************************************·*/</span></div>154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="comment">/*·*************************************************************************·*/</span></div>
155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>}·<span·class="comment">//·\namespace·internal</span></div>155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>}·<span·class="comment">//·\namespace·internal</span></div>
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 135 <div·class="textblock"><p>Contains·the·HessianFactor·class,·a·general·quadratic·factor.·</p>
 136 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
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137 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert,·Yong-Dian·Jian·</dd></dl> 
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124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 125 <div·class="textblock"><p>Chordal·Bayes·Net,·the·result·of·eliminating·a·factor·graph.·</p>
 126 <p>GaussianBayesNet·</p><dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
125 <div·class="textblock"><p>Maps·global·variable·indices·to·slot·indices.·</p> 
126 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd> 
127 <dd> 
128 Frank·Dellaert·</dd></dl> 
129 <dl·class="section·date"><dt>Date</dt><dd>June·2015·</dd></dl> 
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130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04024.html">···32</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04024.html">SlotEntry</a>·{</div> 
131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key;</div>130 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a01428.html#aa9013a9053629f0c00b97726d9d8e19e">···38</a></span><a·class="code·hl_typedef"·href="a01428.html#a52b9b28b076a8ae17d6d3d72ee1229c3">SparseEigen</a>·<a·class="code·hl_function"·href=[·...·truncated·by·diffoscope;·len:·72,·SHA:·9d45ed272352556d6fcd78f8f0c1c69ef4837068f1c6d4e3c6d3aed241a56213·...·]</div>
 131 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·&amp;gfg,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>·&amp;ordering)·{</div>
 132 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··gttic_(SparseEigen_sparseJacobianEigen);</div>
 133 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·intermediate·`entries`·vector·is·kind·of·unavoidable·due·to·how·expensive</span></div>
 134 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="comment">//·factor-&gt;rows()·is,·which·prevents·us·from·populating·SparseEigen·directly.</span></div>
132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="keywordtype">size_t</span>·dimension;</div>135 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keywordtype">size_t</span>·nrows,·ncols;</div>
133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<a·class="code·hl_struct"·href="a04024.html">SlotEntry</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·_key,·<span·class="keywordtype">size_t</span>·_dimen[·...·truncated·by·diffoscope;·len:·43,·SHA:·b27ebe27583f2ebe2e678659373a925a3bfa6866446d7696d83233249984d123·...·]</div>136 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">auto</span>·entries·=·gfg.<a·class="code·hl_function"·href="a03792.html#a2ec5f64848183b75a6a3470c0750aeaa">sparseJacobian</a>(ordering,·nrows,·ncols);</div>
134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··std::string·toString()·<span·class="keyword">const</span>;</div>137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··<span·class="comment">//·declare·sparse·matrix</span></div>
135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">friend</span>·<span·class="keywordtype">bool</span>·operator&lt;(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04024.html">SlotEntry</a>&amp;·p,·<span·clas[·...·truncated·by·diffoscope;·len:·93,·SHA:·d37fdaf86fead234a71c01a1401ae2106518bde76eb87985dbe5483afd379fae·...·]</div>138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_typedef"·href="a01428.html#a52b9b28b076a8ae17d6d3d72ee1229c3">SparseEigen</a>·Ab(nrows,·ncols);</div>
 139 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="comment">//·See·Eigen::set_from_triplets.··This·is·about·5%·faster.</span></div>
 140 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="comment">//·pass·1:·count·the·nnz·per·inner-vector</span></div>
 141 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··std::vector&lt;int&gt;·nnz(ncols,·0);</div>
 142 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keywordflow">for</span>·(<span·class="keyword">const</span>·<span·class="keyword">auto</span>·&amp;entry·:·entries)·nnz[std::get&lt;1&gt;(entry)]++;</div>
 143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··Ab.reserve(nnz);</div>
 144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="comment">//·pass·2:·insert·the·elements</span></div>
 145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keywordflow">for</span>·(<span·class="keyword">const</span>·<span·class="keyword">auto</span>·&amp;entry·:·entries)</div>
 146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····Ab.insert(std::get&lt;0&gt;(entry),·std::get&lt;1&gt;(entry))·=·std::get&lt;2&gt;(entry);</div>
136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="keywordflow">return</span>·p.key·&lt;·q.key;</div>147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordflow">return</span>·Ab;</div>
137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··}</div> 
138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">static</span>·<span·class="keywordtype">bool</span>·Zero(<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04024.html">SlotEntry</a>&amp;·p)·{·<span·class="keywordflow">return</span>·p.dimension==0;}</div> 
139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>};</div>148 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>}</div>
140 </div>149 </div>
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
142 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="};"> 
143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a04028.html">···49</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04028.html">Scatter</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_typedef"·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">FastVector</a>&lt;SlotEntry&gt;·{</div> 
144 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·<span·class="keyword">public</span>:</div> 
145 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno"><a·class="line"·href="a04028.html#ad4220161208c55a3e426b0b078567a4b">···52</a></span>···GTSAM_EXPORT·<a·class="code·hl_function"·href="a04028.html#ad4220161208c55a3e426b0b078567a4b">Scatter</a>()·{}</div> 
146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>150 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
147 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>···GTSAM_EXPORT·<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a04028.html#ad4220161208c55a3e426b0b078567a4b">Scatter</a>(<span·class="keyword">const</span>·<a·class="code·hl_cl[·...·truncated·by·diffoscope;·len:·58,·SHA:·fcde0dc511fe36b025452b0a9594db8bd364f55e80b26003477fcc383c5e0072·...·]</div>151 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><a·class="code·hl_typedef"·href="a01428.html#a52b9b28b076a8ae17d6d3d72ee1229c3">SparseEigen</a>·<a·class="code·hl_function"·href="a01428.html#aa9013a9053629f0c00b97726d9d8e19e">sparseJacobianEigen</a>(<[·...·truncated·by·diffoscope;·len:·65,·SHA:·21cdbcb9f7b4da28ad19c83263393dcd9b2f713507892d8977c0df30bbfe2918·...·]</div>
 152 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··gttic_(SparseEigen_sparseJacobianEigen_defaultOrdering);</div>
 153 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keywordflow">return</span>·<a·class="code·hl_function"·href="a01428.html#aa9013a9053629f0c00b97726d9d8e19e">sparseJacobianEigen</a>(gfg,·Ordering(gfg.keys()));</div>
148 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>154 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>}</div>
149 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>···GTSAM_EXPORT·<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a04028.html#ad4220161208c55a3e426b0b078567a4b">Scatter</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>&amp;·gfg,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·ordering);</div> 
150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>···GTSAM_EXPORT·<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04028.html#a513b73f7ed08f72f79c1362d8959eb9a">add</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<span·class="keywordtype">size_t</span>·dim);</div> 
152 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>155 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
153 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·<span·class="keyword">private</span>:</div> 
154 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··iterator·find(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key);</div> 
155 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>};</div> 
156 </div> 
157 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div> 
158 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>}··<span·class="comment">//·\·namespace·gtsam</span></div>156 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>}··<span·class="comment">//·namespace·gtsam</span></div>
 157 <div·class="ttc"·id="aa00848_html"><div·class="ttname"><a·href="a00848.html">GaussianFactorGraph.h</a></div><div·class="ttdoc">Linear·Factor·Graph·where·all·factors·are·Gaussians.</div></div>
 158 <div·class="ttc"·id="aa00890_html"><div·class="ttname"><a·href="a00890.html">VectorValues.h</a></div><div·class="ttdoc">Factor·Graph·Values.</div></div>
159 <div·class="ttc"·id="aa00038_html"><div·class="ttname"><a·href="a00038.html">FastMap.h</a></div><div·class="ttdoc">A·thin·wrapper·around·std::map·that·uses·boost's·fast_pool_allocator.</div></div> 
160 <div·class="ttc"·id="aa00611_html"><div·class="ttname"><a·href="a00611.html">Key.h</a></div></div> 
161 <div·class="ttc"·id="aa01413_html_gafeaa7d82369f3ff952157586240273c8"><div·class="ttname"><a·href="a01413.html#gafeaa7d82369f3ff952157586240273c8">gtsam::FastVector</a></div><div·class="ttdeci">std::vector&lt;·T,·typename·internal::FastDefaultVectorAllocator&lt;·T·&gt;::type·&gt;·FastVector</div><div·class="ttdoc">FastVector·is·a·type·alias·to·a·std::vector·with·a·custom·memory·allocator.</div><div·class="ttdef"><b>Definition</b>·FastVector.h:34</div></div> 
162 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>159 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
163 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definitio[·...·truncated·by·diffoscope;·len:·17,·SHA:·1ce5d33b939d6a9f877e903ad54a6dc28d65ae6925aceb3cac4e6ad7a0dcfd7c·...·]</div></div>160 <div·class="ttc"·id="aa01428_html_a52b9b28b076a8ae17d6d3d72ee1229c3"><div·class="ttname"><a·href="a01428.html#a52b9b28b076a8ae17d6d3d72ee1229c3">gtsam::SparseEigen</a></div><div·class="ttdeci">Eigen::SparseMatrix&lt;·double,·Eigen::ColMajor,·int·&gt;·SparseEigen</div><div·class="ttdoc">Eige[·...·truncated·by·diffoscope;·len:·82,·SHA:·9901508b902cc3cf116a7811a65225666343f2f6cc6287ada683c1cd0ea13361·...·]</div></div>
 161 <div·class="ttc"·id="aa01428_html_aa9013a9053629f0c00b97726d9d8e19e"><div·class="ttname"><a·href="a01428.html#aa9013a9053629f0c00b97726d9d8e19e">gtsam::sparseJacobianEigen</a></div><div·class="ttdeci">SparseEigen·sparseJacobianEigen(const·GaussianFactorGraph·&amp;gfg,·const·Ordering·&amp;ordering)</div><div·class="ttdoc">Constructs·an·Eigen-format·SparseMatrix·of·a·GaussianFactorGraph.</div><div·class="ttdef"><b>Definition</b>·SparseEigen.h:38</div></div>
164 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>162 <div·class="ttc"·id="aa03680_html"><div·class="ttname"><a·href="a03680.html">gtsam::Ordering</a></div><div·class="ttdef"><b>Definition</b>·Ordering.h:34</div></div>
165 <div·class="ttc"·id="aa03792_html"><div·class="ttname"><a·href="a03792.html">gtsam::GaussianFactorGraph</a></div><div·class="ttdoc">A·Linear·Factor·Graph·is·a·factor·graph·where·all·factors·are·Gaussian,·i.e.</div><div·class="ttdef"><b>Definition</b>·GaussianFactorGraph.h:75</div></div>163 <div·class="ttc"·id="aa03792_html"><div·class="ttname"><a·href="a03792.html">gtsam::GaussianFactorGraph</a></div><div·class="ttdoc">A·Linear·Factor·Graph·is·a·factor·graph·where·all·factors·are·Gaussian,·i.e.</div><div·class="ttdef"><b>Definition</b>·GaussianFactorGraph.h:75</div></div>
 164 <div·class="ttc"·id="aa03792_html_a2ec5f64848183b75a6a3470c0750aeaa"><div·class="ttname"><a·href="a03792.html#a2ec5f64848183b75a6a3470c0750aeaa">gtsam::GaussianFactorGraph::sparseJacobian</a></div><div·class="ttdeci">std::vector&lt;·std::tuple&lt;·int,·int,·double·&gt;·&gt;·sparseJacobian(const·Ordering·&amp;ordering,·size_t·&amp;nrows,·size_t·&amp;ncols)·const</div><div·class="ttdoc">Returns·a·sparse·augmented·Jacbian·matrix·as·a·vector·of·i,·j,·and·s,·where·i(k)·and·j(k)·are·the·bas...</div><div·class="ttdef"><b>Definition</b>·GaussianFactorGraph.cpp:119</div></div>
166 <div·class="ttc"·id="aa04024_html"><div·class="ttname"><a·href="a04024.html">gtsam::SlotEntry</a></div><div·class="ttdoc">One·SlotEntry·stores·the·slot·index·for·a·variable,·as·well·its·dim.</div><div·class="ttdef"><b>Definition</b>·Scatter.h:32</div></div> 
167 <div·class="ttc"·id="aa04028_html"><div·class="ttname"><a·href="a04028.html">gtsam::Scatter</a></div><div·class="ttdoc">Scatter·is·an·intermediate·data·structure·used·when·building·a·HessianFactor·incrementally,...</div><div·class="ttdef"><b>Definition</b>·Scatter.h:49</div></div> 
168 <div·class="ttc"·id="aa04028_html_a513b73f7ed08f72f79c1362d8959eb9a"><div·class="ttname"><a·href="a04028.html#a513b73f7ed08f72f79c1362d8959eb9a">gtsam::Scatter::add</a></div><div·class="ttdeci">GTSAM_EXPORT·void·add(Key·key,·size_t·dim)</div><div·class="ttdoc">Add·a·key/dim·pair.</div><div·class="ttdef"><b>Definition</b>·Scatter.cpp:76</div></div> 
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134 Frank·Dellaert·</dd></dl>134 Frank·Dellaert·</dd></dl>
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129 <div·class="textblock"><p>Iterative·methods,·template·implementation.·</p>125 <div·class="textblock"><p>Provides·partially·implemented·constraints·to·implement·bounds.·</p>
130 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>126 <dl·class="section·author"><dt>Author</dt><dd>Alex·Cunningham·</dd></dl>
131 <dl·class="section·date"><dt>Date</dt><dd>Dec·28,·2009·</dd></dl> 
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">iterative-inl.h</div></div>104 ··<div·class="headertitle"><div·class="title">ISAM2Clique.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
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 118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="comment">//·\callgraph</span></div>
 119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>
 122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00587.html">gtsam/inference/BayesTreeCliqueBase.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00590.html">gtsam/inference/Key.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00797.html">gtsam/linear/iterative.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00734.html">gtsam/linear/GaussianBayesNet.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00728.html">gtsam/linear/ConjugateGradientSolver.h</a>&gt;</span></div>125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00749.html">gtsam/linear/GaussianConditional.h</a>&gt;</span></div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="comment">/*·*************************************************************************·*/</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="comment">//·state·for·CG·method</span></div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·S,·<span·class="keyword">class</span>·V,·<span·class="keyword">class</span>·E&gt;</div> 
129 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};">131 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">
 132 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04404.html">···36</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04404.html">ISAM2Clique</a></div>
 133 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase</a>&lt;ISAM2Clique,·GaussianFactorGraph&gt;·{</div>
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a03820.html">···30</a></span>··<span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03820.html">CGState</a>·{</div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03728.html">ConjugateGradientParameters</a>·<a·class="code·hl_class"·href="a03728.html">Parameters</a>;</div> 
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03728.html">Parameters</a>·&amp;parameters_;</div> 
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div> 
135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a03820.html#a57ba7e407a63bdc77e53e8ff76985ab3">···35</a></span>····<span·class="keywordtype">int</span>·<a·class="code·hl_variable"·href="a03820.html#a57ba7e407a63bdc77e53e8ff76985ab3">k</a>;·····················</div> 
136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03820.html#a0ec86902a54fdd09f879a398b60fb585">···36</a></span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a03820.html#a0ec86902a54fdd09f879a398b60fb585">steepest</a>;·············</div> 
137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">···37</a></span>····V·g,·<a·class="code·hl_variable"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">d</a>;····················</div> 
138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a03820.html#a377969b240efda1b91aec68ac0fd1273">···38</a></span>····<span·class="keywordtype">double</span>·gamma,·<a·class="code·hl_variable"·href="a03820.html#a377969b240efda1b91aec68ac0fd1273">threshold</a>;···</div> 
139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····E·Ad;</div> 
140 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<span·class="comment">/*·*************************************************************************·*/</span></div> 
142 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="comment">//·Constructor</span></div>134 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·<span·class="keyword">public</span>:</div>
143 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<a·class="code·hl_struct"·href="a03820.html">CGState</a>(<span·class="keyword">const</span>·S&amp;·Ab,·<span·class="keyword">const</span>·V&amp;·x,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03728.html">Parameters</a>·&amp;parameters,·<span·class="keywordtype">bool</span>·steep):</div> 
144 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····parameters_(parameters),<a·class="code·hl_variable"·href="a03820.html#a57ba7e407a63bdc77e53e8ff76985ab3">k</a>(0),<a·class="code·hl_variable"·href="a03820.html#a0ec86902a54fdd09f879a398b60fb585">st[·...·truncated·by·diffoscope;·len:·19,·SHA:·954098ca957ecc0d489b97bf54caa94f7c1f5a9e7d5b16109954e2f48f3d0b60·...·]</div>135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04404.html">ISAM2Clique</a>·<a·class="code·hl_class"·href="a04404.html">This</a>;</div>
 136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase&lt;This,·GaussianFactorGraph&gt;</a>·Base;</div>
 137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
 138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">typedef</span>·boost::weak_ptr&lt;This&gt;·weak_ptr;</div>
 139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03764.html">GaussianConditional</a>·<a·class="code·hl_class"·href="a03764.html">ConditionalType</a>;</div>
 140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_typedef"·href="a03764.html#aca05dc6ca9aea64f4621a8c8d2bf3d01">ConditionalType::shared_ptr</a>·sharedConditional;</div>
145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··Base::FactorType::shared_ptr·cachedFactor_;</div>
146 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>······<span·class="comment">//·Start·with·g0·=·A&#39;*(A*x0-b),·d0·=·-·g0</span></div> 
147 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······<span·class="comment">//·i.e.,·first·step·is·in·direction·of·negative·gradient</span></div> 
148 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>······g·=·Ab.gradient(x);</div>143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··Vector·gradientContribution_;</div>
149 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······<a·class="code·hl_variable"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">d</a>·=·g;·<span·class="comment">//·instead·of·negating·gradient,·alpha·will·be·negated</span></div>144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="preprocessor">#ifdef·USE_BROKEN_FAST_BACKSUBSTITUTE</span></div>
 145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">mutable</span>·<a·class="code·hl_class"·href="a02316.html">FastMap&lt;Key,·VectorValues::iterator&gt;</a>·solnPointers_;</div>
 146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="preprocessor">#endif</span></div>
150 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a04404.html#a65df62d31a1b1634ab9ebd9e2bbe32a8">···53</a></span>··<a·class="code·hl_function"·href="a04404.html#a65df62d31a1b1634ab9ebd9e2bbe32a8">ISAM2Clique</a>()·:·Base()·{}</div>
 149 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a04404.html">~ISAM2Clique</a>()·=·<span·class="keywordflow">default</span>;</div>
151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······<span·class="comment">//·init·gamma·and·calculate·threshold</span></div> 
152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······gamma·=·<a·class="code·hl_function"·href="a01428.html#ad80249acf12bbea741e755cd8fc73042">dot</a>(g,g);</div> 
153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······<a·class="code·hl_variable"·href="a03820.html#a377969b240efda1b91aec68ac0fd1273">threshold</a>·=·std::max(parameters_.epsilon_abs(),·parameters_.epsilon()·*·parameters_.epsilon()·*·gamma);</div> 
154 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>150 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
155 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······<span·class="comment">//·Allocate·and·calculate·A*d·for·first·iteration</span></div> 
156 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······<span·class="keywordflow">if</span>·(gamma·&gt;·parameters_.epsilon_abs())·Ad·=·Ab·*·<a·class="code·hl_variable"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">d</a>;</div>151 <div·class="foldopen"·id="foldopen00058"·data-start="{"·data-end="}">
 152 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno"><a·class="line"·href="a04404.html#a19fabd19af262f6e8bda230a2efadc82">···58</a></span>··<a·class="code·hl_function"·href="a04404.html#a19fabd19af262f6e8bda230a2efadc82">ISAM2Clique</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04404.html">ISAM2Clique</a>&amp;·other)</div>
157 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····}</div>153 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>······:·Base(other),</div>
158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div> 
159 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="comment">/*·*************************************************************************·*/</span></div> 
160 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="comment">//·print</span></div> 
161 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<span·class="keywordtype">void</span>·print(<span·class="keyword">const</span>·V&amp;·x)·{</div> 
162 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>······std::cout·&lt;&lt;·<span·class="stringliteral">&quot;iteration·=·&quot;</span>·&lt;&lt;·<a·class="code·hl_variable"·href="a03820.html#a57ba7e407a63bdc77e53e8ff76985ab3">k</a>·&lt;&lt;·std::endl;</div> 
163 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(x,<span·class="stringliteral">&quot;x&quot;</span>);</div> 
164 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(g,·<span·class="stringliteral">&quot;g&quot;</span>);</div> 
165 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······std::cout·&lt;&lt;·<span·class="stringliteral">&quot;dotg·=·&quot;</span>·&lt;&lt;·gamma·&lt;&lt;·std::endl;</div> 
166 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(<a·class="code·hl_variable"·href="a03820.html#af7b2174dd081a48416a7f4b3bdbeda66">d</a>,·<span·class="stringliteral">&quot;d&quot;</span>);</div> 
167 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a>(Ad,·<span·class="stringliteral">&quot;Ad&quot;</span>);</div> 
168 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····}</div>154 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>········cachedFactor_(other.cachedFactor_),</div>
 155 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>········gradientContribution_(other.gradientContribution_)·{}</div>
 156 </div>
169 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>157 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 158 <div·class="foldopen"·id="foldopen00065"·data-start="{"·data-end="}">
 159 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a04404.html#a3409885cf82ae7cc29c9055603e39b43">···65</a></span>··<a·class="code·hl_class"·href="a04404.html">ISAM2Clique</a>&amp;·<a·class="code·hl_function"·href="a04404.html#a3409885cf82ae7cc29c9055603e39b43">operator=</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04404.html">ISAM2Clique</a>&amp;·other)·{</div>
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102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">KalmanFilter.h</div></div>104 ··<div·class="headertitle"><div·class="title">linearExceptions.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00881.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00821.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00812.html">gtsam/linear/GaussianDensity.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00770.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/ThreadsafeException.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00824.html">gtsam/linear/NoiseModel.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00146.html">gtsam/base/types.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#ifndef·KALMANFILTER_DEFAULT_FACTORIZATION</span></div> 
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#define·KALMANFILTER_DEFAULT_FACTORIZATION·QR</span></div> 
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#endif</span></div> 
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div> 
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
130 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="};">125 <div·class="foldopen"·id="foldopen00094"·data-start="{"·data-end="};">
131 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a03852.html">···41</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03852.html">KalmanFilter</a>·{</div> 
132 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>126 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno"><a·class="line"·href="a03864.html">···94</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03864.html">IndeterminantLinearSystemException</a>·:·<span·class="keyword">publi[·...·truncated·by·diffoscope;·len:·120,·SHA:·3e75e489aa7bb4258835f546971709822c42428bc366edd0fe91fa68f5f46a8e·...·]</div>
 127 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>····<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j_;</div>
133 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">public</span>:</div>128 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··<span·class="keyword">public</span>:</div>
134 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·</div> 
135 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="};"> 
136 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a03852.html#a0e169084c003be746ef37e980b8266a0">···49</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a03852.html#a0e169084c003be746ef37e980b8266a0">Factorization</a>·{</div> 
137 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····QR,·CHOLESKY</div>129 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>····<a·class="code·hl_class"·href="a03864.html">IndeterminantLinearSystemException</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j)·noexcept·:·j_(j)·{}</div>
 130 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>····<a·class="code·hl_class"·href="a03864.html">~IndeterminantLinearSystemException</a>()·<span·class="keyword">noexcept</span>·<span·class="keyword">override</span>·{}</div>
 131 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>····<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·nearbyVariable()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·j_;·}</div>
 132 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>····<span·class="keyword">const</span>·<span·class="keywordtype">char</span>*·what()·<span·class="keyword">const</span>·<span·class="keyword">noexcept</span>·<span·class="keyword">override</span>;</div>
138 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··};</div>133 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>··};</div>
139 </div>134 </div>
140 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>135 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>·</div>
 136 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
141 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">···56</a></span>··<span·class="keyword">typedef</span>·GaussianDensity::shared_ptr·<a·class="code·hl_typedef"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">State</a>;</div> 
142 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div> 
143 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><span·class="keyword">private</span>:</div> 
144 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
145 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·n_;·</div> 
146 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">const</span>·Matrix·I_;·</div> 
147 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03580.html#a4053522180fd649baf38a49c515e7b53">GaussianFactorGraph::Eliminate</a>·function_;·</div> 
148 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<a·class="code·hl_typedef"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">State</a>·solve(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>&amp;·factorGraph)·<span·class="keyword">const</span>;</div> 
149 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<a·class="code·hl_typedef"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">State</a>·fuse(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a03852.html#a943f07d46bc01eac1070cd08fc193cc1">State</a>&amp;·p,·<a·class="code·hl_typedef"·href="a03780.html#a0eeee0de6e144fedc937d7272be80a36">GaussianFactor::shared_ptr</a>·newFactor)·<span·class="keyword">const</span>;</div> 
150 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div> 
151 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span><span·class="keyword">public</span>:</div> 
