class mola::factors::FactorGnssEnu

Overview

#include <FactorGnssEnu.h>

class FactorGnssEnu: public gtsam::ExpressionFactorN< gtsam::Point3, gtsam::Pose3 >
{
public:
    // construction

    FactorGnssEnu();

    FactorGnssEnu(
        gtsam::Key kPi,
        const gtsam::Point3& sensorOnVehicle,
        const gtsam::Point3& observedENU,
        const gtsam::SharedNoiseModel& model
        );

    // methods

    gtsam::NonlinearFactor::shared_ptr clone() const;
    gtsam::Expression<gtsam::Point3> expression(const std::array<gtsam::Key, NARY_EXPRESSION_SIZE>& keys) const;

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

    bool equals(const gtsam::NonlinearFactor& expected, double tol = 1e-9) const;
};

Construction

FactorGnssEnu()

default constructor

Methods

gtsam::NonlinearFactor::shared_ptr clone() const

Returns:

a deep copy of this factor

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

implement functions needed for Testable print

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

equals