class mola::FactorDynamicsConstVel¶
Overview¶
#include <FactorDynamicsConstVel.h> class FactorDynamicsConstVel: public mola::FactorBase { public: // fields id_t from_kf_ {INVALID_ID}; id_t to_kf_ {INVALID_ID}; // construction FactorDynamicsConstVel(); FactorDynamicsConstVel(id_t kf_from, id_t kf_to); // methods virtual std::size_t edge_count() const; virtual mola::id_t edge_indices(const std::size_t i) const; };
Inherited Members¶
public: // fields mola::fid_t my_id_ {mola::INVALID_FID}; mola::Robust robust_type_ {mola::Robust::REGULAR_L2}; double robust_param_ {1.0}; // methods virtual std::size_t edge_count() const = 0; virtual mola::id_t edge_indices(const std::size_t i) const = 0;
Detailed Documentation¶
Construction¶
FactorDynamicsConstVel(id_t kf_from, id_t kf_to)
Creates relative pose constraint of KF to
as seem from from
.
Methods¶
virtual std::size_t edge_count() const
Number of entities involved in this factor: 1 for unary factors, 2 for binary, etc.
virtual mola::id_t edge_indices(const std::size_t i) const
Access entity indices involved in this factor