152 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div> 
153 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··<span·class="comment">//·Constructor</span></div> 
154 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<a·class="code·hl_class"·href="a03852.html">KalmanFilter</a>(<span·class="keywordtype">size_t</span>·n,·<a·class="code·hl_enumeration"·href="a03852.html#a0e169084c003be746ef37e980b8266a0">Factorization</a>·method·=</div> 
155 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······KALMANFILTER_DEFAULT_FACTORIZATION)·:</div> 
156 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······n_(n),·I_(Matrix::Identity(n_,·n_)),·function_(</div> 
157 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··········method·==·QR·?·<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>::Eliminate(<a·class="code·hl_function"·href="a01428.html#ab56c4bfa363f8c23c48eb078e9c84a9c">EliminateQR</a>)·:</div> 
158 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··············<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>::Eliminate(<a·class="code·hl_function"·href="a01410.html#ga37760d3ca31c6d8d60a3a2a17babc3a4">EliminateCholesky</a>))·{</div> 
159 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··}</div> 
160 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div> 
161 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··State·init(<span·class="keyword">const</span>·Vector&amp;·x0,·<span·class="keyword">const</span>·SharedDiagonal&amp;·P0)·<span·class="keyword">const</span>;</div> 
162 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div> 
163 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span>··State·init(<span·class="keyword">const</span>·Vector&amp;·x0,·<span·class="keyword">const</span>·Matrix&amp;·P0)·<span·class="keyword">const</span>;</div> 
164 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>·</div> 
165 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string&amp;·s·=·<span·class="stringliteral">&quot;&quot;</span>)·<span·class="keyword">const</span>;</div> 
166 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>·</div> 
167 <div·class="foldopen"·id="foldopen00092"·data-start="{"·data-end="}">137 <div·class="foldopen"·id="foldopen00106"·data-start="{"·data-end="};">
168 <div·class="line"><a·id="l00092"·name="l00092"></a><span·class="lineno"><a·class="line"·href="a03852.html#a511b92f76e4d965f50f88a805af12ff8">···92</a></span>··<span·class="keyword">static</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·<[·...·truncated·by·diffoscope;·len:·221,·SHA:·5108839d5b7369ecb5ac0fd055185f61d21f3fb8a7a87abc608f0eeceae62fd4·...·]·{</div>138 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno"><a·class="line"·href="a03868.html">··106</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03868.html">InvalidNoiseModel</a>·:·<span·class="keyword">public</span>·<a·clas[·...·truncated·by·diffoscope;·len:·85,·SHA:·c82f14b64bb1543d1988e1ffd083abdedd1947af84a5a978882395c2fbe76894·...·]·{</div>
169 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>····<span·class="keywordflow">return</span>·p-&gt;firstFrontalKey();</div>139 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>··<span·class="keyword">public</span>:</div>
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131 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>139 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
132 <dl·class="section·date"><dt>Date</dt><dd>Aug·17,·2012·</dd></dl>140 <dd>
 141 Zsolt·Kira·</dd>
 142 <dd>
 143 Frank·Dellaert·</dd></dl>
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100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">linearExceptions.h</div></div>104 ··<div·class="headertitle"><div·class="title">LevenbergMarquardtOptimizer.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00887.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01112.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00089.html">gtsam/base/ThreadsafeException.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00125.html">gtsam/base/types.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01052.html">gtsam/nonlinear/NonlinearOptimizer.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01166.html">gtsam/nonlinear/LevenbergMarquardtParams.h</a>&gt;</span></div>
 122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00890.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/date_time/posix_time/posix_time.hpp&gt;</span></div>
 124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
 125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">class·</span>NonlinearOptimizerMoreOptimizationTest;</div>
 126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
125 <div·class="foldopen"·id="foldopen00094"·data-start="{"·data-end="};">129 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
126 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno"><a·class="line"·href="a03864.html">···94</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03864.html">IndeterminantLinearSystemException</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a02496.html">ThreadsafeException</a>&lt;IndeterminantLinearSystemException&gt;·{</div> 
127 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>····<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j_;</div>130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04436.html">···35</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04436.html">LevenbergMarquardtOptimizer</a>:·<span·class="keyword">public</span>·<[·...·truncated·by·diffoscope;·len:·67,·SHA:·2e6cf611bb093af42c11c4032247ed84cbe3dea3019f32d3b72e416e39c19b02·...·]</div>
 131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="keyword">protected</span>:</div>
 133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a04436.html#a81721702704bfbd35d14db2b1978f911">···38</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>·<a·class="code·hl_variable"·href="a04436.html#a81721702704bfbd35d14db2b1978f911">params_</a>;·</div>
 134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··boost::posix_time::ptime·startTime_;</div>
 135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
 136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordtype">void</span>·initTime();</div>
 137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
128 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>··<span·class="keyword">public</span>:</div>138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">public</span>:</div>
129 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno">···97</span>····<a·class="code·hl_class"·href="a03864.html">IndeterminantLinearSystemException</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j)·noexcept·:·j_(j)·{}</div> 
130 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>····<a·class="code·hl_class"·href="a03864.html">~IndeterminantLinearSystemException</a>()·<span·class="keyword">noexcept</span>·<span·class="keyword">override</span>·{}</div> 
131 <div·class="line"><a·id="l00099"·name="l00099"></a><span·class="lineno">···99</span>····<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·nearbyVariable()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·j_;·}</div> 
132 <div·class="line"><a·id="l00100"·name="l00100"></a><span·class="lineno">··100</span>····<span·class="keyword">const</span>·<span·class="keywordtype">char</span>*·what()·<span·class="keyword">const</span>·<span·class="keyword">noexcept</span>·<span·class="keyword">override</span>;</div>139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;LevenbergMarquardtOptimizer&gt;·shared_ptr;</div>
 140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 142 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<a·class="code·hl_class"·href="a04436.html">LevenbergMarquardtOptimizer</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialValues,</div>
 143 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>&amp;·params·=·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>());</div>
 144 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 145 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<a·class="code·hl_class"·href="a04436.html">LevenbergMarquardtOptimizer</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialValues,</div>
 146 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·ordering,</div>
 147 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>&amp;·params·=·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>());</div>
 148 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
 149 <div·class="foldopen"·id="foldopen00072"·data-start="{"·data-end="}">
 150 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno"><a·class="line"·href="a04436.html#a173eabb76bd68cf8fb01665c64d9a649">···72</a></span>··<a·class="code·hl_function"·href="a04436.html#a173eabb76bd68cf8fb01665c64d9a649">~LevenbergMarquardtOptimizer</a>()<span·class="keyword">·override·</span>{</div>
133 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>··};</div>151 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··}</div>
134 </div>152 </div>
 153 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 154 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>
 155 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
 156 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keywordtype">double</span>·lambda()·<span·class="keyword">const</span>;</div>
 157 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>
 158 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<span·class="keywordtype">int</span>·getInnerIterations()·<span·class="keyword">const</span>;</div>
 159 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
 160 <div·class="foldopen"·id="foldopen00087"·data-start="{"·data-end="}">
 161 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a04436.html#a899353dce14ec64bf389164011b58c72">···87</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04436.html#a899353dce14ec64bf389164011b58c72">print</a>(<span·class="keyword">const</span>·std::string&amp;·str·=·<span·class="stringliteral">&quot;&quot;</span>)<span·class="keyword">·const·</span>{</div>
 162 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····std::cout·&lt;&lt;·str·&lt;&lt;·<span·class="stringliteral">&quot;LevenbergMarquardtOptimizer&quot;</span>·&lt;&lt;·std::endl;</div>
 163 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>····this-&gt;params_.print(<span·class="stringliteral">&quot;··parameters:\n&quot;</span>);</div>
 164 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··}</div>
 165 </div>
 166 <div·class="line"><a·id="l00091"·name="l00091"></a><span·class="lineno">···91</span>·</div>
 167 <div·class="line"><a·id="l00093"·name="l00093"></a><span·class="lineno">···93</span>·</div>
 168 <div·class="line"><a·id="l00096"·name="l00096"></a><span·class="lineno">···96</span>·</div>
 169 <div·class="line"><a·id="l00101"·name="l00101"></a><span·class="lineno">··101</span>··<a·class="code·hl_typedef"·href="a03792.html#a1f73f4987b9bdaac5c1414a401c0364c">GaussianFactorGraph::shared_ptr</a>·iterate()·<span·class="keyword">override</span>;</div>
135 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>·</div>170 <div·class="line"><a·id="l00102"·name="l00102"></a><span·class="lineno">··102</span>·</div>
136 <div·class="line"><a·id="l00103"·name="l00103"></a><span·class="lineno">··103</span>··<span·class="comment">/*·*************************************************************************·*/</span></div> 
137 <div·class="foldopen"·id="foldopen00106"·data-start="{"·data-end="};">171 <div·class="foldopen"·id="foldopen00104"·data-start="{"·data-end="}">
138 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno"><a·class="line"·href="a03868.html">··106</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a03868.html">InvalidNoiseModel</a>·:·<span·class="keyword">public</span>·<a·class=[·...·truncated·by·diffoscope;·len:·84,·SHA:·47ac92aca915d51c3890b08e796110a555c058dde19990b9a522a3fe7ca5ca2b·...·]{</div>172 <div·class="line"><a·id="l00104"·name="l00104"></a><span·class="lineno"><a·class="line"·href="a04436.html#a3b8146a2452e87a600c61d9a2b195ef0">··104</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>&amp;·<a·class="code[·...·truncated·by·diffoscope;·len:·115,·SHA:·151ce31db4cdbe505aaecc01c28e8690f2754dfa179026f97ca77f4a98d0259f·...·]{</div>
139 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>··<span·class="keyword">public</span>:</div>173 <div·class="line"><a·id="l00105"·name="l00105"></a><span·class="lineno">··105</span>····<span·class="keywordflow">return</span>·params_;</div>
140 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno"><a·class="line"·href="a03868.html#a725a99a84ba90f5847f283c5c63ad7f4">··108</a></span>····<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·<a·class="code·hl_variable"·href="a03868.html#a725a99a84ba90f5847f283c5c63ad7f4">factorDims</a>;·</div> 
141 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno"><a·class="line"·href="a03868.html#af1938d77a9e6086a0ffe9352bac15467">··109</a></span>····<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex[·...·truncated·by·diffoscope;·len:·106,·SHA:·d9f6ad4405529eb3205e044c8960d0cf9850377f9eb0c8e2fb1004ced72f929d·...·]</div>174 <div·class="line"><a·id="l00106"·name="l00106"></a><span·class="lineno">··106</span>··}</div>
 175 </div>
142 <div·class="line"><a·id="l00110"·name="l00110"></a><span·class="lineno">··110</span>·</div>176 <div·class="line"><a·id="l00107"·name="l00107"></a><span·class="lineno">··107</span>·</div>
143 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>····<a·class="code·hl_class"·href="a03868.html">InvalidNoiseModel</a>(<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·factorDims,·<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·noiseModelDims)·:</div> 
144 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>······factorDims(factorDims),·noiseModelDims(noiseModelDims)·{}</div> 
145 <div·class="line"><a·id="l00113"·name="l00113"></a><span·class="lineno">··113</span>····<a·class="code·hl_class"·href="a03868.html">~InvalidNoiseModel</a>()·noexcept<span·class="keyword">·override·</span>{}</div>177 <div·class="line"><a·id="l00108"·name="l00108"></a><span·class="lineno">··108</span>··<span·class="keywordtype">void</span>·writeLogFile(<span·class="keywordtype">double</span>·currentError);</div>
 178 <div·class="line"><a·id="l00109"·name="l00109"></a><span·class="lineno">··109</span>·</div>
 179 <div·class="line"><a·id="l00111"·name="l00111"></a><span·class="lineno">··111</span>··<span·class="keyword">virtual</span>·<a·class="code·hl_typedef"·href="a03792.html#a1f73f4987b9bdaac5c1414a401c0364c">GaussianFactorGraph::shared_ptr</a>·linearize()·<span·class="keyword">const</span>;</div>
146 <div·class="line"><a·id="l00114"·name="l00114"></a><span·class="lineno">··114</span>·</div>180 <div·class="line"><a·id="l00112"·name="l00112"></a><span·class="lineno">··112</span>·</div>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
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100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">AcceleratedPowerMethod.h</div></div>104 ··<div·class="headertitle"><div·class="title">TranslationRecovery.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00899.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01232.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2020,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Unit3.h&gt;</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01112.html">gtsam/nonlinear/LevenbergMarquardtOptimizer.h</a>&gt;</span></div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01121.html">gtsam/nonlinear/Values.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00716.html">gtsam/linear/PowerMethod.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01205.html">gtsam/sfm/BinaryMeasurement.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;set&gt;</span></div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
 126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
 127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">using·</span>Sparse·=·Eigen::SparseMatrix&lt;double&gt;;</div>130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="comment">//·Set·up·an·optimization·problem·for·the·unknown·translations·Ti·in·the·world</span></div>
 131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">//·coordinate·frame,·given·the·known·camera·attitudes·wRi·with·respect·to·the</span></div>
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">//·world·frame,·and·a·set·of·(noisy)·translation·directions·of·type·Unit3,</span></div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">//·w_aZb.·The·measurement·equation·is</span></div>
 134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="comment">//····w_aZb·=·Unit3(Tb·-·Ta)···(1)</span></div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="comment">//·i.e.,·w_aZb·is·the·translation·direction·from·frame·A·to·B,·in·world</span></div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">//·coordinates.·Although·Unit3·instances·live·on·a·manifold,·following</span></div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="comment">//·Wilson14eccv_1DSfM.pdf·error·we·compute·the·*chordal·distance*·in·the</span></div>
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="comment">//·ambient·world·coordinate·frame.</span></div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="comment">//</span></div>
126 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Operator&gt;</div>140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="comment">//·It·is·clear·that·we·cannot·recover·the·scale,·nor·the·absolute·position,</span></div>
 141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="comment">//·so·the·gauge·freedom·in·this·case·is·3·+·1·=·4.·We·fix·these·by·taking·fixing</span></div>
 142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="comment">//·the·translations·Ta·and·Tb·associated·with·the·first·measurement·w_aZb,</span></div>
 143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="comment">//·clamping·them·to·their·initial·values·as·given·to·this·method.·If·no·initial</span></div>
 144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="comment">//·values·are·given,·we·use·the·origin·for·Tb·and·set·Tb·to·make·(1)·come</span></div>
 145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="comment">//·through,·i.e.,</span></div>
 146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="comment">//····Tb·=·s·*·wRa·*·Point3(w_aZb)·····(2)</span></div>
 147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="comment">//·where·s·is·an·arbitrary·scale·that·can·be·supplied,·default·1.0.·Hence,·two</span></div>
 148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="comment">//·versions·are·supplied·below·corresponding·to·whether·we·have·initial·values</span></div>
 149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="comment">//·or·not.</span></div>
127 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="};">150 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="};">
 151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a04756.html">···51</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04756.html">TranslationRecovery</a>·{</div>
128 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a03716.html">···51</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a03716.html">AcceleratedPowerMethod</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03980.html">PowerMethod</a>&lt;Operator&gt;·{</div> 
129 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
130 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keywordtype">double</span>·beta_·=·0;··<span·class="comment">//·a·Polyak·momentum·term</span></div> 
131 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div> 
132 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··Vector·previousVector_;··<span·class="comment">//·store·previous·vector</span></div> 
133 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div> 
134 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·<span·class="keyword">public</span>:</div>152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·<span·class="keyword">public</span>:</div>
 153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">using·</span>KeyPair·=·std::pair&lt;Key,·Key&gt;;</div>
 154 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">using·</span>TranslationEdges·=·std::vector&lt;BinaryMeasurement&lt;Unit3&gt;&gt;;</div>
 155 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>
 156 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·<span·class="keyword">private</span>:</div>
 157 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="comment">//·Translation·directions·between·camera·pairs.</span></div>
 158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··TranslationEdges·relativeTranslations_;</div>
 159 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 160 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="comment">//·Parameters.</span></div>
 161 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>·lmParams_;</div>
 162 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 163 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·<span·class="keyword">public</span>:</div>
135 <div·class="foldopen"·id="foldopen00062"·data-start="{"·data-end="}">164 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}">
 165 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a04756.html#ab6136c6f0473cddbfcfbb32ad8e83ec5">···69</a></span>··<a·class="code·hl_function"·href="a04756.html#ab6136c6f0473cddbfcfbb32ad8e83ec5">TranslationRecovery</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>·&amp;lmParams)</div>
136 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno"><a·class="line"·href="a03716.html#a1aae79479b85879cc10e97f081dcfd19">···62</a></span>··<span·class="keyword">explicit</span>·<a·class="code·hl_function"·href="a03716.html#a1aae79479b85879cc10e97f081dcfd19">AcceleratedPowerMethod</a>(</div> 
137 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<span·class="keyword">const</span>·Operator·&amp;A,·<span·class="keyword">const</span>·boost::optional&lt;Vector&gt;·initial·=·boost::none,</div> 
138 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>······<span·class="keywordtype">double</span>·initialBeta·=·0.0)</div> 
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122 <div·class="textblock"><p>Header·file·for·Barometric·factor.·</p>125 <div·class="textblock"><p>Cyclic·group,·i.e.,·the·integers·modulo·N.·</p>
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124 <dl·class="section·date"><dt>Date</dt><dd>December·16,·2021·</dd></dl> 
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98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
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102 ··<div·class="headertitle"><div·class="title">PreintegrationParams.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">JunctionTree.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
 105 <p>The·junction·tree.··
 106 <a·href="#details">More...</a></p>
  
105 <p><a·href="a00929_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00659_source.html">Go·to·the·source·code·of·this·file.</a></p>
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109 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04220.html">gtsam::PreintegrationParams</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a03652.html">gtsam::JunctionTree&lt;·BAYESTREE,·GRAPH·&gt;</a></td></tr>
110 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Parameters·for·pre-integration:·Usage:·Create·just·a·single·Params·and·pass·a·shared·pointer·to·the·constructor.··<a·href="a04220.html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">A·<a·class="el"·href="a03652.html"·title="A·JunctionTree·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,...">JunctionTree</a>·is·a·cluster·tree,·a·set·of·variable·clusters·with·factors,·arranged·in·a·tree,·with·the·additiona[·...·truncated·by·diffoscope;·len:·91,·SHA:·de8d8986a981a931563f0da607e00bf56021efb9734e2301eb56486a19c2cecc·...·].html#details">More...</a><br·/></td></tr>
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116 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
117 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
118 </table>120 </table>
119 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
 122 <div·class="textblock"><p>The·junction·tree.·</p>
 123 <dl·class="section·date"><dt>Date</dt><dd>Feb·4,·2010·</dd></dl>
 124 <dl·class="section·author"><dt>Author</dt><dd>Kai·Ni·</dd>
120 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd> 
121 <dd> 
122 Stephen·Williams·</dd> 
123 <dd> 
124 Richard·Roberts·</dd> 
125 <dd> 
126 Vadim·Indelman·</dd> 
127 <dd> 
128 David·Jensen·</dd> 
129 <dd>125 <dd>
130 Frank·Dellaert</dd>126 Frank·Dellaert·</dd>
131 <dd>127 <dd>
132 Frank·Dellaert·</dd></dl>128 Richard·Roberts·</dd></dl>
133 </div></div><!--·contents·-->129 </div></div><!--·contents·-->
134 </div><!--·doc-content·-->130 </div><!--·doc-content·-->
135 <!--·start·footer·part·-->131 <!--·start·footer·part·-->
136 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->132 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
137 ··<ul>133 ··<ul>
138 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00929.html">PreintegrationParams.h</a></li>134 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_169eaf73225633059c1416b195c6cb0d.html">inference</a></li><li·class="navelem"><a·class="el"·href="a00659.html">JunctionTree.h</a></li>
139 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>135 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">PreintegrationParams.h</div></div>104 ··<div·class="headertitle"><div·class="title">SymbolicBayesTree.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00929.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01373.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
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115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;boost/make_shared.hpp&gt;</span></div> 
122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
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125 <div·class="foldopen"·id="foldopen00026"·data-start="{"·data-end="};"> 
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno"><a·class="line"·href="a04220.html">···26</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04220.html">PreintegrationParams</a>:·<a·class="code·hl_struct"·href="a04204.html">PreintegratedRotationParams</a>·{</div> 
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno"><a·class="line"·href="a04220.html#a1fb0a8f02d0568b27b2bd6a25c558935">···29</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04220.html#a1fb0a8f02d0568b27b2bd6a25c558935">accelerometerCovariance</a>;</div> 
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a04220.html#a593988febdb8bbf93a2524f14b98d16a">···30</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04220.html#a593988febdb8bbf93a2524f14b98d16a">integrationCovariance</a>;·</div> 
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a04220.html#a2732ec155327ae88f23a6b983c173162">···31</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04220.html#a2732ec155327ae88f23a6b983c173162">use2ndOrderCoriolis</a>;·</div> 
130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04220.html#a355a21d1ad3b0ab250ab8596790eb387">···32</a></span>··Vector3·<a·class="code·hl_variable"·href="a04220.html#a355a21d1ad3b0ab250ab8596790eb387">n_gravity</a>;·</div> 
131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
132 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="}">131 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">
 132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a04980.html">···33</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04980.html">SymbolicBayesTreeClique</a>·:</div>
 133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase</a>&lt;SymbolicBayesTreeClique,·SymbolicFactorGraph&gt;</div>
133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04220.html#a2b734623439aeb465143f0ca4a918ad8">···35</a></span>··<a·class="code·hl_function"·href="a04220.html#a2b734623439aeb465143f0ca4a918ad8">PreintegrationParams</a>()</div> 
134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>······:·<a·class="code·hl_struct"·href="a04204.html">PreintegratedRotationParams</a>(),</div> 
135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>········accelerometerCovariance(I_3x3),</div> 
136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>········integrationCovariance(I_3x3),</div> 
137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>········use2ndOrderCoriolis(false),</div>134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··{</div>
 135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">public</span>:</div>
 136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04980.html">SymbolicBayesTreeClique</a>·<a·class="code·hl_class"·href="a04980.html">This</a>;</div>
 137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03552.html">BayesTreeCliqueBase&lt;SymbolicBayesTreeClique,·SymbolicFactorGraph&gt;</a>·<a·class="code·hl_class"·href="a03552.html">Base</a>;</div>
 138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
 139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<span·class="keyword">typedef</span>·boost::weak_ptr&lt;This&gt;·weak_ptr;</div>
 140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<a·class="code·hl_class"·href="a04980.html">SymbolicBayesTreeClique</a>()·{}</div>
 141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a04980.html">~SymbolicBayesTreeClique</a>()·{}</div>
 142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····<a·class="code·hl_class"·href="a04980.html">SymbolicBayesTreeClique</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;SymbolicConditional&gt;&amp;·conditional)·:·<a·class="code·hl_class"·href="a03552.html">Base</a>(conditional)·{}</div>
138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>········n_gravity(0,·0,·-1)·{}</div>143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··};</div>
139 </div>144 </div>
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>145 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 146 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">/*·*************************************************************************·*/</span></div>
141 <div·class="foldopen"·id="foldopen00044"·data-start="{"·data-end="}">147 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="};">
 148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a04984.html">···49</a></span>··<span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04984.html">SymbolicBayesTree</a>·:</div>
 149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree</a>&lt;SymbolicBayesTreeClique&gt;</div>
142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04220.html#a4172ae9d785221171cf39c019547ba51">···44</a></span>··<a·class="code·hl_function"·href="a04220.html#a4172ae9d785221171cf39c019547ba51">PreintegrationParams</a>(<span·class="keyword">const</span>·Vector3&amp;·n_gravity)</div> 
143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······:·<a·class="code·hl_struct"·href="a04204.html">PreintegratedRotationParams</a>(),</div> 
144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>········accelerometerCovariance(I_3x3),</div> 
145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>········integrationCovariance(I_3x3),</div> 
146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>········use2ndOrderCoriolis(false),</div>150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··{</div>
 151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">private</span>:</div>
 152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03540.html">BayesTree&lt;SymbolicBayesTreeClique&gt;</a>·<a·class="code·hl_class"·href="a03540.html">Base</a>;</div>
147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>········n_gravity(n_gravity)·{}</div>153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 154 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keyword">public</span>:</div>
 155 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04984.html">SymbolicBayesTree</a>·<a·class="code·hl_class"·href="a04984.html">This</a>;</div>
 156 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·shared_ptr;</div>
 157 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 158 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno"><a·class="line"·href="a04984.html#ac3ed7fda6fb7d46fdfe0d064d8a473bc">···60</a></span>····<a·class="code·hl_function"·href="a04984.html#ac3ed7fda6fb7d46fdfe0d064d8a473bc">SymbolicBayesTree</a>()·{}</div>
 159 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 160 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·This&amp;·other,·<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const</span>;</div>
 161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">private</span>:</div>
 163 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a04984.html#ac98d07dd8f7b70e16ccb9a01abf56b9c">···67</a></span>····<span·class="keyword">friend</span>·<span·class="keyword">class·</span>boost::serialization::access;</div>
 164 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ARCHIVE&gt;</div>
 165 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="keywordtype">void</span>·serialize(ARCHIVE·&amp;·ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 166 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······ar·&amp;·BOOST_SERIALIZATION_BASE_OBJECT_NVP(<a·class="code·hl_class"·href="a03540.html">Base</a>);</div>
 167 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>····}</div>
 168 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··};</div>
148 </div>169 </div>
149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div> 
150 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="comment">//·Default·Params·for·a·Z-down·navigation·frame,·such·as·NED:·gravity·points·along·positive·Z-axis</span></div> 
151 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">static</span>·boost::shared_ptr&lt;PreintegrationParams&gt;·MakeSharedD(<span·class="keywordtype">double</span>·g·=·9.81)·{</div> 
152 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keywordflow">return</span>·boost::shared_ptr&lt;PreintegrationParams&gt;(<span·class="keyword">new</span>·<a·class="code·hl_struct"·href="a04220.html">PreintegrationParams</a>(Vector3(0,·0,·g)));</div> 
153 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··}</div> 
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
75 ··</div>75 ··</div>
76 </div>76 </div>
77 <script·type="text/javascript">77 <script·type="text/javascript">
78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/78 /*·@license·magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt·MIT·*/
79 $(document).ready(function(){initNavTree('a00938_source.html','');·initResizable();·});79 $(document).ready(function(){initNavTree('a00950_source.html','');·initResizable();·});
80 /*·@license-end·*/80 /*·@license-end·*/
81 </script>81 </script>
82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"86 ·····onmouseout="return·searchBox.OnSearchSelectHide()"
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ImuFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">ImuFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00938.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00950.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="comment">/*·GTSAM·includes·*/</span></div>120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="comment">/*·GTSAM·includes·*/</span></div>
121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01013.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00959.html">gtsam/navigation/ManifoldPreintegration.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00992.html">gtsam/navigation/ManifoldPreintegration.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00932.html">gtsam/navigation/TangentPreintegration.h</a>&gt;</span></div>123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00977.html">gtsam/navigation/TangentPreintegration.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00026.html">gtsam/base/debug.h</a>&gt;</span></div>124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00122.html">gtsam/base/debug.h</a>&gt;</span></div>
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128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#ifdef·GTSAM_TANGENT_PREINTEGRATION</span></div>128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="preprocessor">#ifdef·GTSAM_TANGENT_PREINTEGRATION</span></div>
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354 <div·class="line"><a·id="l00336"·name="l00336"></a><span·class="lineno">··336</span>·</div>354 <div·class="line"><a·id="l00336"·name="l00336"></a><span·class="lineno">··336</span>·</div>
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356 <div·class="ttc"·id="aa00026_html"><div·class="ttname"><a·href="a00026.html">debug.h</a></div><div·class="ttdoc">Global·debugging·flags.</div></div>356 <div·class="ttc"·id="aa00122_html"><div·class="ttname"><a·href="a00122.html">debug.h</a></div><div·class="ttdoc">Global·debugging·flags.</div></div>
357 <div·class="ttc"·id="aa00932_html"><div·class="ttname"><a·href="a00932.html">TangentPreintegration.h</a></div></div>357 <div·class="ttc"·id="aa00977_html"><div·class="ttname"><a·href="a00977.html">TangentPreintegration.h</a></div></div>
358 <div·class="ttc"·id="aa00959_html"><div·class="ttname"><a·href="a00959.html">ManifoldPreintegration.h</a></div></div>358 <div·class="ttc"·id="aa00992_html"><div·class="ttname"><a·href="a00992.html">ManifoldPreintegration.h</a></div></div>
359 <div·class="ttc"·id="aa01133_html"><div·class="ttname"><a·href="a01133.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>359 <div·class="ttc"·id="aa01013_html"><div·class="ttname"><a·href="a01013.html">NonlinearFactor.h</a></div><div·class="ttdoc">Non-linear·factor·base·classes.</div></div>
360 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>360 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
361 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>361 <div·class="ttc"·id="aa01428_html_a54fa43c89c5334314c8c75939dd5c2d7"><div·class="ttname"><a·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div·class="ttdeci">void·print(const·Matrix·&amp;A,·const·string·&amp;s,·ostream·&amp;stream)</div><div·class="ttdoc">print·without·optional·string,·must·specify·cout·yourself</div><div·class="ttdef"><b>Definition</b>·Matrix.cpp:156</div></div>
362 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>362 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div>
363 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>363 <div·class="ttc"·id="aa02276_html"><div·class="ttname"><a·href="a02276.html">gtsam::traits</a></div><div·class="ttdoc">A·manifold·defines·a·space·in·which·there·is·a·notion·of·a·linear·tangent·space·that·can·be·centered·...</div><div·class="ttdef"><b>Definition</b>·concepts.h:30</div></div>
364 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div>364 <div·class="ttc"·id="aa02480_html"><div·class="ttname"><a·href="a02480.html">gtsam::equals</a></div><div·class="ttdoc">Template·to·create·a·binary·predicate.</div><div·class="ttdef"><b>Definition</b>·Testable.h:111</div></div>
365 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>365 <div·class="ttc"·id="aa02492_html"><div·class="ttname"><a·href="a02492.html">gtsam::Testable</a></div><div·class="ttdoc">A·helper·that·implements·the·traits·interface·for·GTSAM·types.</div><div·class="ttdef"><b>Definition</b>·Testable.h:151</div></div>
366 <div·class="ttc"·id="aa03180_html"><div·class="ttname"><a·href="a03180.html">gtsam::Pose3</a></div><div·class="ttdoc">A·3D·pose·(R,t)·:·(Rot3,Point3)</div><div·class="ttdef"><b>Definition</b>·Pose3.h:37</div></div>366 <div·class="ttc"·id="aa03180_html"><div·class="ttname"><a·href="a03180.html">gtsam::Pose3</a></div><div·class="ttdoc">A·3D·pose·(R,t)·:·(Rot3,Point3)</div><div·class="ttdef"><b>Definition</b>·Pose3.h:37</div></div>
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383 <div·class="ttc"·id="aa04196_html"><div·class="ttname"><a·href="a04196.html">gtsam::NavState</a></div><div·class="ttdoc">Navigation·state:·Pose·(rotation,·translation)·+·velocity·NOTE(frank):·it·does·not·make·sense·to·make...</div><div·class="ttdef"><b>Definition</b>·NavState.h:34</div></div>383 <div·class="ttc"·id="aa04196_html"><div·class="ttname"><a·href="a04196.html">gtsam::NavState</a></div><div·class="ttdoc">Navigation·state:·Pose·(rotation,·translation)·+·velocity·NOTE(frank):·it·does·not·make·sense·to·make...</div><div·class="ttdef"><b>Definition</b>·NavState.h:34</div></div>
384 <div·class="ttc"·id="aa04536_html"><div·class="ttname"><a·href="a04536.html">gtsam::NoiseModelFactorN</a></div><div·class="ttdoc">A·convenient·base·class·for·creating·your·own·NoiseModelFactor·with·n·variables.</div><div·class="ttdef"><b>Definition</b>·NonlinearFactor.h:400</div></div>384 <div·class="ttc"·id="aa04536_html"><div·class="ttname"><a·href="a04536.html">gtsam::NoiseModelFactorN</a></div><div·class="ttdoc">A·convenient·base·class·for·creating·your·own·NoiseModelFactor·with·n·variables.</div><div·class="ttdef"><b>Definition</b>·NonlinearFactor.h:400</div></div>
385 </div><!--·fragment·--></div><!--·contents·-->385 </div><!--·fragment·--></div><!--·contents·-->
386 </div><!--·doc-content·-->386 </div><!--·doc-content·-->
387 <!--·start·footer·part·-->387 <!--·start·footer·part·-->
388 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->388 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
389 ··<ul>389 ··<ul>
390 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00938.html">ImuFactor.h</a></li>390 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_57fcdbb68a7ed4352200f5cc9c5d1fe3.html">navigation</a></li><li·class="navelem"><a·class="el"·href="a00950.html">ImuFactor.h</a></li>
391 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>391 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
392 ··</ul>392 ··</ul>
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395 </html>395 </html>
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107 <a·href="a00959.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01109.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00908.html">gtsam/navigation/NavState.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00992.html">gtsam/navigation/PreintegrationBase.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01052.html">gtsam/nonlinear/NonlinearOptimizer.h</a>&gt;</span></div>
 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">class·</span>DoglegOptimizer;</div>
122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
125 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">126 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">
126 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a04192.html">···33</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04192.html">ManifoldPreintegration</a>·:·<span·class="keyword">public</span>·<a·cla[·...·truncated·by·diffoscope;·len:·56,·SHA:·3337c2d463f0b7f9cdd5a244cf6b0adc6ae5384e0db5cab136ae71ca2bb4b6f8·...·]</a>·{</div>127 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04256.html">···32</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04256.html">DoglegParams</a>·:·<span·class="keyword">public</span>·<a·class="code·h[·...·truncated·by·diffoscope;·len:·52,·SHA:·01efd330da52379b50097aad1429e6586efe1cb8e802c3a7ba92f74e0bec633d·...·]</a>·{</div>
127 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·<span·class="keyword">protected</span>:</div>128 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">public</span>:</div>
 129 <div·class="foldopen"·id="foldopen00035"·data-start="{"·data-end="};">
 130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno"><a·class="line"·href="a04256.html#a857a8ae8ed6eea7960231b3359dfa349">···35</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a04256.html#a857a8ae8ed6eea7960231b3359dfa349">VerbosityDL</a>·{</div>
 131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····SILENT,</div>
 132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····VERBOSE</div>
 133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··};</div>
 134 </div>
128 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>135 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
129 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04192.html#ad07a36d86d1aa1dd13df4eb7ae83670f">···41</a></span>··<a·class="code·hl_class"·href="a04196.html">NavState</a>·<a·class="code·hl_variable"·href="a04192.html#ad07a36d86d1aa1dd13df4eb7ae83670f">deltaXij_</a>;</div> 
130 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04192.html#a6e4e68542018e0a7e4637cdd276cb1f7">···42</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04192.html#a6e4e68542018e0a7e4637cdd276cb1f7">delRdelBiasOmega_</a>;·</div> 
131 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04192.html#a966a8f392b260b54a17e7e86b14debab">···43</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04192.html#a966a8f392b260b54a17e7e86b14debab">delPdelBiasAcc_</a>;···</div> 
132 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04192.html#af95bfbf520cf98b71cb9773d0446915a">···44</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04192.html#af95bfbf520cf98b71cb9773d0446915a">delPdelBiasOmega_</a>;·</div> 
133 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04192.html#a569f26b6e3f98cf370d4143d8cecb4a5">···45</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04192.html#a569f26b6e3f98cf370d4143d8cecb4a5">delVdelBiasAcc_</a>;···</div> 
134 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a04192.html#afd1ae2fb12470f49f8c8454f17f3a453">···46</a></span>··Matrix3·<a·class="code·hl_variable"·href="a04192.html#afd1ae2fb12470f49f8c8454f17f3a453">delVdelBiasOmega_</a>;·</div>136 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04256.html#afc7c92d489fcbea53a1b645185e43e53">···40</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04256.html#afc7c92d489fcbea53a1b645185e43e53">deltaI[·...·truncated·by·diffoscope;·len:·6,·SHA:·51445c67d5c924f4db45f1645a5195062ffb75eb831fef33de4db81a5d4e9a6b·...·]</a>;·</div>
 137 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04256.html#ae6a2936aed619333036329c343281356">···41</a></span>··<a·class="code·hl_enumeration"·href="a04256.html#a857a8ae8ed6eea7960231b3359dfa349">VerbosityDL</a>·<a·class="code·hl_variable"·href="a04256.html#ae6a2936aed619333036329c343281356">verbosityDL</a>;·</div>
 138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<a·class="code·hl_class"·href="a04256.html">DoglegParams</a>()·:</div>
 140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····deltaInitial(1.0),·verbosityDL(SILENT)·{}</div>
 141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
 142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_class"·href="a04256.html">~DoglegParams</a>()<span·class="keyword">·override·</span>{}</div>
135 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keywordtype">void</span>·print(<span·class="keyword">const</span>·std::string&amp;·str·=·<span·class="stringliteral">&quot;&quot;</span>)<span·class="keyword">·const·override·</span>{</div>
136 <div·class="foldopen"·id="foldopen00049"·data-start="{"·data-end="}"> 
137 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno"><a·class="line"·href="a04192.html#a4ece2b4ce023308fa06561e94309ea50">···49</a></span>··<a·class="code·hl_function"·href="a04192.html#a4ece2b4ce023308fa06561e94309ea50">ManifoldPreintegration</a>()·{</div> 
138 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····resetIntegration();</div>145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····NonlinearOptimizerParams::print(str);</div>
 146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····std::cout·&lt;&lt;·<span·class="stringliteral">&quot;···············deltaInitial:·&quot;</span>·&lt;&lt;·deltaInitial·&lt;&lt;·<span·class="stringliteral">&quot;\n&quot;</span>;</div>
139 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··}</div>147 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····std::cout.flush();</div>
140 </div> 
141 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div>148 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div>
142 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span><span·class="keyword">public</span>:</div>149 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 150 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">double</span>·getDeltaInitial()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·deltaInitial;·}</div>
 151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··std::string·getVerbosityDL()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·verbosityDLTranslator(verbosityDL);·}</div>
143 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>152 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
144 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<a·class="code·hl_class"·href="a04192.html">ManifoldPreintegration</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;Params&gt;&amp;·p,</div> 
145 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>&amp;·biasHat·=·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>());</div>153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keywordtype">void</span>·setDeltaInitial(<span·class="keywordtype">double</span>·deltaInitial)·{·this-&gt;deltaInitial·=·deltaInitial;·}</div>
 154 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keywordtype">void</span>·setVerbosityDL(<span·class="keyword">const</span>·std::string&amp;·verbosityDL)·{·this-&gt;verbosityDL·=·verbosityDLTranslator(verbosityDL);·}</div>
 155 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
 156 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="keyword">private</span>:</div>
 157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··VerbosityDL·verbosityDLTranslator(<span·class="keyword">const</span>·std::string&amp;·verbosityDL)·<span·class="keyword">const</span>;</div>
 158 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··std::string·verbosityDLTranslator(VerbosityDL·verbosityDL)·<span·class="keyword">const</span>;</div>
 159 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>};</div>
 160 </div>
146 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 162 <div·class="foldopen"·id="foldopen00068"·data-start="{"·data-end="};">
 163 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno"><a·class="line"·href="a04260.html">···68</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04260.html">DoglegOptimizer</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04552.html">NonlinearOptimizer</a>·{</div>
147 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>164 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
148 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<span·class="keywordtype">void</span>·resetIntegration()·<span·class="keyword">override</span>;</div>165 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span><span·class="keyword">protected</span>:</div>
 166 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>··<a·class="code·hl_class"·href="a04256.html">DoglegParams</a>·params_;</div>
149 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>167 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
 168 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span><span·class="keyword">public</span>:</div>
 169 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;DoglegOptimizer&gt;·shared_ptr;</div>
150 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>170 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·</div>
151 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<a·class="code·hl_class"·href="a04196.html">NavState</a>·deltaXij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·deltaXij_;·}</div> 
152 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>··Rot3·····deltaRij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·deltaXij_.attitude();·}</div> 
153 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··Vector3··deltaPij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·deltaXij_.position();·}</div> 
154 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>··Vector3··deltaVij()<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·deltaXij_.velocity();·}</div> 
155 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>·</div>171 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>·</div>
 172 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<a·class="code·hl_class"·href="a04260.html">DoglegOptimizer</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialValues,</div>
 173 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04256.html">DoglegParams</a>&amp;·params·=·<a·class="code·hl_class"·href="a04256.html">DoglegParams</a>());</div>
156 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··Matrix3··delRdelBiasOmega()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·delRdelBiasOmega_;·}</div> 
157 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··Matrix3··delPdelBiasAcc()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·delPdelBiasAcc_;·}</div> 
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124 Stephen·Williams·</dd> 
125 <dd> 
126 Richard·Roberts·</dd> 
127 <dd>123 <dd>
128 Vadim·Indelman·</dd>124 Varun·Agrawal·</dd>
129 <dd>125 <dd>
130 David·Jensen·</dd>126 Shangjie·Xue·</dd>
131 <dd>127 <dd>
132 Frank·Dellaert·</dd></dl>128 Frank·Dellaert·</dd></dl>
 129 <dl·class="section·date"><dt>Date</dt><dd>January·2022·</dd></dl>
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102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ImuBias.h</div></div>104 ··<div·class="headertitle"><div·class="title">SO3.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a00998.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00305.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00083.html">gtsam/base/OptionalJacobian.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;gtsam/base/VectorSpace.h&gt;</span></div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div> 
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00323.html">gtsam/geometry/SOn.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00002.html">gtsam/base/Lie.h</a>&gt;</span></div>
 123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>
 125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
 126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;cmath&gt;</span></div>
 127 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
 128 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span>imuBias·{</div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div> 
129 <div·class="foldopen"·id="foldopen00030"·data-start="{"·data-end="};"> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno"><a·class="line"·href="a04140.html">···30</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04140.html">ConstantBias</a>·{</div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">private</span>:</div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>··Vector3·biasAcc_;·</div> 
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>··Vector3·biasGyro_;·</div> 
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>130 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>
135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">public</span>:</div>131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="keyword">using·</span>SO3·=·SO&lt;3&gt;;</div>
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04140.html#a85ba8cd799a5771ad8ac8669e1377f1d">···37</a></span>··<span·class="keyword">static</span>·<span·class="keyword">const</span>·<span·class="keywordtype">size_t</span>·dimension·=·6;</div>132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
 133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="comment">//·Below·are·all·declarations·of·SO&lt;3&gt;·specializations.</span></div>
 134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">//·They·are·*defined*·in·SO3.cpp.</span></div>
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
 136 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">template</span>·&lt;&gt;</div>
 137 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>GTSAM_EXPORT</div>
 138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>SO3·<a·class="code·hl_function"·href="a03304.html#a634b8f685e65a326bbf32615934000ce">SO3::AxisAngle</a>(<span·class="keyword">const</span>·Vector3&amp;·axis,·<span·class="keywordtype">double</span>·theta);</div>
138 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">template</span>·&lt;&gt;</div>
139 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<a·class="code·hl_class"·href="a04140.html">ConstantBias</a>()·:</div> 
140 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>······biasAcc_(0.0,·0.0,·0.0),·biasGyro_(0.0,·0.0,·0.0)·{</div> 
141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··}</div>141 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>GTSAM_EXPORT</div>
 142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>SO3·<a·class="code·hl_function"·href="a03304.html#aee4daf030f73661fe6e1b361cfe51ea3">SO3::ClosestTo</a>(<span·class="keyword">const</span>·Matrix3&amp;·M);</div>
142 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
 144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="keyword">template</span>·&lt;&gt;</div>
143 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<a·class="code·hl_class"·href="a04140.html">ConstantBias</a>(<span·class="keyword">const</span>·Vector3&amp;·biasAcc,·<span·class="keyword">const</span>·Vector3&amp;·biasGyro)·:</div> 
144 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······biasAcc_(biasAcc),·biasGyro_(biasGyro)·{</div> 
145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··}</div>145 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>GTSAM_EXPORT</div>
 146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>SO3·<a·class="code·hl_function"·href="a03304.html#a3123e38f2e398ac794bb01219d8c2afe">SO3::ChordalMean</a>(<span·class="keyword">const</span>·std::vector&lt;SO3&gt;&amp;·rotations);</div>
146 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keyword">explicit</span>·ConstantBias(<span·class="keyword">const</span>·Vector6&amp;·v)·:</div> 
148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······biasAcc_(v.head&lt;3&gt;()),·biasGyro_(v.tail&lt;3&gt;())·{</div> 
149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··}</div> 
150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>147 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
 148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span><span·class="keyword">template</span>·&lt;&gt;</div>
 149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>GTSAM_EXPORT</div>
 150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>Matrix3·<a·class="code·hl_function"·href="a03304.html#a813e60e77bd1e2b7ade8c7076b37579a">SO3::Hat</a>(<span·class="keyword">const</span>·Vector3&amp;·xi);··</div>
151 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
152 <div·class="foldopen"·id="foldopen00057"·data-start="{"·data-end="}"> 
153 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno"><a·class="line"·href="a04140.html#a93610c76ef81c251cb8d5697ee9334bd">···57</a></span>··Vector6·<a·class="code·hl_function"·href="a04140.html#a93610c76ef81c251cb8d5697ee9334bd">vector</a>()<span·class="keyword">·con[·...·truncated·by·diffoscope;·len:·11,·SHA:·cd004409e319f9d984fed0846048f4f405a43ce7d425dec3079acd39ac98baaf·...·]</div>152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="keyword">template</span>·&lt;&gt;</div>
 153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>GTSAM_EXPORT</div>
 154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>Vector3·<a·class="code·hl_function"·href="a03304.html#a43f11eb2cba2be51ba3fa6ee8d46f823">SO3::Vee</a>(<span·class="keyword">const</span>·Matrix3&amp;·X);··</div>
154 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>····Vector6·v;</div>155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
155 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····v·&lt;&lt;·biasAcc_,·biasGyro_;</div> 
156 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">return</span>·v;</div>156 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="keyword">template</span>·&lt;&gt;</div>
 157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>Matrix3·<a·class="code·hl_function"·href="a03304.html#a658ad6a8dff83c79e252914de423348b">SO3::AdjointMap</a>()·<span·class="keyword">const</span>;</div>
157 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div> 
158 </div> 
159 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>158 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
160 <div·class="foldopen"·id="foldopen00064"·data-start="{"·data-end="}"> 
161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno"><a·class="line"·href="a04140.html#ada5994c047f61ce4052159928b44d624">···64</a></span>··<span·class="keyword">const</span>·Vector3&amp;·<a·class="code·hl_function"·href="a04140.html#ada5994c047f61ce4052159928b44d624">accelerometer</a>()<span·class="keyword">·const·</span>{</div> 
162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>····<span·class="keywordflow">return</span>·biasAcc_;</div>159 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span><span·class="keyword">template</span>·&lt;&gt;</div>
163 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··}</div>160 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>GTSAM_EXPORT</div>
164 </div>161 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>SO3·<a·class="code·hl_function"·href="a03304.html#a092627ec38ae01d168ae308c80bc6ff7">SO3::Expmap</a>(<span·class="keyword">const</span>·Vector3&amp;·omega,·ChartJacobian·H);[·...·truncated·by·diffoscope;·len:·1,·SHA:·dabd3aff769f07eb2965401eb029974ebba3407afd02b26ddb564ea5f8efae72·...·]/div>
165 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>162 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
166 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}"> 
167 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a04140.html#a176a703de66ddf0cf87abbcca1566478">···69</a></span>··<span·class="keyword">const</span>·Vector3&amp;·<a·class="code·hl_function"·href="a04140.html#a176a703de66ddf0cf87abbcca1566478">gyroscope</a>()<span·class="keyword">·const·</span>{</div> 
168 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>····<span·class="keywordflow">return</span>·biasGyro_;</div>163 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span><span·class="keyword">template</span>·&lt;&gt;</div>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">nonlinearExceptions.h</div></div>104 ··<div·class="headertitle"><div·class="title">ExpressionFactorGraph.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01004.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01076.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
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 121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01157.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
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127 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">132 <div·class="foldopen"·id="foldopen00043"·data-start="{"·data-end="}">
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128 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a04492.html">···33</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a04492.html">MarginalizeNonleafException</a>·:·<span·class="keyword">public</span>·std::exception·{</div> 
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130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>····<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·formatter_;</div> 
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="keyword">mutable</span>·std::string·what_;</div> 
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">public</span>:</div> 
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<a·class="code·hl_class"·href="a04492.html">MarginalizeNonleafException</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key,·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·formatter·=·DefaultKeyFormatter)·noexcept·:</div> 
134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······key_(key),·formatter_(formatter)·{}</div> 
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>····<span·class="keyword">virtual</span>·<a·class="code·hl_class"·href="a04492.html">~MarginalizeNonleafException</a>()·<span·class="keyword">noexcept</span>·{}</div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>····<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·key_;·}</div> 
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>····<span·class="keyword">const</span>·<span·class="keywordtype">char</span>*·what()·<span·class="keyword">const</span>·<span·class="keyword">noexcept</span>·<span·class="keyword">override</span>·{</div> 
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>······<span·class="keywordflow">if</span>(what_.empty())</div> 
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>········what_·=</div> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="stringliteral">&quot;\nRequested·to·marginalize·out·variable·&quot;</span>·+·formatter_(key_)·+·<span·class="stringliteral">&quot;,·but·this·variable\n\</span></div> 
141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="stringliteral">is·not·a·leaf.··To·make·the·variables·you·would·like·to·marginalize·be·leaves,\n\</span></div> 
142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="stringliteral">their·ordering·should·be·constrained·using·the·constrainedKeys·argument·to\n\</span></div> 
143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="stringliteral">ISAM2::update().\n&quot;</span>;</div> 
144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······<span·class="keywordflow">return</span>·what_.c_str();</div> 
145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····}</div> 
146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··};</div>137 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··}</div>
147 </div>138 </div>
 139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 140 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>};</div>
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 144 <div·class="ttc"·id="aa01157_html"><div·class="ttname"><a·href="a01157.html">NonlinearFactorGraph.h</a></div><div·class="ttdoc">Factor·Graph·consisting·of·non-linear·factors.</div></div>
149 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>}</div> 
150 <div·class="ttc"·id="aa00611_html"><div·class="ttname"><a·href="a00611.html">Key.h</a></div></div> 
151 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>145 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
152 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><b>Definition</b>·types.h:100</div></div> 
153 <div·class="ttc"·id="aa01428_html_ae4b4e8e7f0d745882c6a02b507d5bffe"><div·class="ttname"><a·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">gtsam::KeyFormatter</a></div><div·class="ttdeci">std::function&lt;·std::string(Key)&gt;·KeyFormatter</div><div·class="ttdoc">Typedef·for·a·function·to·format·a·key,·i.e.·to·convert·it·to·a·string.</div><div·class="ttdef"><b>Definition</b>·Key.h:35</div></div> 
154 <div·class="ttc"·id="aa04492_html"><div·class="ttname"><a·href="a04492.html">gtsam::MarginalizeNonleafException</a></div><div·class="ttdoc">Thrown·when·requesting·to·marginalize·out·variables·from·ISAM2·that·are·not·leaves.</div><div·class="ttdef"><b>Definition</b>·nonlinearExcep[·...·truncated·by·diffoscope;·len:·10,·SHA:·23f09684471639aab135a2511b75075ccd197ff6878de2fbbeec317e3b7c5111·...·]</div></div>146 <div·class="ttc"·id="aa01428_html_ab6e5a4884342656e0837ef07008ec03f"><div·class="ttname"><a·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">gtsam::SharedNoiseModel</a></div><div·class="ttdeci">noiseModel::Base::shared_ptr·SharedNoiseModel</div><div·class="ttdoc">Aliases.</di[·...·truncated·by·diffoscope;·len:·55,·SHA:·cb4e13f7a44b5490b168589b397abe3431f8050f419f481a5fd041da6cef8651·...·]</div></div>
 147 <div·class="ttc"·id="aa03524_html_a1bd7154e74538b5934fc616bb5ef7281"><div·class="ttname"><a·href="a03524.html#a1bd7154e74538b5934fc616bb5ef7281">gtsam::FactorGraph&lt;·NonlinearFactor·&gt;::push_back</a></div><div·class="ttdeci">IsDerived&lt;·DERIVEDFACTOR·&gt;·push_back(boost::shared_ptr&lt;·DERIVEDFACTOR·&gt;·factor)</div><div·class="ttdoc">Add·a·factor·directly·using·a·shared_ptr.</div><div·class="ttdef"><b>Definition</b>·FactorGraph.h:186</div></div>
 148 <div·class="ttc"·id="aa04280_html"><div·class="ttname"><a·href="a04280.html">gtsam::ExpressionFactor</a></div><div·class="ttdoc">Factor·that·supports·arbitrary·expressions·via·AD.</div><div·class="ttdef"><b>Definition</b>·ExpressionFactor.h:44</div></div>
 149 <div·class="ttc"·id="aa04292_html"><div·class="ttname"><a·href="a04292.html">gtsam::Expression</a></div><div·class="ttdoc">Expression·class·that·supports·automatic·differentiation.</div><div·class="ttdef"><b>Definition</b>·Expression.h:48</div></div>
 150 <div·class="ttc"·id="aa04328_html"><div·class="ttname"><a·href="a04328.html">gtsam::ExpressionFactorGraph</a></div><div·class="ttdoc">Factor·graph·that·supports·adding·ExpressionFactors·directly.</div><div·class="ttdef"><b>Definition</b>·ExpressionFactorGraph.h:29</div></div>
 151 <div·class="ttc"·id="aa04328_html_ac417241d59dbed10d320032a0c502929"><div·class="ttname"><a·href="a04328.html#ac417241d59dbed10d320032a0c502929">gtsam::ExpressionFactorGraph::addExpressionFactor</a></div><div·class="ttdeci">void·addExpressionFactor(const·Expression&lt;·T·&gt;·&amp;h,·const·T·&amp;z,·const·SharedNoiseModel·&amp;R)</div><div·class="ttdoc">Directly·add·ExpressionFactor·that·implements·|h(x)-z|^2_R.</div><div·class="ttdef"><b>Definition</b>·ExpressionFactorGraph.h:43</div></div>
 152 <div·class="ttc"·id="aa04540_html"><div·class="ttname"><a·href="a04540.html">gtsam::NonlinearFactorGraph</a></div><div·class="ttdef"><b>Definition</b>·NonlinearFactorGraph.h:55</div></div>
155 </div><!--·fragment·--></div><!--·contents·-->153 </div><!--·fragment·--></div><!--·contents·-->
156 </div><!--·doc-content·-->154 </div><!--·doc-content·-->
157 <!--·start·footer·part·-->155 <!--·start·footer·part·-->
158 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->156 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
159 ··<ul>157 ··<ul>
160 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01004.html">nonlinearExceptions.h</a></li>158 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_88adea47575c2d5c40d4070390572b66.html">nonlinear</a></li><li·class="navelem"><a·class="el"·href="a01076.html">ExpressionFactorGraph.h</a></li>
161 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>159 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
162 ··</ul>160 ··</ul>
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165 </html>163 </html>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">CustomFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">JacobianFactorQR.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01010.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·---------------------------------------------------------------[·...·truncated·by·diffoscope;·len:·13,·SHA:·04b7afb740d6c973bde6bb200d55eb4b57f46490cb6092cfcd4d75078fb58fb5·...·]</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*</span></div>
 108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment">·*·@file··JacobianFactorQR.h</span></div>
 109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·@brief·Jacobianfactor·that·combines·and·eliminates·points</span></div>
 110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·@date··Oct·27,·2013</span></div>
 111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·@uthor·Frank·Dellaert</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*/</span></div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div> 
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div> 
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div> 
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div> 
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div> 
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div> 
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div> 
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div> 
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span>·</div>
118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="preprocessor">#pragma·once</span></div>
 115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
 116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00818.html">gtsam/linear/RegularJacobianFactor.h</a>&gt;</span></div>
 117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a08137.html">gtsam/inference/Symbol.h</a>&gt;</span></div>
119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span>·</div>
120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div> 
122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span>·</div>
 121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="keyword">class·</span>GaussianBayesNet;</div>
 122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span>·</div>
 123 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="keyword">template</span>&lt;<span·class="keywordtype">size_t</span>·D,·<span·class="keywordtype">size_t</span>·ZDim&gt;</div>
 124 <div·class="foldopen"·id="foldopen00021"·data-start="{"·data-end="};">
 125 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno"><a·class="line"·href="a04868.html">···21</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04868.html">JacobianFactorQR</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04016.html">RegularJacobianFactor</a>&lt;D&gt;·{</div>
123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>126 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 127 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04016.html">RegularJacobianFactor&lt;D&gt;</a>·Base;</div>
124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">using·</span>JacobianVector·=·std::vector&lt;Matrix&gt;;</div>128 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>··<span·class="keyword">typedef</span>·Eigen::Matrix&lt;double,·ZDim,·D&gt;·MatrixZD;</div>
125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>129 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>
126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">class·</span>CustomFactor;</div>130 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">public</span>:</div>
127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>131 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="comment">/*</span></div> 
129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="comment">·*·NOTE</span></div> 
130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">·*·==========</span></div> 
131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="comment">·*·pybind11·will·invoke·a·copy·if·this·is·`JacobianVector·&amp;`,·and·modifications·in·Python·will·not·be·reflected.</span></div> 
132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">·*</span></div> 
133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">·*·This·is·safe·because·this·is·passing·a·const·pointer,·and·pybind11·will·maintain·the·`std::vector`·memory·layout.</span></div> 
134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">·*·Thus·the·pointer·will·never·be·invalidated.</span></div> 
135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="comment">·*/</span></div> 
136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">using·</span>CustomErrorFunction·=·std::function&lt;Vector(<span·class="keyword">const</span>·CustomFactor·&amp;,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a05076.html">Values</a>·&amp;,·<span·class="keyword">const</span>·JacobianVector·*)&gt;;</div> 
137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div> 
138 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">132 <div·class="foldopen"·id="foldopen00031"·data-start="{"·data-end="}">
139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04248.html">···45</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04248.html">CustomFactor</a>:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href[·...·truncated·by·diffoscope;·len:·37,·SHA:·d5ff2c5def5007406287d7720a43579b79c63444c757d2a8108546f9258b79d5·...·]</div>133 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno"><a·class="line"·href="a04868.html#a6acdcc2e3a964795a0438cdb3ea94b1d">···31</a></span>··<a·class="code·hl_function"·href="a04868.html#a6acdcc2e3a964795a0438cdb3ea94b1d">JacobianFactorQR</a>(<span·class="keyword">co[·...·truncated·by·diffoscope;·len:·200,·SHA:·86dd16206d22d45b0a0dd86cae94035178d02b5425fb1cba0c704586fd481554·...·]</div>
 134 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>······<span·class="keyword">const</span>·std::vector&lt;MatrixZD,·Eigen::aligned_allocator&lt;MatrixZD&gt;·&gt;&amp;·FBlocks,·<span·class="keyword">const</span>·Matrix&amp;·E,·<span·class="keyword">const</span>·Matrix3&amp;·P,</div>
 135 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>······<span·class="keyword">const</span>·Vector&amp;·b,·<span·class="comment">//</span></div>
 136 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>······<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·SharedDiagonal())·:</div>
 137 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>······Base()·{</div>
 138 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<span·class="comment">//·Create·a·number·of·Jacobian·factors·in·a·factor·graph</span></div>
 139 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<a·class="code·hl_class"·href="a03792.html">GaussianFactorGraph</a>·gfg;</div>
 140 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····<a·class="code·hl_class"·href="a03688.html">Symbol</a>·pointKey(<span·class="charliteral">&#39;p&#39;</span>,·0);</div>
 141 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>····<span·class="keywordflow">for</span>·(<span·class="keywordtype">size_t</span>·k·=·0;·k·&lt;·FBlocks.size();·++k)·{</div>
 142 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>······<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key·=·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>[k];</div>
 143 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······gfg.<a·class="code·hl_function"·href="a03792.html#a733aa6a7780bb3d16fb45345a655f717">add</a>(pointKey,·E.block&lt;ZDim,·3&gt;(ZDim·*·k,·0),·key,·FBlocks[k],</div>
 144 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··········b.segment·&lt;·ZDim·&gt;·(ZDim·*·k),·model);</div>
 145 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>····}</div>
140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="keyword">protected</span>:</div>146 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="comment">//gfg.print(&quot;gfg&quot;);</span></div>
141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··CustomErrorFunction·error_function_;</div> 
142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>147 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="keyword">protected</span>:</div>148 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····<span·class="comment">//·eliminate·the·point</span></div>
 149 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····boost::shared_ptr&lt;GaussianBayesNet&gt;·bn;</div>
 150 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<a·class="code·hl_typedef"·href="a03792.html#a1f73f4987b9bdaac5c1414a401c0364c">GaussianFactorGraph::shared_ptr</a>·fg;</div>
 151 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·variables;</div>
144 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>152 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>····variables.push_back(pointKey);</div>
145 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04504.html">Base</a>·=·<a·class="code·hl_function"·href="a04504.html#ad6e8ef3348e042d598617d1d55f20300">NoiseModelFactor</a>;</div> 
146 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">using·</span><a·class="code·hl_class"·href="a04248.html">This</a>·=·<a·class="code·hl_function"·href="a04248.html#ac93d675279e7e26e966775dd64f61331">CustomFactor</a>;</div>153 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····boost::tie(bn,·fg)·=·gfg.<a·class="code·hl_function"·href="a03580.html#aded9c4a2331cab96eadac101c9d59ca9">eliminatePartialSequential</a>(variables,·<a·class="code·hl_friend"·href="a01410.html#ga7f31[·...·truncated·by·diffoscope;·len:·46,·SHA:·2cb699742f7fb8c730ec88b8eba91546f851828750e65875e8017cf1028aac1f·...·];</div>
 154 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="comment">//fg-&gt;print(&quot;fg&quot;);</span></div>
147 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>155 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
148 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span><span·class="keyword">public</span>:</div>156 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····JacobianFactor::operator=(<a·class="code·hl_class"·href="a03844.html">JacobianFactor</a>(*fg));</div>
149 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>157 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··}</div>
150 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a04248.html#ac93d675279e7e26e966775dd64f61331">···59</a></span>··<a·class="code·hl_function"·href="a04248.html#ac93d675279e7e26e966775dd64f61331">CustomFactor</a>()·=·<span·class="keywordflow">default</span>;</div> 
151 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div> 
152 <div·class="foldopen"·id="foldopen00067"·data-start="{"·data-end="}"> 
153 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a04248.html#a53488ff12f9b8a98c49c432dd4332176">···67</a></span>··<a·class="code·hl_function"·href="a04248.html#a53488ff12f9b8a98c49c432dd4332176">CustomFactor</a>(<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;<a·class="code·hl_function"·href="a04504.html#ae995e64bbd0660091eb6b40cba60aef7">noiseModel</a>,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·&amp;<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,·<span·class="keyword">const</span>·CustomErrorFunction·&amp;errorFunction)·:</div> 
154 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<a·class="code·hl_class"·href="a04504.html">Base</a>(<a·class="code·hl_function"·href="a04504.html#ae995e64bbd0660091eb6b40cba60aef7">noiseModel</a>,·<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>)·{</div> 
155 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····this-&gt;error_function_·=·errorFunction;</div> 
156 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··}</div> 
157 </div>158 </div>
158 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div> 
159 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>··<a·class="code·hl_class"·href="a04248.html">~CustomFactor</a>()·<span·class="keyword">override</span>·=·<span·class="keywordflow">default</span>;</div> 
160 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div> 
161 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··Vector·<a·class="code·hl_function"·href="a04248.html#a019ffc0c38e4076e5acfa5eed2465921">unwhitenedError</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·&amp;x,·boost::optional&lt;std::vector&lt;Matrix&gt;·&amp;&gt;·H·=·boost::none)·<span·class="keyword">const·override</span>;</div> 
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100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">expressionTesting.h</div></div>104 ··<div·class="headertitle"><div·class="title">GraphvizFormatting.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01028.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01001.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2021,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span>·</div>119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
 120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00626.html">gtsam/inference/DotWriter.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/nonlinear/ExpressionFactor.h&gt;</span></div> 
121 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01016.html">gtsam/nonlinear/factorTesting.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00071.html">gtsam/base/Testable.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
 124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05076.html">Values</a>;</div>
 125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">class·</span>Value;</div>
125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
 127 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">
 128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04368.html">···32</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04368.html">GraphvizFormatting</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>·{</div>
 129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04368.html#a03dcd7ae858413a9b0622dc024345209">···34</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a04368.html#a03dcd7ae858413a9b0622dc024345209">Axis</a>·{·X,·Y,·Z,·NEGX,·NEGY,·NEGZ·};</div>
126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span>internal·{</div> 
127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="comment">//·CPPUnitLite-style·test·for·linearization·of·an·ExpressionFactor</span></div> 
128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T&gt;</div> 
129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keywordtype">bool</span>·testExpressionJacobians(<span·class="keyword">const</span>·std::string&amp;·name_,</div> 
130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>····<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04292.html">gtsam::Expression&lt;T&gt;</a>&amp;·expression,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">gtsam::Values</a>&amp;·values,</div> 
131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keywordtype">double</span>·nd_step,·<span·class="keywordtype">double</span>·tolerance)·{</div> 
132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>··<span·class="comment">//·Create·factor</span></div> 
133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··<span·class="keywordtype">size_t</span>·size·=·traits&lt;T&gt;::dimension;</div> 
134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··ExpressionFactor&lt;T&gt;·f(<a·class="code·hl_function"·href="a03940.html#a61fda7a7390d3fc40f5618185e801bfe">noiseModel::Unit::Create</a>(size),</div> 
135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>······expression.<a·class="code·hl_function"·href="a04292.html#acb8e427a376afb1eec8bcda057128c11">value</a>(values),·expression);</div> 
136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keywordflow">return</span>·testFactorJacobians(name_,·f,·values,·nd_step,·tolerance);</div> 
137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>}</div>130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>}·<span·class="comment">//·namespace·internal</span></div> 
139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>}·<span·class="comment">//·namespace·gtsam</span></div>131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04368.html#acd47a7fd6c759b84610f2f0c8643cb3b">···36</a></span>··<a·class="code·hl_enumeration"·href="a04368.html#a03dcd7ae858413a9b0622dc024345209">Axis</a>·<a·class="code·hl_variable"·href=[·...·truncated·by·diffoscope;·len:·74,·SHA:·98e6a5a9b2d770eadb7543f34b2e9b83d77a6120fd74349b215ef77ffde66d4d·...·]</div>
 132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a04368.html#a2510b8d60ade59a0cb2eb20bdeabefa5">···38</a></span>··<a·class="code·hl_enumeration"·href="a04368.html#a03dcd7ae858413a9b0622dc024345209">Axis</a>·<a·class="code·hl_variable"·href="a04368.html#a2510b8d60ade59a0cb2eb20bdeabefa5">paperVerticalAxis</a>;····</div>
 133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04368.html#a7f90a6942877030cb1234c33fbc74755">···40</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04368.html#a7f90a6942877030cb1234c33fbc74755">scale</a>;··</div>
 134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04368.html#a7be882956fb690537dffee6b657bee1c">···41</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04368.html#a7be882956fb690537dffee6b657bee1c">mergeSimilarFactors</a>;··</div>
140 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>135 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
141 <div·class="foldopen"·id="foldopen00048"·data-start=""·data-end="">136 <div·class="foldopen"·id="foldopen00046"·data-start="{"·data-end="}">
142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a01028.html#a701d0cd12b81a725f7f9cd2432fe9e2a">···48</a></span><span·class="preprocessor">#define·EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression,·values,·numerical_derivative_step,·tolerance)·\</span></div> 
143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="preprocessor">····{·EXPECT(gtsam::internal::testExpressionJacobians(name_,·expression,·values,·numerical_derivative_step,·tolerance));·}</span></div>137 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a04368.html#a28cc4181d43026077d292c8f7bbc93a9">···46</a></span>··<a·class="code·hl_function"·href="a04368.html#a28cc4181d43026077d292c8f7bbc93a9">GraphvizFormatting</a>()</div>
 138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······:·paperHorizontalAxis(Y),</div>
 139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>········paperVerticalAxis(X),</div>
 140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>········scale(1),</div>
 141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>········mergeSimilarFactors(false)·{}</div>
144 </div>142 </div>
 143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="comment">//·Find·bounds</span></div>
 145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··Vector2·findBounds(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·values,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02320.html">KeySet</a>&amp;·keys)·<span·class="keyword">const</span>;</div>
 146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
 147 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··boost::optional&lt;Vector2&gt;·extractPosition(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>&amp;·value)·<span·class="keyword">const</span>;</div>
 148 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··boost::optional&lt;Vector2&gt;·variablePos(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·values,·<span·class="keyword">const</span>·Vector2&amp;·min,</div>
 150 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·······································<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key)·<span·class="keyword">const</span>;</div>
 151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 152 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··boost::optional&lt;Vector2&gt;·factorPos(<span·class="keyword">const</span>·Vector2&amp;·min,·<span·class="keywordtype">size_t</span>·i)·<span·class="keyword">const</span>;</div>
 153 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>};</div>
 154 </div>
 155 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>
 156 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>}··<span·class="comment">//·namespace·gtsam</span></div>
145 <div·class="ttc"·id="aa00071_html"><div·class="ttname"><a·href="a00071.html">Testable.h</a></div><div·class="ttdoc">Concept·check·for·values·that·can·be·used·in·unit·tests.</div></div>157 <div·class="ttc"·id="aa00626_html"><div·class="ttname"><a·href="a00626.html">DotWriter.h</a></div><div·class="ttdoc">Graphviz·formatter.</div></div>
146 <div·class="ttc"·id="aa01016_html"><div·class="ttname"><a·href="a01016.html">factorTesting.h</a></div><div·class="ttdoc">Evaluate·derivatives·of·a·nonlinear·factor·numerically.</div></div> 
147 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>158 <div·class="ttc"·id="aa01428_html"><div·class="ttname"><a·href="a01428.html">gtsam</a></div><div·class="ttdoc">Global·functions·in·a·separate·testing·namespace.</div><div·class="ttdef"><b>Definition</b>·chartTesting.h:28</div></div>
148 <div·class="ttc"·id="aa03940_html_a61fda7a7390d3fc40f5618185e801bfe"><div·class="ttname"><a·href="a03940.html#a61fda7a7390d3fc40f5618185e801bfe">gtsam::noiseModel::Unit::Create</a></div><div·class="ttdeci">static·shared_ptr·Create(size_t·dim)</div><div·class="ttdoc">Create·a·unit·covariance·noise·model.</div><div·class="ttdef"><b>Definition</b>·NoiseModel.h:597</div></div> 
149 <div·class="ttc"·id="aa04292_html"><div·class="ttname"><a·href="a04292.html">gtsam::Expression</a></div><div·class="ttdoc">Expression·class·that·supports·automatic·differentiation.</div><div·class="ttdef"><b>Definition</b>·Expression.h:48</div></div> 
150 <div·class="ttc"·id="aa04292_html_acb8e427a376afb1eec8bcda057128c11"><div·class="ttname"><a·href="a04292.html#acb8e427a376afb1eec8bcda057128c11">gtsam::Expression::value</a></div><div·class="ttdeci">T·value(const·Values·&amp;values,·boost::optional&lt;·std::vector&lt;·Matrix·&gt;[·...·truncated·by·diffoscope;·len:·219,·SHA:·f58a2371fbbab2de67bc593f0334499ebb9771fcbdb51a320e03696392d23641·...·]</div></div>159 <div·class="ttc"·id="aa01428_html_adad029f5f6ffce610428b5fe768b0df2"><div·class="ttname"><a·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div·class="ttdeci">std::uint64_t·Key</div><div·class="ttdoc">Integer·nonlinear·key·type.</div><div·class="ttdef"><[·...·truncated·by·diffoscope;·len:·28,·SHA:·f1ca64e6313c08c8843b4d4c9651b38c04fb4c6d341b8ed7d8575301b398b808·...·]</div></div>
 160 <div·class="ttc"·id="aa02320_html"><div·class="ttname"><a·href="a02320.html">gtsam::FastSet&lt;·Key·&gt;</a></div></div>
 161 <div·class="ttc"·id="aa02596_html"><div·class="ttname"><a·href="a02596.html">gtsam::Value</a></div><div·class="ttdoc">This·is·the·base·class·for·any·type·to·be·stored·in·Values.</div><div·class="ttdef"><b>Definition</b>·Value.h:37</div></div>
 162 <div·class="ttc"·id="aa03576_html"><div·class="ttname"><a·href="a03576.html">gtsam::DotWriter</a></div><div·class="ttdoc">DotWriter·is·a·helper·class·for·writing·graphviz·.dot·files.</div><div·class="ttdef"><b>Definition</b>·DotWriter.h:35</div></div>
 163 <div·class="ttc"·id="aa04368_html"><div·class="ttname"><a·href="a04368.html">gtsam::GraphvizFormatting</a></div><div·class="ttdoc">Formatting·options·and·functions·for·saving·a·NonlinearFactorGraph·instance·in·GraphViz·format.</div><div·class="ttdef"><b>Definition</b>·GraphvizFormatting.h:32</div></div>
 164 <div·class="ttc"·id="aa04368_html_a03dcd7ae858413a9b0622dc024345209"><div·class="ttname"><a·href="a04368.html#a03dcd7ae858413a9b0622dc024345209">gtsam::GraphvizFormatting::Axis</a></div><div·class="ttdeci">Axis</div><div·class="ttdoc">World·axes·to·be·assigned·to·paper·axes.</div><div·class="ttdef"><b>Definition</b>·GraphvizFormatting.h:34</div></div>
 165 <div·class="ttc"·id="aa04368_html_a2510b8d60ade59a0cb2eb20bdeabefa5"><div·class="ttname"><a·href="a04368.html#a2510b8d60ade59a0cb2eb20bdeabefa5">gtsam::GraphvizFormatting::paperVerticalAxis</a></div><div·class="ttdeci">Axis·paperVerticalAxis</div><div·class="ttdoc">The·world·axis·assigned·to·the·vertical·paper·axis.</div><div·class="ttdef"><b>Definition</b>·GraphvizFormatting.h:38</div></div>
 166 <div·class="ttc"·id="aa04368_html_a28cc4181d43026077d292c8f7bbc93a9"><div·class="ttname"><a·href="a04368.html#a28cc4181d43026077d292c8f7bbc93a9">gtsam::GraphvizFormatting::GraphvizFormatting</a></div><div·class="ttdeci">GraphvizFormatting()</div><div·class="ttdoc">Default·constructor·sets·up·robot·coordinates.</div><div·class="ttdef"><b>Definition</b>·GraphvizFormatting.h:46</div></div>
 167 <div·class="ttc"·id="aa04368_html_a7be882956fb690537dffee6b657bee1c"><div·class="ttname"><a·href="a04368.html#a7be882956fb690537dffee6b657bee1c">gtsam::GraphvizFormatting::mergeSimilarFactors</a></div><div·class="ttdeci">bool·mergeSimilarFactors</div><div·class="ttdoc">Merge·multiple·factors·that·have·the·same·connectivity.</div><div·class="ttdef"><b>Definition</b>·GraphvizFormatting.h:41</div></div>
 168 <div·class="ttc"·id="aa04368_html_a7f90a6942877030cb1234c33fbc74755"><div·class="ttname"><a·href="a04368.html#a7f90a6942877030cb1234c33fbc74755">gtsam::GraphvizFormatting::scale</a></div><div·class="ttdeci">double·scale</div><div·class="ttdoc">Scale·all·positions·to·reduce·/·increase·density.</div><div·class="ttdef"><b>Definition</b>·GraphvizFormatting.h:40</div></div>
 169 <div·class="ttc"·id="aa04368_html_acd47a7fd6c759b84610f2f0c8643cb3b"><div·class="ttname"><a·href="a04368.html#acd47a7fd6c759b84610f2f0c8643cb3b">gtsam::GraphvizFormatting::paperHorizontalAxis</a></div><div·class="ttdeci">Axis·paperHorizontalAxis</div><div·class="ttdoc">The·world·axis·assigned·to·the·horizontal·paper·axis.</div><div·class="ttdef"><b>Definition</b>·GraphvizFormatting.h:36</div></div>
151 <div·class="ttc"·id="aa04612_html"><div·class="ttname"><a·href="a04612.html">gtsam::Values</a></div><div·class="ttdoc">A·non-templated·config·holding·any·types·of·Manifold-group·elements.</div><div·class="ttdef"><b>Definition</b>·Values.h:65</div></div>170 <div·class="ttc"·id="aa04612_html"><div·class="ttname"><a·href="a04612.html">gtsam::Values</a></div><div·class="ttdoc">A·non-templated·config·holding·any·types·of·Manifold-group·elements.</div><div·class="ttdef"><b>Definition</b>·Values.h:65</div></div>
 171 <div·class="ttc"·id="aa05076_html"><div·class="ttname"><a·href="a05076.html">Values</a></div><div·class="ttdoc">In·nonlinear·factors,·the·error·function·returns·the·negative·log-likelihood·as·a·non-linear·function...</div></div>
152 </div><!--·fragment·--></div><!--·contents·-->172 </div><!--·fragment·--></div><!--·contents·-->
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">NonlinearOptimizer.h</div></div>104 ··<div·class="headertitle"><div·class="title">BinaryJacobianFactor.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01043.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00761.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
 120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00824.html">gtsam/linear/JacobianFactor.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01145.html">gtsam/nonlinear/NonlinearFactorGraph.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00089.html">gtsam/base/SymmetricBlockMatrix.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01055.html">gtsam/nonlinear/NonlinearOptimizerParams.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00113.html">gtsam/base/timing.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span>internal·{·<span·class="keyword">struct·</span>NonlinearOptimizerState;·}</div>126 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">template</span>&lt;<span·class="keywordtype">int</span>·M,·<span·class="keywordtype">int</span>·N1,·<span·class="keywordtype">int</span>·N2&gt;</div>
 127 <div·class="foldopen"·id="foldopen00033"·data-start="{"·data-end="};">
 128 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a03720.html">···33</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a03720.html">BinaryJacobianFactor</a>:·<a·class="code·hl_class"·href="a03844.html">JacobianFactor</a>·{</div>
 129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
 130 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="}">
 131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a03720.html#adef0324d93ae1dd00943ea9a088b9bee">···36</a></span>··<a·class="code·hl_function"·href="a03720.html#adef0324d93ae1dd00943ea9a088b9bee">BinaryJacobianFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1,·<span·class="keyword">const</span>·Eigen::Matrix&lt;double,·M,·N1&gt;&amp;·A1,</div>
 132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>······<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2,·<span·class="keyword">const</span>·Eigen::Matrix&lt;double,·M,·N2&gt;&amp;·A2,</div>
 133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>······<span·class="keyword">const</span>·Eigen::Matrix&lt;double,·M,·1&gt;&amp;·b,·<span·class="comment">//</span></div>
 134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·SharedDiagonal())·:</div>
 135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>······<a·class="code·hl_class"·href="a03844.html">JacobianFactor</a>(key1,·A1,·key2,·A2,·b,·model)·{</div>
 136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··}</div>
 137 </div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>138 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div>
 139 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">inline</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key1()<span·class="keyword">·const·</span>{</div>
 140 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">keys_</a>[0];</div>
 141 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··}</div>
 142 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="keyword">inline</span>·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key2()<span·class="keyword">·const·</span>{</div>
 143 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="keywordflow">return</span>·<a·class="code·hl_variable"·href="a03592.html#a10e886cc8b8a374e2fe864707e0b6278">keys_</a>[1];</div>
 144 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··}</div>
 145 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div>
 146 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="comment">//·Fixed-size·matrix·update</span></div>
127 <div·class="foldopen"·id="foldopen00075"·data-start="{"·data-end="};">147 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="}">
128 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a04552.html">···75</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04552.html">NonlinearOptimizer</a>·{</div>148 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a03720.html#afb114b4f91aa1b56cf5539003696f53a">···51</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a03720.html#afb114b4f91aa1b56cf5539003696f53a">updateH[·...·truncated·by·diffoscope;·len:·154,·SHA:·e5b66df8fe95901c9f2b62868e1046d72c7253c4ae942980b10baa8e78465751·...·]</div>
 149 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<a·class="code·hl_class"·href="a02472.html">SymmetricBlockMatrix</a>*·info)<span·class="keyword">·const·override·</span>{</div>
 150 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····gttic(updateHessian_BinaryJacobianFactor);</div>
 151 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="comment">//·Whiten·the·factor·if·it·has·a·noise·model</span></div>
 152 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····<span·class="keyword">const</span>·SharedDiagonal&amp;·model·=·<a·class="code·hl_function"·href="a03844.html#a44a2ce150ef653460b6f2c3c3cd251c6">get_model</a>();</div>
 153 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>····<span·class="keywordflow">if</span>·(model·&amp;&amp;·!model-&gt;isUnit())·{</div>
 154 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>······<span·class="keywordflow">if</span>·(model-&gt;isConstrained())</div>
 155 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>········<span·class="keywordflow">throw</span>·std::invalid_argument(</div>
 156 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>············<span·class="stringliteral">&quot;BinaryJacobianFactor::updateHessian:·cannot·update·information·with·&quot;</span></div>
 157 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>················<span·class="stringliteral">&quot;constrained·noise·model&quot;</span>);</div>
 158 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>······<a·class="code·hl_struct"·href="a03720.html">BinaryJacobianFactor</a>·whitenedFactor(key1(),·model-&gt;Whiten(<a·class="code·hl_function"·href="a03844.html#a6ec09943327b0cf49a05216eb9c128de">getA</a>(<a·class="code·hl_function"·href="a03592.html#a17c02f11c35bf7768347cad4943f0f64">begin</a>())),</div>
 159 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··········key2(),·model-&gt;Whiten(<a·class="code·hl_function"·href="a03844.html#a6ec09943327b0cf49a05216eb9c128de">getA</a>(<a·class="code·hl_function"·href="a03592.html#aa1f00e05967c0c278beec17af9cb0530">end</a>())),·model-&gt;whiten(<a·class="code·hl_function"·href="a03844.html#a0d0aa9bc7d1cdf639b6731d6cef6b2f8">getb</a>()));</div>
 160 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>······whitenedFactor.<a·class="code·hl_function"·href="a03720.html#afb114b4f91aa1b56cf5539003696f53a">updateHessian</a>(infoKeys,·info);</div>
 161 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····}·<span·class="keywordflow">else</span>·{</div>
 162 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>······<span·class="comment">//·First·build·an·array·of·slots</span></div>
 163 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·slot1·=·Slot(infoKeys,·key1());</div>
 164 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>······<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·slot2·=·Slot(infoKeys,·key2());</div>
 165 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······<a·class="code·hl_typedef"·href="a01428.html#a21006f326f57cdf7d3f35fec40f43e40">DenseIndex</a>·slotB·=·info-&gt;<a·class="code·hl_function"·href="a02472.html#acbbb5bd424e0427ef4672b40e31ffa85">nBlocks</a>()·-·1;</div>
129 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>166 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
130 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span><span·class="keyword">protected</span>:</div> 
131 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno"><a·class="line"·href="a04552.html#a7142764a820ba039a610074f855bce13">···78</a></span>··<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>·<a·class="code·hl_variable"·href="a04552.html#a7142764a820[·...·truncated·by·diffoscope;·len:·35,·SHA:·ca50193aae8bb7409f3436b2f6f926d9e1f3c68f79501cd1e4f0399d0e71b823·...·]</div>167 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······<span·class="keyword">const</span>·Matrix&amp;·Ab·=·Ab_.<a·class="code·hl_function"·href="a02660.html#a1637c4ff95b691fce6b0419996d87061">matrix</a>();</div>
 168 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······Eigen::Block&lt;const·Matrix,·M,·N1&gt;·A1(Ab,·0,·0);</div>
 169 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>······Eigen::Block&lt;const·Matrix,·M,·N2&gt;·A2(Ab,·0,·N1);</div>
 170 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>······Eigen::Block&lt;const·Matrix,·M,·1&gt;·b(Ab,·0,·N1·+·N2);</div>
132 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>171 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
133 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno"><a·class="line"·href="a04552.html#aa51bf89ae24b609a58201f224c36b7b8">···80</a></span>··std::unique_ptr&lt;internal::NonlinearOptimizerState&gt;·<a·class="code·hl_variable"·href="a04552.html#aa51bf89ae24b609a58201f[·...·truncated·by·diffoscope;·len:·24,·SHA:·4af00bdffa52be90785ff51c8d5d1bf3b6697999807cad2f9eaaf40d04adde27·...·]</div>172 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>······<span·class="comment">//·We·perform·I·+=·A&#39;*A·to·the·upper·triangle</span></div>
 173 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#abb8f0a01919cc6afa0056f0c827d164c">diagonalBlock</a>(slot1).rankUpdate(A1.transpose());</div>
 174 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#aa199f2600852b106241c1084291d79b5">updateOffDiagonalBlock</a>(slot1,·slot2,·A1.transpose()·*·A2);</div>
 175 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#aa199f2600852b106241c1084291d79b5">updateOffDiagonalBlock</a>(slot1,·slotB,·A1.transpose()·*·b);</div>
 176 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#abb8f0a01919cc6afa0056f0c827d164c">diagonalBlock</a>(slot2).rankUpdate(A2.transpose());</div>
 177 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#aa199f2600852b106241c1084291d79b5">updateOffDiagonalBlock</a>(slot2,·slotB,·A2.transpose()·*·b);</div>
 178 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>······info-&gt;<a·class="code·hl_function"·href="a02472.html#ac238889d9c141c538f6381619d0c39a4">updateDiagonalBlock</a>(slotB,·b.transpose()·*·b);</div>
 179 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>····}</div>
134 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·</div>180 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··}</div>
 181 </div>
135 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span><span·class="keyword">public</span>:</div>182 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>};</div>
136 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a04552.html#ab0f7caa60ea97aa83c85cc09452f2c2d">···84</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a04552.html#ab0f7caa60ea97aa83[·...·truncated·by·diffoscope;·len:·85,·SHA:·c39e4f47739729a62da093ca3f3703d394807ce318a7257a54428714f760c75e·...·]/div>183 </div>
137 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>184 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
 185 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno">···86</span><span·class="keyword">template</span>&lt;<span·class="keywordtype">int</span>·M,·<span·class="keywordtype">int</span>·N1,·<span·class="keywordtype">int</span>·N2&gt;</div>
 186 <div·class="foldopen"·id="foldopen00087"·data-start="{"·data-end="};">
 187 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a03724.html">···87</a></span><span·class="keyword">struct·</span><a·class="code·hl_struct"·href="a02276.html">traits</a>&lt;<a·class="code·hl_struct"·href="a03720.html">BinaryJacobianFactor</a>&lt;M,·N1,·N2&gt;·&gt;·:·<a·class="code·hl_struct"·href="a02492.html">Testable</a>&lt;</div>
 188 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····BinaryJacobianFactor&lt;M,·N1,·N2&gt;·&gt;·{</div>
138 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>·</div>189 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>};</div>
139 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno"><a·class="line"·href="a04552.html#a823730cdeb1c0b0c5c1fef2e1ac546d7">···98</a></span>··<span·class="keyword">virtual</span>·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·<a·class="code·hl_function"·href="a04552.html#a823730cdeb1c0b0c5c1fef2e1ac546d7">optimize</a>()·{·defaultOptimize();·<span·class="keywordflow">return</span>·values();·}</div> 
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
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100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">DoglegOptimizerImpl.h</div></div>104 ··<div·class="headertitle"><div·class="title">SubgraphBuilder.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01046.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00896.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>119 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div>
 120 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00137.html">gtsam/base/FastMap.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;iomanip&gt;</span></div> 
121 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div> 
122 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00884.html">gtsam/linear/VectorValues.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00146.html">gtsam/base/types.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00596.html">gtsam/inference/Ordering.h</a>&gt;</span></div>122 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;gtsam/dllexport.h&gt;</span></div>
124 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>123 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 124 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;boost/serialization/version.hpp&gt;</span></div>
 125 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;boost/serialization/nvp.hpp&gt;</span></div>
 126 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/shared_ptr.hpp&gt;</span></div>
 127 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
 128 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>
 129 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 130 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span>boost·{</div>
 131 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">namespace·</span>serialization·{</div>
 132 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">class·</span>access;</div>
 133 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>}·<span·class="comment">/*·namespace·serialization·*/</span></div>
 134 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>}·<span·class="comment">/*·namespace·boost·*/</span></div>
 135 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>
125 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>136 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
126 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>137 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div>
 138 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="comment">//·Forward·declarations</span></div>
 139 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="keyword">class·</span>GaussianFactorGraph;</div>
 140 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="keyword">struct·</span>PreconditionerParameters;</div>
 141 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>·</div>
 142 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="comment">/**************************************************************************/</span></div>
127 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};">143 <div·class="foldopen"·id="foldopen00043"·data-start="{"·data-end="};">
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04264.html">···32</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04264.html">DoglegOptimizerImpl</a>·{</div>144 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04032.html">···43</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04032.html">Subgraph</a>·{</div>
129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>·</div>145 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>·<span·class="keyword">public</span>:</div>
130 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">146 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};">
131 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04268.html">···34</a></span>··<span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04268.html">IterationResult</a>·{</div>147 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04036.html">···45</a></span>··<span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04036.html">Edge</a>·{</div>
 148 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>····<span·class="keywordtype">size_t</span>·index;··<span·class="comment">/*·edge·id·*/</span></div>
 149 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>····<span·class="keywordtype">double</span>·weight;·<span·class="comment">/*·edge·weight·*/</span></div>
 150 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>····<span·class="keyword">inline</span>·<span·class="keywordtype">bool</span>·isUnitWeight()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·(weight·==·1.0);·}</div>
 151 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>····<span·class="keyword">friend</span>·std::ostream·&amp;operator&lt;&lt;(std::ostream·&amp;os,·<span·class="keyword">const</span>·<a·class="code·hl_struct"·href="a04036.html">Edge</a>·&amp;edge);</div>
 152 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
132 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>····<span·class="keywordtype">double</span>·delta;</div>153 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>···<span·class="keyword">private</span>:</div>
133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>····<a·class="code·hl_class"·href="a04064.html">VectorValues</a>·dx_d;</div>154 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····<span·class="keyword">friend</span>·<span·class="keyword">class·</span>boost::serialization::access;</div>
134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>····<span·class="keywordtype">double</span>·f_error;</div>155 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>····<span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·Archive&gt;</div>
 156 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="keywordtype">void</span>·serialize(Archive·&amp;ar,·<span·class="keyword">const</span>·<span·class="keywordtype">unsigned</span>·<span·class="keywordtype">int</span>·<span·class="comment">/*version*/</span>)·{</div>
 157 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>······ar·&amp;BOOST_SERIALIZATION_NVP(index);</div>
 158 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>······ar·&amp;BOOST_SERIALIZATION_NVP(weight);</div>
 159 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····}</div>
135 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··};</div>160 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··};</div>
136 </div>161 </div>
137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>162 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
138 <div·class="foldopen"·id="foldopen00053"·data-start="{"·data-end="};"> 
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138 <dl·class="section·author"><dt>Author</dt><dd>Michael·Kaess,·Richard·Roberts,·Frank·Dellaert·</dd></dl>131 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 132 <dd>
 133 Natesh·Srinivasan·</dd></dl>
 134 <dl·class="section·date"><dt>Date</dt><dd>Nov·28,·2014·</dd></dl>
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145 <div·class="textblock"><p>A·non-templated·config·holding·any·types·of·Manifold-group·elements.·</p> 
146 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts</dd></dl> 
147 <p>Detailed·story:·A·values·structure·is·a·map·from·keys·to·values.·It·is·used·to·specify·the·value·of·a·bunch·of·variables·in·a·factor·graph.·A·<a·class="el"·href="a05076.html"·title="In·nonlinear·factors,·the·error·function·returns·the·negative·log-likeli[·...·truncated·by·diffoscope;·len:·294,·SHA:·3c467db66d9ec38895ec8e62f3bf444fbe9e15310580367a56d70a956d7f735c·...·]>139 <div·class="textblock"><dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>
 140 <dd>
 141 Stephen·Williams·</dd>
 142 <dd>
 143 Richard·Roberts·</dd>
 144 <dd>
 145 Vadim·Indelman·</dd>
 146 <dd>
 147 David·Jensen·</dd>
 148 <dd>
 149 Frank·Dellaert·</dd>
 150 <dd>
 151 Varun·Agrawal·</dd></dl>
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100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>·&#124;101 <a·href="#namespaces">Namespaces</a>··</div>
102 <a·href="#func-members">Functions</a>··</div> 
103 ··<div·class="headertitle"><div·class="title">NonlinearConjugateGradientOptimizer.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">Sampler.h·File·Reference</div></div>
104 </div><!--header-->103 </div><!--header-->
105 <div·class="contents">104 <div·class="contents">
  
106 <p>Simple·non-linear·optimizer·that·solves·using·<em>non-preconditioned</em>·CG.··105 <p>sampling·from·a·NoiseModel··
107 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
108 <p><a·href="a01091_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00833_source.html">Go·to·the·source·code·of·this·file.</a></p>
109 <table·class="memberdecls">108 <table·class="memberdecls">
110 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
111 Classes</h2></td></tr>110 Classes</h2></td></tr>
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113 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">An·implementation·of·the·nonlinear·CG·method·using·the·template·below.··<a·href="a04460.html#details">More...</a><br·/></td></tr>112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Sampling·structure·that·keeps·internal·random·number·generators·for·diagonal·distributions·specified·by·NoiseModel.··<a·href="a04020.html#details">More...</a><br·/></td></tr>
114 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
115 </table><table·class="memberdecls">114 </table><table·class="memberdecls">
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118 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
119 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
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121 </table><table·class="memberdecls"> 
122 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="func-members"·name="func-members"></a> 
123 Functions</h2></td></tr> 
124 <tr·class="memitem:a0ceb9e5a5e864b96c529db67f55a873b"·id="r_a0ceb9e5a5e864b96c529db67f55a873b"><td·class="memTemplParams"·colspan="2"><a·id="a0ceb9e5a5e864b96c529db67f55a873b"·name="a0ceb9e5a5e864b96c529db67f55a873b"></a> 
125 template&lt;class·S·,·class·V·,·class·W·&gt;·</td></tr> 
126 <tr·class="memitem:a0ceb9e5a5e864b96c529db67f55a873b"><td·class="memTemplItemLeft"·align="right"·valign="top">double&#160;</td><td·class="memTemplItemRight"·valign="bottom"><b>gtsam::lineSearch</b>·(const·S·&amp;system,·const·V·currentValues,·const·W·&amp;gradient)</td></tr> 
127 <tr·class="memdesc:a0ceb9e5a5e864b96c529db67f55a873b"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Implement·the·golden-section·line·search·algorithm.·<br·/></td></tr> 
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130 <tr·class="memitem:afc19854e0bfc1acadb00ff00a043cc17"><td·class="memTemplItemLeft"·align="right"·valign="top">boost::tuple&lt;·V,·int·&gt;&#160;</td><td·class="memTemplItemRight"·valign="bottom"><a·class="el"·href="a01428.html#afc19854e0bfc1acadb00ff00a043cc17">gtsam::nonlinearConjugateGradient</a>·(const·S·&amp;system,·const·V·&amp;initial,·const·<a·class="el"·href="a04556.html">NonlinearOptimizerParams</a>·&amp;params,·const·bool·singleIteration,·const·bool·gradientDescent=false)</td></tr> 
131 <tr·class="memdesc:afc19854e0bfc1acadb00ff00a043cc17"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Implement·the·nonlinear·conjugate·gradient·method·using·the·Polak-Ribiere·formula·suggested·in·<a·href="http://en.wikipedia.org/wiki/Nonlinear_conjugate_gradient_method">http://en.wikipedia.org/wiki/Nonlinear_conjugate_gradient_method</a>.··<br·/></td></tr> 
132 <tr·class="separator:afc19854e0bfc1acadb00ff00a043cc17"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
133 </table>120 </table>
134 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
135 <div·class="textblock"><p>Simple·non-linear·optimizer·that·solves·using·<em>non-preconditioned</em>·CG.·</p>122 <div·class="textblock"><p>sampling·from·a·NoiseModel·</p>
136 <dl·class="section·author"><dt>Author</dt><dd>Yong-Dian·Jian·</dd></dl>123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
137 <dl·class="section·date"><dt>Date</dt><dd>June·11,·2012·</dd></dl>124 <dd>
 125 Alex·Cunningham·</dd></dl>
138 </div></div><!--·contents·-->126 </div></div><!--·contents·-->
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144 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>132 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">LevenbergMarquardtOptimizer.h</div></div>104 ··<div·class="headertitle"><div·class="title">Cal3.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01151.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00389.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a04436.html#a81721702704bfbd35d14db2b1978f911">···38</a></span>··<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>·<a·class="code·hl_variable"·href="a04436.html#a81721702704bfbd35d14db2b1978f911">params_</a>;·</div> 
134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··boost::posix_time::ptime·startTime_;</div> 
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div> 
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="keywordtype">void</span>·initTime();</div> 
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·</div> 
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="keyword">public</span>:</div> 
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">typedef</span>·boost::shared_ptr&lt;LevenbergMarquardtOptimizer&gt;·shared_ptr;</div> 
140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div> 
141 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div> 
142 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<a·class="code·hl_class"·href="a04436.html">LevenbergMarquardtOptimizer</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialValues,</div> 
143 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>&amp;·params·=·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>());</div> 
144 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
145 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··<a·class="code·hl_class"·href="a04436.html">LevenbergMarquardtOptimizer</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>&amp;·graph,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·initialValues,</div> 
146 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>······························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03680.html">Ordering</a>&amp;·ordering,</div> 
147 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>······························<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>&amp;·params·=·<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>());</div> 
148 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div> 
149 <div·class="foldopen"·id="foldopen00072"·data-start="{"·data-end="}">125 <div·class="foldopen"·id="foldopen00047"·data-start="{"·data-end="}">
150 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno"><a·class="line"·href="a04436.html#a173eabb76bd68cf8fb01665c64d9a649">···72</a></span>··<a·class="code·hl_function"·href="a04436.html#a173eabb76bd68cf8fb01665c64d9a649">~LevenbergMarquardtOptimizer</a>()<span·class[·...·truncated·by·diffoscope;·len:·29,·SHA:·ee0ba67519fd64ada93efc5d219bc48703a705a2e254268d06369e316d9741c2·...·]</div>126 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno"><a·class="line"·href="a01428.html#a9ac814fcc4484bce32e4616d69afb225">···47</a></span><span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a01428.html#a9ac814fcc4484bce32e4616d69afb225">calibrate[·...·truncated·by·diffoscope;·len:·205,·SHA:·b801b6d52ba4bd61d50f0ee260d64d6666c818a43fa3b97944f6d37d8e7b0ca5·...·]</div>
 127 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>························<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·Dim&gt;</a>·Dcal·=·boost::none,</div>
 128 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>························<a·class="code·hl_class"·href="a02448.html">OptionalJacobian&lt;2,·2&gt;</a>·Dp·=·boost::none)·{</div>
 129 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keywordflow">if</span>·(Dcal·||·Dp)·{</div>
 130 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>····Eigen::Matrix&lt;double,·2,·Dim&gt;·H_uncal_K;</div>
 131 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>····Matrix22·H_uncal_pn,·H_uncal_pn_inv;</div>
151 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··}</div>132 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 133 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>····<span·class="comment">//·Compute·uncalibrate·Jacobians</span></div>
 134 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>····calibration.uncalibrate(pn,·Dcal·?·&amp;H_uncal_K·:·<span·class="keyword">nullptr</span>,·H_uncal_pn);</div>
 135 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·</div>
 136 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>····H_uncal_pn_inv·=·H_uncal_pn.inverse();</div>
 137 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>
 138 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····<span·class="keywordflow">if</span>·(Dp)·*Dp·=·H_uncal_pn_inv;</div>
 139 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>····<span·class="keywordflow">if</span>·(Dcal)·*Dcal·=·-H_uncal_pn_inv·*·H_uncal_K;</div>
 140 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··}</div>
 141 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>}</div>
152 </div>142 </div>
 143 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>
 144 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="};">
 145 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a02940.html">···69</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a02940.html">Cal3</a>·{</div>
 146 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·<span·class="keyword">protected</span>:</div>
 147 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno"><a·class="line"·href="a02940.html#a33811231ccb2620ac12a9f741044190d">···71</a></span>··<span·class="keywordtype">double</span>·fx_·=·1.0f,·fy_·=·1.0f;··</div>
 148 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno"><a·class="line"·href="a02940.html#a53228e7ead3f7153f98140486e99b8a6">···72</a></span>··<span·class="keywordtype">double</span>·s_·=·0.0f;···············</div>
 149 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno"><a·class="line"·href="a02940.html#ae52d5f4130f18069a281f7e4dbaa6ced">···73</a></span>··<span·class="keywordtype">double</span>·u0_·=·0.0f,·v0_·=·0.0f;··</div>
153 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>150 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
154 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div>151 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>·<span·class="keyword">public</span>:</div>
 152 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>··<span·class="keyword">enum</span>·{·dimension·=·5·};</div>
 153 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">using·</span>shared_ptr·=·boost::shared_ptr&lt;Cal3&gt;;</div>
155 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>154 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
156 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>··<span·class="keywordtype">double</span>·lambda()·<span·class="keyword">const</span>;</div> 
157 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>155 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>
158 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<span·class="keywordtype">int</span>·getInnerIterations()·<span·class="keyword">const</span>;</div>156 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno"><a·class="line"·href="a02940.html#a217dac62e79c531d68a6c7674d326b55">···84</a></span>··<a·class="code·hl_function"·href="a02940.html#a217dac62e79c531d68a6c7674d326b55">Cal3</a>()·=·<span·class="keywordflow">default</span>;</div>
159 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>157 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>·</div>
160 <div·class="foldopen"·id="foldopen00087"·data-start="{"·data-end="}">158 <div·class="foldopen"·id="foldopen00087"·data-start="{"·data-end="}">
161 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a04436.html#a899353dce14ec64bf389164011b58c72">···87</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04436.html#a899353dce14ec64bf389164011b58c72">print</a>(<span·class="keyword">const</span>·std::string&amp;·str·=·<span·class="stringliteral">&quot;&quot;</span>)<span·class="keyword">·const·</span>{</div> 
162 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>····std::cout·&lt;&lt;·str·&lt;&lt;·<span·class="stringliteral">&quot;LevenbergMarquardtOptimizer&quot;</span>·&lt;&lt;·std::endl;</div> 
163 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>····this-&gt;params_.print(<span·class="stringliteral">&quot;··parameters:\n&quot;</span>);</div>159 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno"><a·class="line"·href="a02940.html#a00140a3bcdfc1d1aef72c445bf563962">···87</a></span>··<a·class="code·hl_function"·href="a02940.html#a00140a3bcdfc1d1aef72c445bf563962">Cal3</a>(<span·class="keywordtype">double</spa[·...·truncated·by·diffoscope;·len:·181,·SHA:·7ed233d7388ea50e33d224ce0793d961f29e70644f238bc9bf19e765c3ac035d·...·]</div>
 160 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>······:·fx_(fx),·fy_(fy),·s_(s),·u0_(u0),·v0_(v0)·{}</div>
 161 </div>
164 <div·class="line"><a·id="l00090"·name="l00090"></a><span·class="lineno">···90</span>··}</div>162 <div·class="line"><a·id="l00089"·name="l00089"></a><span·class="lineno">···89</span>·</div>
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">GraphvizFormatting.h</div></div>104 ··<div·class="headertitle"><div·class="title">testLie.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01154.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2021,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div>
 119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·testLie.h</span></div>
 120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@brief·Test·utilities·for·Lie·groups</span></div>
 121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·November,·2014</span></div>
 122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*·@author·Paul·Furgale</span></div>
 123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">·*/</span></div>
 124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00617.html">gtsam/inference/DotWriter.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00002.html">gtsam/base/Lie.h</a>&gt;</span></div>
 128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00140.html">gtsam/base/numericalDerivative.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;CppUnitLite/TestResult.h&gt;</span></div>
 131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;CppUnitLite/Test.h&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a05076.html">Values</a>;</div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">class·</span>Value;</div>132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;CppUnitLite/Failure.h&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>133 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
127 <div·class="foldopen"·id="foldopen00032"·data-start="{"·data-end="};"> 
128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno"><a·class="line"·href="a04368.html">···32</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04368.html">GraphvizFormatting</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_struct"·href="a03576.html">DotWriter</a>·{</div> 
129 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04368.html#a03dcd7ae858413a9b0622dc024345209">···34</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a04368.html#a03dcd7ae858413a9b0622dc024345209">Axis</a>[·...·truncated·by·diffoscope;·len:·31,·SHA:·72ae4a009a8f8ff2d782f4ab4f644a5e390328ac4111d20a93f81912b925606a·...·]</div>134 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 135 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 136 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="comment">//·Do·a·comprehensive·test·of·Lie·Group·derivatives</span></div>
 137 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·G&gt;</div>
 138 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keywordtype">void</span>·testLieGroupDerivatives(TestResult&amp;·result_,·<span·class="keyword">const</span>·std::string&amp;·name_,</div>
 139 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>····<span·class="keyword">const</span>·G&amp;·t1,·<span·class="keyword">const</span>·G&amp;·t2)·{</div>
130 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>·</div>140 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04368.html#acd47a7fd6c759b84610f2f0c8643cb3b">···36</a></span>··<a·class="code·hl_enumeration"·href="a04368.html#a03dcd7ae858413a9b0622dc024345209">Axis</a>·<a·class="code·hl_variable"·href="a04368.html#acd47a7fd6c759b84610f2f0c8643cb3b">paperHorizontalAxis</a>;··</div> 
132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno"><a·class="line"·href="a04368.html#a2510b8d60ade59a0cb2eb20bdeabefa5">···38</a></span>··<a·class="code·hl_enumeration"·href="a04368.html#a03dcd7ae858413a9b0622dc024345209">Axis</a>·<a·class="code·hl_variable"·href="a04368.html#a2510b8d60ade59a0cb2eb20bdeabefa5">paperVerticalAxis</a>;····</div> 
133 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno"><a·class="line"·href="a04368.html#a7f90a6942877030cb1234c33fbc74755">···40</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04368.html#a7f90a6942877030cb1234c33fbc74755">scale</a>;··</div> 
134 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04368.html#a7be882956fb690537dffee6b657bee1c">···41</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_variable"·href="a04368.html#a7be882956fb690537dffee6b657bee1c">mergeSi[·...·truncated·by·diffoscope;·len:·19,·SHA:·a14fa8a7357cb35cc63e6336c3ce7004449a643926872b2b34c4cdf418a7e91b·...·]</div>141 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··Matrix·H1,·H2;</div>
 142 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>··<span·class="keyword">typedef</span>·traits&lt;G&gt;·T;</div>
 143 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">typedef</span>·OptionalJacobian&lt;T::dimension,T::dimension&gt;·OJ;</div>
 144 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>·</div>
 145 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··<span·class="comment">//·Inverse</span></div>
 146 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··OJ·none;</div>
 147 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··EXPECT(assert_equal&lt;G&gt;(t1.inverse(),T::Inverse(t1,·H1)));</div>
 148 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative21&lt;G,G,OJ&gt;(T::Inverse,·t1,·none),H1));</div>
135 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>149 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
 150 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··EXPECT(assert_equal&lt;G&gt;(t2.inverse(),T::Inverse(t2,·H1)));</div>
 151 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative21&lt;G,G,OJ&gt;(T::Inverse,·t2,·none),H1));</div>
136 <div·class="foldopen"·id="foldopen00046"·data-start="{"·data-end="}"> 
137 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a04368.html#a28cc4181d43026077d292c8f7bbc93a9">···46</a></span>··<a·class="code·hl_function"·href="a04368.html#a28cc4181d43026077d292c8f7bbc93a9">GraphvizFormatting</a>()</div> 
138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>······:·paperHorizontalAxis(Y),</div> 
139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>········paperVerticalAxis(X),</div> 
140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>········scale(1),</div>152 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div>
141 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>········mergeSimilarFactors(false)·{}</div> 
142 </div>153 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="comment">//·Compose</span></div>
 154 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··EXPECT(assert_equal&lt;G&gt;(t1·*·t2,T::Compose(t1,·t2,·H1,·H2)));</div>
 155 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative41&lt;G,G,G,OJ,OJ&gt;(T::Compose,·t1,·t2,·none,·none),·H1));</div>
 156 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative42&lt;G,G,G,OJ,OJ&gt;(T::Compose,·t1,·t2,·none,·none),·H2));</div>
143 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>157 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
144 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="comment">//·Find·bounds</span></div>158 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="comment">//·Between</span></div>
145 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··Vector2·findBounds(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·values,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02320.html">KeySet</a>&amp;·keys)·<span·class="keyword">const</span[·...·truncated·by·diffoscope;·len:·1,·SHA:·62b67e1f685b7fef51102005dddd27774be3fee38c42965c53aab035d0b6b221·...·];</div>159 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··EXPECT(assert_equal&lt;G&gt;(t1.inverse()·*·t2,T::Between(t1,·t2,·H1,·H2)));</div>
 160 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative41&lt;G,G,G,OJ,OJ&gt;(T::Between,·t1,·t2,·none,·none),·H1));</div>
 161 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(numericalDerivative42&lt;G,G,G,OJ,OJ&gt;(T::Between,·t1,·t2,·none,·none),·H2));</div>
146 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>162 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>}</div>
147 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··boost::optional&lt;Vector2&gt;·extractPosition(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a02596.html">Value</a>&amp;·value)·<span·class="keyword">const</span>;</div> 
148 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>163 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
149 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··boost::optional&lt;Vector2&gt;·variablePos(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>&amp;·values,·<span·class="keyword">const</span>·Vector2&amp;·min,</div> 
150 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·······································<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·key)·<span·class="keyword">const</span>;</div>164 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span><span·class="comment">//·Do·a·comprehensive·test·of·Lie·Group·Chart·derivatives</span></div>
 165 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·G&gt;</div>
 166 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span><span·class="keywordtype">void</span>·testChartDerivatives(TestResult&amp;·result_,·<span·class="keyword">const</span>·std::string&amp;·name_,</div>
 167 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>····<span·class="keyword">const</span>·G&amp;·t1,·<span·class="keyword">const</span>·G&amp;·t2)·{</div>
151 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>168 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
152 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··boost::optional&lt;Vector2&gt;·factorPos(<span·class="keyword">const</span>·Vector2&amp;·min,·<span·class="keywordtype">size_t</span>·i)·<span·class="keyword">const</span>;</div> 
153 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>};</div>169 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··Matrix·H1,·H2;</div>
154 </div>170 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>··<span·class="keyword">typedef</span>·traits&lt;G&gt;·T;</div>
 171 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·T::TangentVector·V;</div>
 172 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··<span·class="keyword">typedef</span>·OptionalJacobian&lt;T::dimension,T::dimension&gt;·OJ;</div>
155 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>·</div>173 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>
 174 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>··<span·class="comment">//·Retract</span></div>
 175 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>··OJ·none;</div>
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2020,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Unit3.h&gt;</span></div>118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01151.html">gtsam/nonlinear/LevenbergMarquardtOptimizer.h</a>&gt;</span></div> 
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01073.html">gtsam/nonlinear/Values.h</a>&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01208.html">gtsam/sfm/BinaryMeasurement.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;map&gt;</span></div>120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00908.html">gtsam/navigation/PreintegrationParams.h</a>&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;set&gt;</span></div>121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00980.html">gtsam/navigation/NavState.h</a>&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00962.html">gtsam/navigation/ImuBias.h</a>&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00839.html">gtsam/linear/NoiseModel.h</a>&gt;</span></div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
 125 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="preprocessor">#include·&lt;iosfwd&gt;</span></div>
 126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
 127 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div>
 128 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>·</div>
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>129 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>130 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="comment">//·Set·up·an·optimization·problem·for·the·unknown·translations·Ti·in·the·world</span></div> 
131 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="comment">//·coordinate·frame,·given·the·known·camera·attitudes·wRi·with·respect·to·the</span></div> 
132 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span><span·class="comment">//·world·frame,·and·a·set·of·(noisy)·translation·directions·of·type·Unit3,</span></div> 
133 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span><span·class="comment">//·w_aZb.·The·measurement·equation·is</span></div> 
134 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="comment">//····w_aZb·=·Unit3(Tb·-·Ta)···(1)</span></div> 
135 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span><span·class="comment">//·i.e.,·w_aZb·is·the·translation·direction·from·frame·A·to·B,·in·world</span></div> 
136 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span><span·class="comment">//·coordinates.·Although·Unit3·instances·live·on·a·manifold,·following</span></div> 
137 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span><span·class="comment">//·Wilson14eccv_1DSfM.pdf·error·we·compute·the·*chordal·distance*·in·the</span></div> 
138 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span><span·class="comment">//·ambient·world·coordinate·frame.</span></div> 
139 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span><span·class="comment">//</span></div> 
140 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span><span·class="comment">//·It·is·clear·that·we·cannot·recover·the·scale,·nor·the·absolute·position,</span></div> 
141 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span><span·class="comment">//·so·the·gauge·freedom·in·this·case·is·3·+·1·=·4.·We·fix·these·by·taking·fixing</span></div> 
142 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span><span·class="comment">//·the·translations·Ta·and·Tb·associated·with·the·first·measurement·w_aZb,</span></div> 
143 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="comment">//·clamping·them·to·their·initial·values·as·given·to·this·method.·If·no·initial</span></div> 
144 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span><span·class="comment">//·values·are·given,·we·use·the·origin·for·Tb·and·set·Tb·to·make·(1)·come</span></div> 
145 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span><span·class="comment">//·through,·i.e.,</span></div> 
146 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span><span·class="comment">//····Tb·=·s·*·wRa·*·Point3(w_aZb)·····(2)</span></div> 
147 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span><span·class="comment">//·where·s·is·an·arbitrary·scale·that·can·be·supplied,·default·1.0.·Hence,·two</span></div> 
148 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span><span·class="comment">//·versions·are·supplied·below·corresponding·to·whether·we·have·initial·values</span></div> 
149 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span><span·class="comment">//·or·not.</span></div> 
150 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="};">131 <div·class="foldopen"·id="foldopen00041"·data-start="{"·data-end="};">
151 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a04756.html">···51</a></span><span·class="keyword">class·</span><a·class="code·hl_class"·href="a04756.html">TranslationRecovery</a>·{</div>132 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04216.html">···41</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04216.html">PreintegrationBase</a>·{</div>
152 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·<span·class="keyword">public</span>:</div>133 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>·<span·class="keyword">public</span>:</div>
153 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="keyword">using·</span>KeyPair·=·std::pair&lt;Key,·Key&gt;;</div> 
154 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keyword">using·</span>TranslationEdges·=·std::vector&lt;BinaryMeasurement&lt;Unit3&gt;&gt;;</div>134 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>·<a·class="code·hl_class"·href="a04140.html">Bias</a>;</div>
 135 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··<span·class="keyword">typedef</span>·<a·class="code·hl_struct"·href="a04220.html">PreintegrationParams</a>·<a·class="code·hl_struct"·href="a04220.html">Params</a>;</div>
155 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div>136 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
156 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>·<span·class="keyword">private</span>:</div>137 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·<span·class="keyword">protected</span>:</div>
157 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="comment">//·Translation·directions·between·camera·pairs.</span></div>138 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··boost::shared_ptr&lt;Params&gt;·p_;</div>
158 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··TranslationEdges·relativeTranslations_;</div>139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>
 140 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a04216.html#a774c243fcec68bbfcfc2c62db3ca2d2a">···50</a></span>··<a·class="code·hl_class"·href="a04140.html">Bias</a>·<a·class="code·hl_variable"·href="a04216.html#a774c243fcec68bbfcfc2c62db3ca2d2a">biasHat_</a>;</div>
159 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>141 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 142 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno"><a·class="line"·href="a04216.html#a05698caf670ddcd7a108505898a71134">···53</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_variable"·href="a04216.html#a05698caf670ddcd7a108505898a71134">deltaTij_</a>;</div>
160 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="comment">//·Parameters.</span></div>143 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>
161 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<a·class="code·hl_class"·href="a04440.html">LevenbergMarquardtParams</a>·lmParams_;</div>144 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a04216.html#a85da47fc93662940e6bd38d02a3b3118">···56</a></span>··<a·class="code·hl_function"·href="a04216.html#a85da47fc93662940e6bd38d02a3b3118">PreintegrationBase</a>()·{}</div>
 145 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 146 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno"><a·class="line"·href="a04216.html#a4d5ead934c4582183ddc8a7b415decef">···59</a></span>··<span·class="keyword">virtual</span>·<a·class="code·hl_function"·href="a04216.html#a4d5ead934c4582183ddc8a7b415decef">~PreintegrationBase</a>()·{}</div>
162 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>147 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>·</div>
163 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·<span·class="keyword">public</span>:</div>148 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·<span·class="keyword">public</span>:</div>
 149 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 150 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>··<a·class="code·hl_class"·href="a04216.html">PreintegrationBase</a>(<span·class="keyword">const</span>·boost::shared_ptr&lt;Params&gt;&amp;·p,</div>
 151 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>&amp;·biasHat·=·<a·class="code·hl_class"·href="a04140.html">imuBias::ConstantBias</a>());</div>
 152 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
 153 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 154 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··<span·class="keyword">virtual</span>·<span·class="keywordtype">void</span>·resetIntegration()·=·0;</div>
 155 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
 156 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>··<span·class="keywordtype">void</span>·resetIntegrationAndSetBias(<span·class="keyword">const</span>·Bias&amp;·biasHat);</div>
 157 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·</div>
164 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}">158 <div·class="foldopen"·id="foldopen00086"·data-start="{"·data-end="}">
165 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a04756.html#ab6136c6f0473cddbfcfbb32ad8e83ec5">···69</a></span>··<a·class="code·hl_function"·href="a04756.html#ab6136c6f0473cddbfcfbb32ad8e83ec5">TranslationRecovery</a>(<span·class="keyword"[·...·truncated·by·diffoscope;·len:·101,·SHA:·8b6ba42a801d850f72d11fb7e473c19576244c6430ab6ad27f21ba60170b144b·...·]</div>159 <div·class="line"><a·id="l00086"·name="l00086"></a><span·class="lineno"><a·class="line"·href="a04216.html#a4d978fd06c9d44dfdcf2eee1e4b33e79">···86</a></span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_function"·href="a04216.html#a4d978fd06c9d44dfdcf2eee1e4b33e79">matches[·...·truncated·by·diffoscope;·len:·165,·SHA:·0ce85f22487a4e27bc2270e534db79bd7df15a79035b654b427c55c13069d3e2·...·]</div>
 160 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>····<span·class="keywordflow">return</span>·p_.get()·==·other.p_.get();</div>
166 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······:·lmParams_(lmParams)·{}</div>161 <div·class="line"><a·id="l00088"·name="l00088"></a><span·class="lineno">···88</span>··}</div>
167 </div>162 </div>
168 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div> 
169 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a04756.html#a7a327105426ada3cf5b5ddf7415a6bb3">···75</a></span>··<a·class="code·hl_function"·href="a04756.html#a7a327105426ada3cf5b5ddf7415a6bb3">TranslationRecovery</a>()·=·<span·class="keywordflow">default</span>;</div> 
170 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>·</div> 
171 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>··<a·class="code·hl_class"·href="a04540.html">NonlinearFactorGraph</a>·<a·class="code·hl_function"·href="a04756.html#a1c630863b2c8bedce98f15fd50fa9c03">buildGraph</a>(</div> 
172 <div·class="line"><a·id="l00085"·name="l00085"></a><span·class="lineno">···85</span>······<span·class="keyword">const</span>·std::vector&lt;<a·class="code·hl_class"·href="a04688.html">BinaryMeasurement&lt;Unit3&gt;</a>&gt;·&amp;relativeTranslations)·<span·class="keyword">const</span>;</div> 
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/MFAS.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/inference/JunctionTree.h·Source·File</title>
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72 ··</div>72 ··</div>
73 ··<div·id="splitbar"·style="-moz-user-select:none;"·73 ··<div·id="splitbar"·style="-moz-user-select:none;"·
74 ·······class="ui-resizable-handle">74 ·······class="ui-resizable-handle">
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77 <script·type="text/javascript">77 <script·type="text/javascript">
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83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"85 ·····onmouseover="return·searchBox.OnSearchSelectShow()"
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">MFAS.h</div></div>104 ··<div·class="headertitle"><div·class="title">JunctionTree.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01196.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a00659.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2020,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span>·</div>119 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;gtsam/geometry/Unit3.h&gt;</span></div> 
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00611.html">gtsam/inference/Key.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01208.html">gtsam/sfm/BinaryMeasurement.h</a>&gt;</span></div>120 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00605.html">gtsam/inference/ClusterTree.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>121 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;memory&gt;</span></div> 
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;unordered_map&gt;</span></div> 
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>122 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>123 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span>·</div>
 124 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>··<span·class="comment">//·Forward·declarations</span></div>
 125 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·BAYESNET,·<span·class="keyword">class</span>·GRAPH&gt;·<span·class="keyword">class·</span>EliminationTree;</div>
 126 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>
 127 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·BAYESTREE,·<span·class="keyword">class</span>·GRAPH&gt;</div>
130 <div·class="foldopen"·id="foldopen00051"·data-start="{"·data-end="};">128 <div·class="foldopen"·id="foldopen00050"·data-start="{"·data-end="};">
131 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno"><a·class="line"·href="a04700.html">···51</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04700.html">MFAS</a>·{</div>129 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno"><a·class="line"·href="a03652.html">···50</a></span>··<span·class="keyword">class·</span><a·class="code·hl_class"·href="a03652.html">JunctionTree</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·hr[·...·truncated·by·diffoscope;·len:·68,·SHA:·527d7d6531fcadbd877f4bf3a81372df60dad3f796f90da3ec8c8b412a8b4fc9·...·]·{</div>
 130 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
132 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·<span·class="keyword">public</span>:</div>131 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="keyword">public</span>:</div>
133 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="comment">//·used·to·represent·edges·between·two·nodes·in·the·graph.·When·used·in</span></div> 
134 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="comment">//·translation·averaging·for·global·SfM</span></div> 
135 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keyword">using·</span>KeyPair·=·std::pair&lt;Key,·Key&gt;;</div> 
136 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keyword">using·</span>TranslationEdges·=·std::vector&lt;BinaryMeasurement&lt;Unit3&gt;&gt;;</div>132 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 133 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno"><a·class="line"·href="a03652.html#a5cd5f2112feb82893591bc85c5608dfc">···54</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03652.html">JunctionTree&lt;BAYESTREE,·GRAPH&gt;</a>·<a·class="code·hl_typedef"·href="a03652.html#a5cd5f2112feb82893591bc85c5608dfc">This</a>;·</div>
 134 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno"><a·class="line"·href="a03652.html#acf4f22ad215c4df3d6f76cc82189a205">···55</a></span>····<span·class="keyword">typedef</span>·boost::shared_ptr&lt;This&gt;·<a·class="code·hl_typedef"·href="a03652.html#acf4f22ad215c4df3d6f76cc82189a205">shared_ptr</a>;·</div>
 135 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno"><a·class="line"·href="a03652.html#ab2fa0727164979796294c2231971bfb4">···56</a></span>····<span·class="keyword">typedef</span>·<a·class="code·hl_class"·href="a03528.html">EliminatableClusterTree&lt;BAYESTREE,·GRAPH&gt;</a>·<a·class="code·hl_typedef"·href="a03652.html#ab2fa0727164979796294c2231971bfb4">Base</a>;·</div>
137 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>136 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
138 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·<span·class="keyword">private</span>:</div>137 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keyword">protected</span>:</div>
 138 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div>
139 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··<span·class="comment">//·edges·with·a·direction·such·that·all·weights·are·positive</span></div> 
140 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="comment">//·i.e,·edges·that·originally·had·negative·weights·are·flipped</span></div> 
141 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··std::map&lt;KeyPair,·double&gt;·edgeWeights_;</div> 
142 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>139 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>·</div>
 140 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ETREE&gt;</div>
 141 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a03652.html#a0a0aed924d0fb7d666de293d7e8611d1">···65</a></span>······<span·class="keyword">static</span>·<a·class="code·hl_typedef"·href="a03652.html#a5cd5f2112feb82893591bc85c5608dfc">This</a>·<a·class="code·hl_function"·href="a03652.html#a0a0aed924d0fb7d666de293d7e8611d1">FromEliminationTree</a>(<span·class="keyword">const</span>·ETREE&amp;·eliminationTree)·{·<span·class="keywordflow">return</span>·<a·class="code·hl_typedef"·href="a03652.html#a5cd5f2112feb82893591bc85c5608dfc">This</a>(eliminationTree);·}</div>
 142 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>·</div>
 143 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·ETREE_BAYESNET,·<span·class="keyword">class</span>·ETREE_GRAPH&gt;</div>
 144 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<a·class="code·hl_class"·href="a03652.html">JunctionTree</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03584.html">EliminationTree&lt;ETREE_BAYESNET,·ETREE_GRAPH&gt;</a>&amp;·eliminationTree);</div>
 145 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>
 146 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno">···72</span>·</div>
143 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·<span·class="keyword">public</span>:</div>147 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>··<span·class="keyword">protected</span>:</div>
144 <div·class="foldopen"·id="foldopen00069"·data-start="{"·data-end="}"> 
145 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a04700.html#a0fbe57d306aa53ff9f9ef6b4dd5f4ca2">···69</a></span>··<a·class="code·hl_function"·href="a04700.html#a0fbe57d306aa53ff9f9ef6b4dd5f4ca2">MFAS</a>(<span·class="keyword">const</span>·s[·...·truncated·by·diffoscope;·len:·48,·SHA:·af7acaee7bd06031c3aaa1dbbc03945f696d28796442ab7714e705c7741704c8·...·]</div>148 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>·</div>
 149 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>····<span·class="comment">//·Private·default·constructor·(used·in·static·construction·methods)</span></div>
 150 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<a·class="code·hl_class"·href="a03652.html">JunctionTree</a>()·{}</div>
 151 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>·</div>
146 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>······:·edgeWeights_(edgeWeights)·{}</div>152 <div·class="line"><a·id="l00078"·name="l00078"></a><span·class="lineno">···78</span>··};</div>
147 </div>153 </div>
148 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>154 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div>
149 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>··<a·class="code·hl_class"·href="a04700.html">MFAS</a>(<span·class="keyword">const</span>·TranslationEdges·&amp;relativeTranslations,</div> 
150 <div·class="line"><a·id="l00081"·name="l00081"></a><span·class="lineno">···81</span>·······<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03380.html">Unit3</a>·&amp;projectionDirection);</div> 
151 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>·</div>155 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span>}</div>
 156 <div·class="ttc"·id="aa00605_html"><div·class="ttname"><a·href="a00605.html">ClusterTree.h</a></div><div·class="ttdoc">Collects·factorgraph·fragments·defined·on·variable·clusters,·arranged·in·a·tree.</div></div>
152 <div·class="line"><a·id="l00087"·name="l00087"></a><span·class="lineno">···87</span>··<a·class="code·hl_typedef"·href="a01428.html#a1c320e42b033352fbbd8266e3bd5faad">KeyVector</a>·computeOrdering()·<span·class="keyword">const</span>;</div> 
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118 <tr·class="separator:a118e54cf9dba4c2f189dc49a950b84c9"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
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120 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>122 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
121 <div·class="textblock"><p>Source·code·for·recovering·translations·when·rotations·are·given.·</p>123 <div·class="textblock"><p>Bayes·Tree·is·a·tree·of·cliques·of·a·Bayes·Chain.·</p>
122 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert,·Akshay·Krishnan·</dd></dl>124 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
123 <dl·class="section·date"><dt>Date</dt><dd>March·2020·</dd></dl>125 <dd>
 126 Michael·Kaess·</dd>
 127 <dd>
 128 Viorela·Ila·</dd>
 129 <dd>
 130 Richard·Roberts·</dd></dl>
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101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">SfmTrack.h</div></div>104 ··<div·class="headertitle"><div·class="title">NonlinearOptimizerParams.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01214.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <a·href="a01070.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>118 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>119 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span>·</div>
 120 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00848.html">gtsam/linear/GaussianFactorGraph.h</a>&gt;</span></div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00023.html">gtsam/base/serialization.h</a>&gt;</span></div>121 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00836.html">gtsam/linear/SubgraphSolver.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00284.html">gtsam/geometry/Point2.h</a>&gt;</span></div> 
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00332.html">gtsam/geometry/Point3.h</a>&gt;</span></div> 
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div> 
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;Eigen/Core&gt;</span></div>122 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;boost/optional.hpp&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>123 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;string&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span><span·class="preprocessor">#include·&lt;utility&gt;</span></div> 
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div>124 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span>·</div>
129 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>125 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
130 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>·</div>126 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno"><a·class="line"·href="a01428.html#a9ad7940245bbbf4bf25d1dc4690b0108">···33</a></span><span·class="keyword">typedef</span>·std::pair&lt;size_t,·Point2&gt;·<a·class="code·hl_typedef"·href="a01428.html#a9ad7940245bbbf4bf25d1dc4690b0108">SfmMeasurement</a>;</div> 
132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div> 
133 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a01428.html#a21a02e01a9608ce6cade24c1366b208c">···36</a></span><span·class="keyword">typedef</span>·std::pair&lt;size_t,·size_t&gt;·<a·class="code·hl_typedef"·href="a01428.html#a21a02e01a9608ce6cade24c1366b208c">SiftIndex</a>;</div> 
134 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>·</div> 
135 <div·class="foldopen"·id="foldopen00043"·data-start="{"·data-end="};">127 <div·class="foldopen"·id="foldopen00034"·data-start="{"·data-end="};">
 128 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno"><a·class="line"·href="a04556.html">···34</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04556.html">NonlinearOptimizerParams</a>·{</div>
136 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04712.html">···43</a></span><span·class="keyword">struct·</span>GTSAM_EXPORT·<a·class="code·hl_struct"·href="a04712.html">SfmTrack2d</a>·{</div> 
137 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04712.html#adb900552472345b3f993ad48fd6c20b9">···45</a></span>··std::vector&lt;SfmMeasurement&gt;·<a·class="code·hl_variable"·href="a04712.html#adb900552472345b3f993ad48fd6c20b9">measurements</a>;</div> 
138 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>·</div> 
139 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno"><a·class="line"·href="a04712.html#a5c92bb2b24444a025cf93fc5bba23d99">···48</a></span>··std::vector&lt;SiftIndex&gt;·<a·class="code·hl_variable"·href="a04712.html#a5c92bb2b24444a025cf93fc5bba23d99">siftIndices</a>;</div> 
140 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>·</div> 
141 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>·</div> 
142 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··<span·class="comment">//·Default·constructor.</span></div>129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">public</span>:</div>
143 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<a·class="code·hl_struct"·href="a04712.html">SfmTrack2d</a>()·=·<span·class="keywordflow">default</span>;</div> 
144 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>·</div> 
145 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="comment">//·Constructor·from·measurements.</span></div> 
146 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keyword">explicit</span>·<a·class="code·hl_struct"·href="a04712.html">SfmTrack2d</a>(<span·class="keyword">const</span>·std::vector&lt;SfmMeasurement&gt;&amp;·measurements)</div> 
147 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>······:·measurements(measurements)·{}</div> 
148 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>·</div> 
149 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div> 
150 <div·class="foldopen"·id="foldopen00065"·data-start="{"·data-end="}">130 <div·class="foldopen"·id="foldopen00037"·data-start="{"·data-end="};">
151 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno"><a·class="line"·href="a04712.html#a2d1c3ce0603efd4cfe84d7afc67ec881">···65</a></span>··<span·class="keywordtype">void</span>·<a·class="code·hl_function"·href="a04712.html#a2d1c3ce0603efd4cfe84d7afc67ec881">addMeasurement</a>(<span·class="keywordtype">size_t</span>·idx,·<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#a6ede8384dee0353a0ce5fb54ea50c21d">gtsam::Point2</a>&amp;·m)·{</div> 
152 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>····measurements.emplace_back(idx,·m);</div>131 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno"><a·class="line"·href="a04556.html#a2b085d375ec6effa42e3deaaeab98694">···37</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a04556.html#a2b085d375ec6effa42e3deaaeab98694">Verbosit[·...·truncated·by·diffoscope;·len:·7,·SHA:·99b6039f506c368755a1676adcd76dd56ba0eed794bda8f1018f4d0e12098b66·...·]</div>
 132 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>····SILENT,·TERMINATION,·ERROR,·VALUES,·DELTA,·LINEAR</div>
153 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>··}</div>133 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··};</div>
154 </div>134 </div>
155 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
156 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno"><a·class="line"·href="a04712.html#acd57c58676a3b7d65e8cd76d9af87886">···70</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a04712.html#acd57c58676a3b7d65e8cd76d9af87886">numbe[·...·truncated·by·diffoscope;·len:·119,·SHA:·e2712b0214d0b88c30375b0c026fa0e224eda307d44a3b978cc437e6014a4d5e·...·]</div>136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno"><a·class="line"·href="a04556.html#a19a9e8d9b25df5abe12c41fc7e8b1075">···41</a></span>··<span·class="keywordtype">size_t</span>·maxIterations·=·100;·</div>
 137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno"><a·class="line"·href="a04556.html#a9525e668e93fbb60ea4bffeab963629e">···42</a></span>··<span·class="keywordtype">double</span>·relativeErrorTol·=·1e-5;·</div>
 138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno"><a·class="line"·href="a04556.html#a01f8529b9f7efdd818e0d75134f1ae8b">···43</a></span>··<span·class="keywordtype">double</span>·absoluteErrorTol·=·1e-5;·</div>
 139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno"><a·class="line"·href="a04556.html#aaf5a44f1a3dfd67a8027a797641cc31c">···44</a></span>··<span·class="keywordtype">double</span>·errorTol·=·0.0;·</div>
 140 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04556.html#a21971e7b985115acab326deeedcfe220">···45</a></span>··<a·class="code·hl_enumeration"·href="a04556.html#a2b085d375ec6effa42e3deaaeab98694">Verbosity</a>·verbosity·=·SILENT;·</div>
 141 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno"><a·class="line"·href="a04556.html#a9d851ffe0289f4dcd861b18bc6a05960">···46</a></span>··<a·class="code·hl_enumeration"·href="a03680.html#a41194f31ec42052094cf91d81dcd796d">Ordering::OrderingType</a>·orderingType·=·Ordering::COLAMD;·</div>
157 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div>142 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>
 143 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··<span·class="keywordtype">size_t</span>·getMaxIterations()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·maxIterations;·}</div>
 144 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="keywordtype">double</span>·getRelativeErrorTol()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·relativeErrorTol;·}</div>
 145 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keywordtype">double</span>·getAbsoluteErrorTol()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·absoluteErrorTol;·}</div>
 146 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<span·class="keywordtype">double</span>·getErrorTol()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·errorTol;·}</div>
 147 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··std::string·getVerbosity()<span·class="keyword">·const·</span>{·<span·class="keywordflow">return</span>·verbosityTranslator(verbosity);·}</div>
 148 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>·</div>
 149 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··<span·class="keywordtype">void</span>·setMaxIterations(<span·class="keywordtype">int</span>·value)·{·maxIterations·=·value;·}</div>
 150 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··<span·class="keywordtype">void</span>·setRelativeErrorTol(<span·class="keywordtype">double</span>·value)·{·relativeErrorTol·=·value;·}</div>
 151 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··<span·class="keywordtype">void</span>·setAbsoluteErrorTol(<span·class="keywordtype">double</span>·value)·{·absoluteErrorTol·=·value;·}</div>
 152 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>··<span·class="keywordtype">void</span>·setErrorTol(<span·class="keywordtype">double</span>·value)·{·errorTol·=·value;·}</div>
 153 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="keywordtype">void</span>·setVerbosity(<span·class="keyword">const</span>·std::string&amp;·src)·{</div>
 154 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>····verbosity·=·verbosityTranslator(src);</div>
 155 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··}</div>
 156 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>·</div>
 157 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<span·class="keyword">static</span>·Verbosity·verbosityTranslator(<span·class="keyword">const</span>·std::string·&amp;s)·;</div>
 158 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··<span·class="keyword">static</span>·std::string·verbosityTranslator(Verbosity·value)·;</div>
 159 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>
 160 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno"><a·class="line"·href="a04556.html#aa62b693f8dae9f82e5ed0b3dab19f1c3">···67</a></span>··<span·class="keyword">using·</span><a·class="code·hl_typedef"·href="a04556.html#aa62b693f8dae9f82e5ed0b3dab19f1c3">IterationHook</a>·=·std::function&lt;</div>
 161 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>····void(<span·class="keywordtype">size_t</span>·<span·class="comment">/*iteration*/</span>,·<span·class="keywordtype">double</span><span·class="comment">/*errorBefore*/</span>,·<span·class="keywordtype">double</span><span·class="comment">/*errorAfter*/</span>)&gt;;</div>
 162 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>·</div>
 163 <div·class="line"><a·id="l00094"·name="l00094"></a><span·class="lineno"><a·class="line"·href="a04556.html#a100c28f729c2b58813428058b57a5085">···94</a></span>··<a·class="code·hl_typedef"·href="a04556.html#aa62b693f8dae9f82e5ed0b3dab19f1c3">IterationHook</a>·<a·class="code·hl_variable"·href="a04556.html#a100c28f729c2b58813428058b57a5085">iterationHook</a>;</div>
 164 <div·class="line"><a·id="l00095"·name="l00095"></a><span·class="lineno">···95</span>·</div>
158 <div·class="foldopen"·id="foldopen00073"·data-start="{"·data-end="}">165 <div·class="foldopen"·id="foldopen00097"·data-start="{"·data-end="};">
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160 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····<span·class="keywordflow">return</span>·measurements[idx];</div>166 <div·class="line"><a·id="l00097"·name="l00097"></a><span·class="lineno"><a·class="line"·href="a04556.html#a8eaa669b1681529cdc98d1e7b7b6203b">···97</a></span>··<span·class="keyword">enum</span>·<a·class="code·hl_enumeration"·href="a04556.html#a8eaa669b1681529cdc98d1e7b7b6203b">LinearSo[·...·truncated·by·diffoscope;·len:·14,·SHA:·8e160da6605a74facf6413e0162e7963f1a9707a752f4ecb41350e05dece8e41·...·]</div>
 167 <div·class="line"><a·id="l00098"·name="l00098"></a><span·class="lineno">···98</span>····MULTIFRONTAL_CHOLESKY,</div>
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8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/sfm/ShonanFactor.h·Source·File</title>8 <title>gtsam:·/build/reproducible-path/gtsam-4.2.0+dfsg/gtsam/base/chartTesting.h·Source·File</title>
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80 /*·@license-end·*/80 /*·@license-end·*/
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82 <div·id="doc-content">82 <div·id="doc-content">
83 <!--·window·showing·the·filter·options·-->83 <!--·window·showing·the·filter·options·-->
84 <div·id="MSearchSelectWindow"84 <div·id="MSearchSelectWindow"
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98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>98 <div·class="SRStatus"·id="NoMatches">No·Matches</div>
99 </div>99 </div>
100 </div>100 </div>
101 </div>101 </div>
102 </div>102 </div>
  
103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">ShonanFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">chartTesting.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
107 <a·href="a01220.html">Go·to·the·documentation·of·this·file.</a><div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>107 <div·class="fragment"><div·class="line"><a·id="l00001"·name="l00001"></a><span·class="lineno">····1</span><span·class="comment">/*·----------------------------------------------------------------------------</span></div>
108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>108 <div·class="line"><a·id="l00002"·name="l00002"></a><span·class="lineno">····2</span><span·class="comment"></span>·</div>
109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010-2019,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>113 <div·class="line"><a·id="l00007"·name="l00007"></a><span·class="lineno">····7</span><span·class="comment"></span>·</div>
114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>114 <div·class="line"><a·id="l00008"·name="l00008"></a><span·class="lineno">····8</span><span·class="comment">·*·See·LICENSE·for·the·license·information</span></div>
115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>116 <div·class="line"><a·id="l00010"·name="l00010"></a><span·class="lineno">···10</span><span·class="comment">·*·--------------------------------------------------------------------------·*/</span></div>
117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>117 <div·class="line"><a·id="l00011"·name="l00011"></a><span·class="lineno">···11</span>·</div>
 118 <div·class="line"><a·id="l00012"·name="l00012"></a><span·class="lineno">···12</span><span·class="comment">/*</span></div>
 119 <div·class="line"><a·id="l00013"·name="l00013"></a><span·class="lineno">···13</span><span·class="comment">·*·@file·chartTesting.h</span></div>
 120 <div·class="line"><a·id="l00014"·name="l00014"></a><span·class="lineno">···14</span><span·class="comment">·*·@brief</span></div>
 121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·November,·2014</span></div>
 122 <div·class="line"><a·id="l00016"·name="l00016"></a><span·class="lineno">···16</span><span·class="comment">·*·@author·Paul·Furgale</span></div>
 123 <div·class="line"><a·id="l00017"·name="l00017"></a><span·class="lineno">···17</span><span·class="comment">·*/</span></div>
 124 <div·class="line"><a·id="l00018"·name="l00018"></a><span·class="lineno">···18</span>·</div>
118 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span><span·class="preprocessor">#pragma·once</span></div>
119 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span>·</div>
120 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00371.html">gtsam/geometry/Rot2.h</a>&gt;</span></div>127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00044.html">gtsam/base/Matrix.h</a>&gt;</span></div>
121 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00278.html">gtsam/geometry/Rot3.h</a>&gt;</span></div>128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00119.html">gtsam/base/Manifold.h</a>&gt;</span></div>
122 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00338.html">gtsam/geometry/SOn.h</a>&gt;</span></div>129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00107.html">gtsam/base/Testable.h</a>&gt;</span></div>
123 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a01133.html">gtsam/nonlinear/NonlinearFactor.h</a>&gt;</span></div>130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;CppUnitLite/TestResult.h&gt;</span></div>
124 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;CppUnitLite/Test.h&gt;</span></div>
125 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;type_traits&gt;</span></div>132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;CppUnitLite/Failure.h&gt;</span></div>
126 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>133 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
127 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div> 
128 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>·</div> 
129 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">template</span>·&lt;<span·class="keywordtype">size_t</span>·d&gt;</div> 
130 <div·class="foldopen"·id="foldopen00036"·data-start="{"·data-end="};">134 <div·class="foldopen"·id="foldopen00028"·data-start="{"·data-end="}">
131 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno"><a·class="line"·href="a04744.html">···36</a></span><span·class="keyword">class·</span>GTSAM_EXPORT·<a·class="code·hl_class"·href="a04744.html">ShonanFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04536.html">NoiseModelFactorN</a>&lt;SOn,·SOn&gt;·{</div> 
132 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··Matrix·M_;····················</div>135 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno"><a·class="line"·href="a01428.html">···28</a></span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
 136 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span><span·class="comment">//·Do·a·full·concept·check·and·test·the·invertibility·of·local()·vs.·retract().</span></div>
 137 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span><span·class="keyword">template</span>&lt;<span·class="keyword">typename</span>·T&gt;</div>
 138 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span><span·class="keywordtype">void</span>·testDefaultChart(TestResult&amp;·result_,</div>
 139 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>······················<span·class="keyword">const</span>·std::string&amp;·name_,</div>
133 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keywordtype">size_t</span>·p_,·pp_;···············</div>140 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>······················<span·class="keyword">const</span>·T&amp;·value)·{</div>
134 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>··boost::shared_ptr&lt;Matrix&gt;·G_;·</div> 
135 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>141 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>
136 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·Select·Rot2·or·Rot3·interface·based·template·parameter·d</span></div>142 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>··GTSAM_CONCEPT_TESTABLE_TYPE(T)</div>
 143 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>
 144 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·gtsam::DefaultChart&lt;T&gt;·Chart;</div>
137 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··<span·class="keyword">using·</span>Rot·=·<span·class="keyword">typename</span>·std::conditional&lt;d·==·2,·Rot2,·Rot3&gt;::type;</div>145 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··<span·class="keyword">typedef</span>·<span·class="keyword">typename</span>·Chart::vector·Vector;</div>
 146 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>·</div>
 147 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>··<span·class="comment">//·First,·check·the·basic·chart·concept.·This·checks·that·the·interface·is·satisfied.</span></div>
 148 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>··<span·class="comment">//·The·rest·of·the·function·is·even·more·detailed,·checking·the·correctness·of·the·chart.</span></div>
 149 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>··BOOST_CONCEPT_ASSERT((ChartConcept&lt;Chart&gt;));</div>
138 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>150 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>·</div>
139 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span><span·class="keyword">public</span>:</div>151 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>··T·other·=·value;</div>
140 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>·</div>152 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>·</div>
141 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>··<a·class="code·hl_class"·href="a04744.html">ShonanFactor</a>(<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j1,·<a·class="code·hl_typedef"·href="a01428.html#adad029f5f6ffce610428b5fe768b0df2">Key</a>·j2,·<span·class="keyword">const</span>·Rot·&amp;R12,·<span·class="keywordtype">size_t</span>·p,</div> 
142 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>···············<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ab6e5a4884342656e0837ef07008ec03f">SharedNoiseModel</a>·&amp;model·=·<span·class="keyword">nullptr</span>,</div> 
143 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>···············<span·class="keyword">const</span>·boost::shared_ptr&lt;Matrix&gt;·&amp;G·=·<span·class="keyword">nullptr</span>);</div>153 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Check·that·the·dimension·of·the·local·value·matches·the·chart·dimension.</span></div>
 154 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··Vector·dx·=·Chart::local(value,·other);</div>
 155 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>··EXPECT_LONGS_EQUAL(Chart::getDimension(value),·dx.size());</div>
 156 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="comment">//·And·that·the·&quot;local&quot;·of·a·value·vs.·itself·is·zero.</span></div>
 157 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(Matrix(dx),·Matrix(Eigen::VectorXd::Zero(dx.size()))));</div>
144 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>158 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>
 159 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>··<span·class="comment">//·Test·the·invertibility·of·retract/local</span></div>
 160 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··dx.setRandom();</div>
 161 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>··T·updated·=·Chart::retract(value,·dx);</div>
 162 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>··Vector·invdx·=·Chart::local(value,·updated);</div>
 163 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(Matrix(dx),·Matrix(invdx),·1e-9));</div>
145 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>·</div>164 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>·</div>
 165 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··<span·class="comment">//·And·test·that·negative·steps·work·as·well.</span></div>
146 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··<span·class="keywordtype">void</span></div>166 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>··dx·=·-dx;</div>
147 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<a·class="code·hl_function"·href="a01428.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span·class="keyword">const</span>·std::string·&amp;s,</div> 
148 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>········<span·class="keyword">const</span>·<a·class="code·hl_typedef"·href="a01428.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>·&amp;keyFormatter·=·DefaultKeyFormatter)·<span·class="keyword"[·...·truncated·by·diffoscope;·len:·22,·SHA:·b572cc1220da0ead4291571b00ae0bbfc9d8647c4f782e4aac5ca204989a4fd5·...·];</div>167 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>··updated·=·Chart::retract(value,·dx);</div>
 168 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··invdx·=·Chart::local(value,·updated);</div>
 169 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··EXPECT(<a·class="code·hl_function"·href="a01428.html#a3f9622226dfe06908f11b42bf0bdd22d">assert_equal</a>(Matrix(dx),·Matrix(invdx),·1e-9));</div>
149 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>·</div>170 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>}</div>
150 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>··<span·class="keywordtype">bool</span>·<a·class="code·hl_struct"·href="a02480.html">equals</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>·&amp;expected,</div> 
151 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>··············<span·class="keywordtype">double</span>·tol·=·1e-9)·<span·class="keyword">const·override</span>;</div> 
152 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div> 
153 <div·class="line"><a·id="l00071"·name="l00071"></a><span·class="lineno">···71</span>·</div> 
154 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>··Vector</div> 
155 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno">···75</span>··evaluateError(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03304.html">SOn</a>·&amp;Q1,·<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a03304.html">SOn</a>·&amp;Q2,</div> 
156 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>················boost::optional&lt;Matrix·&amp;&gt;·H1·=·boost::none,</div> 
157 <div·class="line"><a·id="l00077"·name="l00077"></a><span·class="lineno">···77</span>················boost::optional&lt;Matrix·&amp;&gt;·H2·=·boost::none)·<span·class="keyword">const·override</span>;</div> 
158 <div·class="line"><a·id="l00079"·name="l00079"></a><span·class="lineno">···79</span>·</div> 
159 <div·class="line"><a·id="l00080"·name="l00080"></a><span·class="lineno">···80</span><span·class="keyword">private</span>:</div>171 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>}··<span·class="comment">//·namespace·gtsam</span></div>
160 <div·class="line"><a·id="l00082"·name="l00082"></a><span·class="lineno">···82</span>··<span·class="keywordtype">void</span>·fillJacobians(<span·class="keyword">const</span>·Matrix·&amp;M1,·<span·class="keyword">const</span>·Matrix·&amp;M2,</div> 
161 <div·class="line"><a·id="l00083"·name="l00083"></a><span·class="lineno">···83</span>·····················boost::optional&lt;Matrix·&amp;&gt;·H1,</div> 
162 <div·class="line"><a·id="l00084"·name="l00084"></a><span·class="lineno">···84</span>·····················boost::optional&lt;Matrix·&amp;&gt;·H2)·<span·class="keyword">const</span>;</div> 
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72 <script·type="text/javascript">72 <script·type="text/javascript">
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96 </div>96 </div>
97 </div>97 </div>
  
98 <div·class="header">98 <div·class="header">
99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">SmartProjectionFactor.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">FastSet.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
105 <p>Smart·factor·on·cameras·(pose·+·calibration)··105 <p>A·thin·wrapper·around·std::set·that·uses·boost's·fast_pool_allocator.··
106 <a·href="#details">More...</a></p>106 <a·href="#details">More...</a></p>
  
107 <p><a·href="a01241_source.html">Go·to·the·source·code·of·this·file.</a></p>107 <p><a·href="a00065_source.html">Go·to·the·source·code·of·this·file.</a></p>
108 <table·class="memberdecls">108 <table·class="memberdecls">
109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>109 <tr·class="heading"><td·colspan="2"><h2·class="groupheader"><a·id="nested-classes"·name="nested-classes"></a>
110 Classes</h2></td></tr>110 Classes</h2></td></tr>
111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04936.html">gtsam::SmartProjectionFactor&lt;·CAMERA·&gt;</a></td></tr>111 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">class·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a02320.html">gtsam::FastSet&lt;·VALUE·&gt;</a></td></tr>
 112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a02320.html"·title="FastSet·is·a·thin·wrapper·around·std::set·that·uses·the·boost·fast_pool_allocator·instead·of·the·defa...">FastSet</a>·is·a·thin·wrapper·around·std::set·that·uses·the·boost·fast_pool_allocator·instead·of·the·default·STL·allocator.··<a·href="a02320.html#details">More...</a><br·/></td></tr>
112 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight"><a·class="el"·href="a04936.html"·title="SmartProjectionFactor:·triangulates·point·and·keeps·an·estimate·of·it·around.">SmartProjectionFactor</a>:·triangulates·point·and·keeps·an·estimate·of·it·around.··<a·href="a04936.html#details">More...</a><br·/></td></tr> 
113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr> 
114 <tr·class="memitem:"><td·class="memItemLeft"·align="right"·valign="top">struct·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a04940.html">gtsam::traits&lt;·SmartProjectionFactor&lt;·CAMERA·&gt;·&gt;</a></td></tr> 
115 <tr·class="memdesc:"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">traits··<a·href="a04940.html#details">More...</a><br·/></td></tr> 
116 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>113 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
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119 Namespaces</h2></td></tr>116 Namespaces</h2></td></tr>
120 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>117 <tr·class="memitem:a01428"·id="r_a01428"><td·class="memItemLeft"·align="right"·valign="top">namespace·&#160;</td><td·class="memItemRight"·valign="bottom"><a·class="el"·href="a01428.html">gtsam</a></td></tr>
121 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>118 <tr·class="memdesc:a01428"><td·class="mdescLeft">&#160;</td><td·class="mdescRight">Global·functions·in·a·separate·testing·namespace.·<br·/></td></tr>
122 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>119 <tr·class="separator:"><td·class="memSeparator"·colspan="2">&#160;</td></tr>
123 </table>120 </table>
124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>121 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
125 <div·class="textblock"><p>Smart·factor·on·cameras·(pose·+·calibration)·</p>122 <div·class="textblock"><p>A·thin·wrapper·around·std::set·that·uses·boost's·fast_pool_allocator.·</p>
126 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>123 <dl·class="section·author"><dt>Author</dt><dd>Richard·Roberts·</dd></dl>
 124 <dl·class="section·date"><dt>Date</dt><dd>Oct·17,·2010·</dd></dl>
127 <dd> 
128 Zsolt·Kira·</dd> 
129 <dd> 
130 Frank·Dellaert·</dd></dl> 
131 </div></div><!--·contents·-->125 </div></div><!--·contents·-->
132 </div><!--·doc-content·-->126 </div><!--·doc-content·-->
133 <!--·start·footer·part·-->127 <!--·start·footer·part·-->
134 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->128 <div·id="nav-path"·class="navpath"><!--·id·is·needed·for·treeview·function!·-->
135 ··<ul>129 ··<ul>
136 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_323e70a1eef083399c870cf8a6035771.html">slam</a></li><li·class="navelem"><a·class="el"·href="a01241.html">SmartProjectionFactor.h</a></li>130 ····<li·class="navelem"><a·class="el"·href="dir_bfc28a2d5821421c95e1320e4031f515.html">gtsam</a></li><li·class="navelem"><a·class="el"·href="dir_59d8fae67ebcec1514e0f6d4ea576047.html">base</a></li><li·class="navelem"><a·class="el"·href="a00065.html">FastSet.h</a></li>
137 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>131 ····<li·class="footer">Generated·on·Tue·Jan·9·2024·05:51:35·for·gtsam·by·<a·href="https://www.doxygen.org/index.html"><img·class="footer"·src="doxygen.svg"·width="104"·height="31"·alt="doxygen"/></a>·1.9.8·</li>
138 ··</ul>132 ··</ul>
139 </div>133 </div>
140 </body>134 </body>
141 </html>135 </html>
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105 <p>Various·factors·that·minimize·some·Frobenius·norm.··105 <p>Contains·<em>generic</em>·inference·algorithms·that·convert·between·templated·graphical·models,·i.e.,·factor·graphs,·Bayes·nets,·and·Bayes·trees.··
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121 <div·class="textblock"><p>Various·factors·that·minimize·some·Frobenius·norm.·</p> 
122 <dl·class="section·date"><dt>Date</dt><dd>March·2019·</dd></dl> 
123 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>124 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>
 125 <dd>
 126 Richard·Roberts·</dd></dl>
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 160 <p>Eliminate·an·elimination·tree·or·a·Bayes·tree·(used·internally).·</p>
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106 <p>Initialize·Pose3·in·a·factor·graph.··104 <p>Source·file·for·the·MFAS·class.··
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131 <div·class="textblock"><p>Initialize·Pose3·in·a·factor·graph.·</p>123 <div·class="textblock"><p>Source·file·for·the·MFAS·class.·</p>
132 <dl·class="section·author"><dt>Author</dt><dd>Luca·Carlone·</dd>124 <dl·class="section·author"><dt>Author</dt><dd>Akshay·Krishnan·</dd></dl>
133 <dd> 
134 Frank·Dellaert·</dd></dl> 
135 <dl·class="section·date"><dt>Date</dt><dd>August,·2014·</dd></dl>125 <dl·class="section·date"><dt>Date</dt><dd>July·2020·</dd></dl>
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253 Varun·Agrawal·</dd></dl>253 Varun·Agrawal·</dd></dl>
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108 <p>utility·functions·for·loading·datasets··108 <p>utility·functions·for·loading·datasets··
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103 <div·class="header">103 <div·class="header">
104 ··<div·class="headertitle"><div·class="title">KarcherMeanFactor.h</div></div>104 ··<div·class="headertitle"><div·class="title">inference-inst.h</div></div>
105 </div><!--header-->105 </div><!--header-->
106 <div·class="contents">106 <div·class="contents">
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109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">·*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>109 <div·class="line"><a·id="l00003"·name="l00003"></a><span·class="lineno">····3</span><span·class="comment">*·GTSAM·Copyright·2010,·Georgia·Tech·Research·Corporation,</span></div>
110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">·*·Atlanta,·Georgia·30332-0415</span></div>110 <div·class="line"><a·id="l00004"·name="l00004"></a><span·class="lineno">····4</span><span·class="comment">*·Atlanta,·Georgia·30332-0415</span></div>
111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">·*·All·Rights·Reserved</span></div>111 <div·class="line"><a·id="l00005"·name="l00005"></a><span·class="lineno">····5</span><span·class="comment">*·All·Rights·Reserved</span></div>
112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">·*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>112 <div·class="line"><a·id="l00006"·name="l00006"></a><span·class="lineno">····6</span><span·class="comment">*·Authors:·Frank·Dellaert,·et·al.·(see·THANKS·for·the·full·author·list)</span></div>
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115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>115 <div·class="line"><a·id="l00009"·name="l00009"></a><span·class="lineno">····9</span><span·class="comment"></span>·</div>
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121 <div·class="line"><a·id="l00015"·name="l00015"></a><span·class="lineno">···15</span><span·class="comment">·*·@date·March·2019</span></div> 
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125 <div·class="line"><a·id="l00019"·name="l00019"></a><span·class="lineno">···19</span>·</div> 
126 <div·class="line"><a·id="l00020"·name="l00020"></a><span·class="lineno">···20</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00095.html">gtsam/base/Matrix.h</a>&gt;</span></div> 
127 <div·class="line"><a·id="l00021"·name="l00021"></a><span·class="lineno">···21</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00731.html">gtsam/linear/JacobianFactor.h</a>&gt;</span></div> 
128 <div·class="line"><a·id="l00022"·name="l00022"></a><span·class="lineno">···22</span>·</div>122 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span>·</div>
129 <div·class="line"><a·id="l00023"·name="l00023"></a><span·class="lineno">···23</span><span·class="preprocessor">#include·&lt;map&gt;</span></div> 
130 <div·class="line"><a·id="l00024"·name="l00024"></a><span·class="lineno">···24</span><span·class="preprocessor">#include·&lt;vector&gt;</span></div>123 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00026.html">gtsam/base/treeTraversal-inst.h</a>&gt;</span></div>
 124 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="preprocessor">#include·&lt;<a·class="code"·href="a00134.html">gtsam/base/FastVector.h</a>&gt;</span></div>
131 <div·class="line"><a·id="l00025"·name="l00025"></a><span·class="lineno">···25</span>·</div>125 <div·class="line"><a·id="l00027"·name="l00027"></a><span·class="lineno">···27</span>·</div>
132 <div·class="line"><a·id="l00026"·name="l00026"></a><span·class="lineno">···26</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>126 <div·class="line"><a·id="l00028"·name="l00028"></a><span·class="lineno">···28</span><span·class="keyword">namespace·</span><a·class="code·hl_namespace"·href="a01428.html">gtsam</a>·{</div>
133 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T&gt;</div>127 <div·class="line"><a·id="l00029"·name="l00029"></a><span·class="lineno">···29</span>··<span·class="keyword">namespace·</span>inference·{</div>
134 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>T·FindKarcherMean(<span·class="keyword">const</span>·std::vector&lt;T,·Eigen::aligned_allocator&lt;T&gt;&gt;·&amp;rotations);</div> 
135 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>·</div>128 <div·class="line"><a·id="l00030"·name="l00030"></a><span·class="lineno">···30</span>·</div>
 129 <div·class="line"><a·id="l00031"·name="l00031"></a><span·class="lineno">···31</span>····<span·class="keyword">namespace·</span>{</div>
 130 <div·class="line"><a·id="l00032"·name="l00032"></a><span·class="lineno">···32</span>······<span·class="comment">/*·*************************************************************************·*/</span></div>
136 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T&gt;·T·FindKarcherMean(std::initializer_list&lt;T&gt;·&amp;&amp;rotations);</div>131 <div·class="line"><a·id="l00033"·name="l00033"></a><span·class="lineno">···33</span>······<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·TREE&gt;</div>
 132 <div·class="line"><a·id="l00034"·name="l00034"></a><span·class="lineno">···34</span>······<span·class="keyword">struct·</span>EliminationData·{</div>
 133 <div·class="line"><a·id="l00035"·name="l00035"></a><span·class="lineno">···35</span>········EliminationData*·<span·class="keyword">const</span>·parentData;</div>
 134 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>········FastVector&lt;typename·TREE::sharedFactor&gt;·childFactors;</div>
 135 <div·class="line"><a·id="l00037"·name="l00037"></a><span·class="lineno">···37</span>········EliminationData(EliminationData*·_parentData,·<span·class="keywordtype">size_t</span>·nChildren)·:</div>
 136 <div·class="line"><a·id="l00038"·name="l00038"></a><span·class="lineno">···38</span>··········parentData(_parentData)·{·childFactors.reserve(nChildren);·}</div>
137 <div·class="line"><a·id="l00036"·name="l00036"></a><span·class="lineno">···36</span>·</div>137 <div·class="line"><a·id="l00039"·name="l00039"></a><span·class="lineno">···39</span>······};</div>
138 <div·class="foldopen"·id="foldopen00045"·data-start="{"·data-end="};"> 
139 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno"><a·class="line"·href="a04876.html">···45</a></span><span·class="keyword">template</span>·&lt;<span·class="keyword">class</span>·T&gt;·<span·class="keyword">class·</span><a·class="code·hl_class"·href="a04876.html">KarcherMeanFactor</a>·:·<span·class="keyword">public</span>·<a·class="code·hl_class"·href="a04496.html">NonlinearFactor</a>·{</div> 
140 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>··<span·class="comment">//·Compile·time·dimension:·can·be·-1</span></div> 
141 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>··<span·class="keyword">enum</span>·{·D·=·<a·class="code·hl_struct"·href="a02276.html">traits&lt;T&gt;::dimension</a>·};</div> 
142 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>·</div>138 <div·class="line"><a·id="l00040"·name="l00040"></a><span·class="lineno">···40</span>·</div>
143 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>··<span·class="comment">//·Runtime·dimension:·always·&gt;=0</span></div>139 <div·class="line"><a·id="l00041"·name="l00041"></a><span·class="lineno">···41</span>······<span·class="comment">/*·*************************************************************************·*/</span></div>
 140 <div·class="line"><a·id="l00042"·name="l00042"></a><span·class="lineno">···42</span>······<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·TREE&gt;</div>
 141 <div·class="line"><a·id="l00043"·name="l00043"></a><span·class="lineno">···43</span>······EliminationData&lt;TREE&gt;·eliminationPreOrderVisitor(</div>
 142 <div·class="line"><a·id="l00044"·name="l00044"></a><span·class="lineno">···44</span>········<span·class="keyword">const</span>·<span·class="keyword">typename</span>·TREE::sharedNode&amp;·node,·EliminationData&lt;TREE&gt;&amp;·parentData)</div>
144 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>··<span·class="keywordtype">size_t</span>·d_;</div>143 <div·class="line"><a·id="l00045"·name="l00045"></a><span·class="lineno">···45</span>······{</div>
 144 <div·class="line"><a·id="l00046"·name="l00046"></a><span·class="lineno">···46</span>········<span·class="comment">//·This·function·is·called·before·visiting·the·children.··Here,·we·create·this·node&#39;s·data,</span></div>
 145 <div·class="line"><a·id="l00047"·name="l00047"></a><span·class="lineno">···47</span>········<span·class="comment">//·which·includes·a·pointer·to·the·parent·data·and·space·for·the·factors·of·the·children.</span></div>
 146 <div·class="line"><a·id="l00048"·name="l00048"></a><span·class="lineno">···48</span>········<span·class="keywordflow">return</span>·EliminationData&lt;TREE&gt;(&amp;parentData,·node-&gt;children.size());</div>
 147 <div·class="line"><a·id="l00049"·name="l00049"></a><span·class="lineno">···49</span>······}</div>
145 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>·</div>148 <div·class="line"><a·id="l00050"·name="l00050"></a><span·class="lineno">···50</span>·</div>
146 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>··boost::shared_ptr&lt;JacobianFactor&gt;·whitenedJacobian_;</div>149 <div·class="line"><a·id="l00051"·name="l00051"></a><span·class="lineno">···51</span>······<span·class="comment">/*·*************************************************************************·*/</span></div>
 150 <div·class="line"><a·id="l00052"·name="l00052"></a><span·class="lineno">···52</span>······<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·TREE,·<span·class="keyword">class</span>·RESULT&gt;</div>
 151 <div·class="line"><a·id="l00053"·name="l00053"></a><span·class="lineno">···53</span>······<span·class="keyword">struct·</span>EliminationPostOrderVisitor</div>
147 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>·</div>152 <div·class="line"><a·id="l00054"·name="l00054"></a><span·class="lineno">···54</span>······{</div>
 153 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span>········RESULT&amp;·result;</div>
 154 <div·class="line"><a·id="l00056"·name="l00056"></a><span·class="lineno">···56</span>········<span·class="keyword">const</span>·<span·class="keyword">typename</span>·TREE::Eliminate&amp;·eliminationFunction;</div>
 155 <div·class="line"><a·id="l00057"·name="l00057"></a><span·class="lineno">···57</span>········EliminationPostOrderVisitor(RESULT&amp;·result,·<span·class="keyword">const</span>·<span·class="keyword">typename</span>·TREE::Eliminate&amp;·eliminationFunction)·:</div>
 156 <div·class="line"><a·id="l00058"·name="l00058"></a><span·class="lineno">···58</span>··········result(result),·eliminationFunction(eliminationFunction)·{}</div>
 157 <div·class="line"><a·id="l00059"·name="l00059"></a><span·class="lineno">···59</span>········<span·class="keywordtype">void</span>·operator()(<span·class="keyword">const</span>·<span·class="keyword">typename</span>·TREE::sharedNode&amp;·node,·EliminationData&lt;TREE&gt;&amp;·myData)</div>
 158 <div·class="line"><a·id="l00060"·name="l00060"></a><span·class="lineno">···60</span>········{</div>
 159 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··········<span·class="comment">//·Call·eliminate·on·the·node·and·add·the·result·to·the·parent&#39;s·gathered·factors</span></div>
 160 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··········<span·class="keyword">typename</span>·TREE::sharedFactor·childFactor·=·node-&gt;eliminate(result,·eliminationFunction,·myData.childFactors);</div>
 161 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>··········<span·class="keywordflow">if</span>(childFactor·&amp;&amp;·!childFactor-&gt;empty())</div>
 162 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>············myData.parentData-&gt;childFactors.push_back(childFactor);</div>
148 <div·class="line"><a·id="l00055"·name="l00055"></a><span·class="lineno">···55</span><span·class="keyword">public</span>:</div>163 <div·class="line"><a·id="l00065"·name="l00065"></a><span·class="lineno">···65</span>········}</div>
149 <div·class="line"><a·id="l00061"·name="l00061"></a><span·class="lineno">···61</span>··<span·class="keyword">template</span>·&lt;<span·class="keyword">typename</span>·CONTAINER&gt;</div> 
150 <div·class="line"><a·id="l00062"·name="l00062"></a><span·class="lineno">···62</span>··<a·class="code·hl_class"·href="a04876.html">KarcherMeanFactor</a>(<span·class="keyword">const</span>·CONTAINER·&amp;<a·class="code·hl_function"·href="a03592.html#a03d71985cf81a0175a71d1ecf5279edb">keys</a>,·<span·class="keywordtype">int</span>·d·=·D,</div> 
151 <div·class="line"><a·id="l00063"·name="l00063"></a><span·class="lineno">···63</span>····················boost::optional&lt;double&gt;·beta·=·boost::none);</div> 
152 <div·class="line"><a·id="l00064"·name="l00064"></a><span·class="lineno">···64</span>·</div>164 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno">···66</span>······};</div>
153 <div·class="line"><a·id="l00066"·name="l00066"></a><span·class="lineno"><a·class="line"·href="a04876.html#acd61ca0d89f80448537dbaed5964b429">···66</a></span>··<a·class="code·hl_function"·href="a04876.html#acd61ca0d89f80448537dbaed5964b429">~KarcherMeanFactor</a>()<span·class="keyword">·override·</span>{}</div> 
154 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>·</div>165 <div·class="line"><a·id="l00067"·name="l00067"></a><span·class="lineno">···67</span>····}</div>
155 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno"><a·class="line"·href="a04876.html#a1f7ee10ee0fe130c9c2e8780571520d7">···69</a></span>··<span·class="keywordtype">double</span>·<a·class="code·hl_function"·href="a04876.html#a1f7ee10ee0fe130c9c2e8780571520d7">error</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·&amp;c)<span·class="keyword">·const·override·</span>{·<span·class="keywordflow">return</span>·0;·}</div> 
156 <div·class="line"><a·id="l00070"·name="l00070"></a><span·class="lineno">···70</span>·</div>166 <div·class="line"><a·id="l00068"·name="l00068"></a><span·class="lineno">···68</span>·</div>
157 <div·class="line"><a·id="l00072"·name="l00072"></a><span·class="lineno"><a·class="line"·href="a04876.html#a5eae98c33fbadf006492d3e5a0b7164c">···72</a></span>··<span·class="keywordtype">size_t</span>·<a·class="code·hl_function"·href="a04876.html#a5eae98c33fbadf006492d3e5a0b7164c">dim</[·...·truncated·by·diffoscope;·len:·96,·SHA:·f42db2498342c004b23bec16767ee6b126c4085922be0e00d9227c8d4e6f4c7c·...·]</div>167 <div·class="line"><a·id="l00069"·name="l00069"></a><span·class="lineno">···69</span>····<span·class="comment">/*·*************************************************************************·*/</span></div>
 168 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>····<span·class="keyword">template</span>&lt;<span·class="keyword">class</span>·TREE,·<span·class="keyword">class</span>·RESULT&gt;</div>
158 <div·class="line"><a·id="l00073"·name="l00073"></a><span·class="lineno">···73</span>·</div>169 <div·class="line"><a·id="l00074"·name="l00074"></a><span·class="lineno">···74</span>····FastVector&lt;typename·TREE::sharedFactor&gt;</div>
159 <div·class="foldopen"·id="foldopen00075"·data-start="{"·data-end="}">170 <div·class="foldopen"·id="foldopen00075"·data-start="{"·data-end="}">
 171 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a00647.html#ae955942fde34b4cf32ac3573a1aa1e29">···75</a></span>····<a·class="code·hl_function"·href="a00647.html#ae955942fde34b4cf32ac3573a1aa1e29">EliminateTree</a>(RESULT&amp;·result,·<span·class="keyword">const</span>·TREE&amp;·tree,·<span·class="keyword">const</span>·<span·class="keyword">typename</span>·TREE::Eliminate&amp;·function)</div>
160 <div·class="line"><a·id="l00075"·name="l00075"></a><span·class="lineno"><a·class="line"·href="a04876.html#a96e646c2e519ab84bc8fcd86ca5f443e">···75</a></span>··boost::shared_ptr&lt;GaussianFactor&gt;·<a·class="code·hl_function"·href="a04876.html#a96e646c2e519ab84bc8fcd86ca5f443e">linearize</a>(<span·class="keyword">const</span>·<a·class="code·hl_class"·href="a04612.html">Values</a>·&amp;c)<span·class="keyword">·const·override·</span>{</div> 
161 <div·class="line"><a·id="l00076"·name="l00076"></a><span·class="lineno">···76</span>····<span·class="keywordflow">return</span>·whitenedJacobian_;</div> 
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99 ··<div·class="summary">99 ··<div·class="summary">
100 <a·href="#nested-classes">Classes</a>·&#124;100 <a·href="#nested-classes">Classes</a>·&#124;
101 <a·href="#namespaces">Namespaces</a>··</div>101 <a·href="#namespaces">Namespaces</a>··</div>
102 ··<div·class="headertitle"><div·class="title">SymbolicFactorGraph.h·File·Reference</div></div>102 ··<div·class="headertitle"><div·class="title">MagFactor.h·File·Reference</div></div>
103 </div><!--header-->103 </div><!--header-->
104 <div·class="contents">104 <div·class="contents">
  
 105 <p>Factors·involving·magnetometers.··
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124 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>130 <a·name="details"·id="details"></a><h2·class="groupheader">Detailed·Description</h2>
125 <div·class="textblock"><dl·class="section·date"><dt>Date</dt><dd>Oct·29,·2009·</dd></dl>131 <div·class="textblock"><p>Factors·involving·magnetometers.·</p>
126 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd>132 <dl·class="section·author"><dt>Author</dt><dd>Frank·Dellaert·</dd></dl>
 133 <dl·class="section·date"><dt>Date</dt><dd>January·29,·2014·</dd></dl>
127 <dd> 
128 Richard·Roberts·</dd></dl> 
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