Implementation of a "smart" updateable semantic bearing-range factor. More...

#include <SmartSemanticBearingRangeFactor.h>

Inheritance diagram for dcsam::SmartSemanticBearingRangeFactor:

Collaboration diagram for dcsam::SmartSemanticBearingRangeFactor:

Public Types
using	Base = SemanticBearingRangeFactor

Public Types inherited from dcsam::SemanticBearingRangeFactor< PoseType, PointType, BearingType, RangeType >
using	Base = DCFactor

Public Types inherited from dcsam::DCFactor
using	Base = gtsam::Factor

Public Member Functions
	SmartSemanticBearingRangeFactor ()=default

	SmartSemanticBearingRangeFactor (const gtsam::DiscreteKey &dk, const std::vector< double > probs)

void	updateProbs (const std::vector< double > &probs)

Public Member Functions inherited from dcsam::SemanticBearingRangeFactor< PoseType, PointType, BearingType, RangeType >
	SemanticBearingRangeFactor ()=default

	SemanticBearingRangeFactor (const gtsam::Key &poseKey, const gtsam::Key &pointKey, const gtsam::DiscreteKey &discreteKey, const std::vector< double > measuredProbs, const BearingType &measuredBearing, const RangeType &measuredRange, const gtsam::SharedNoiseModel &model)

virtual	~SemanticBearingRangeFactor ()=default

SemanticBearingRangeFactor &	operator= (const SemanticBearingRangeFactor &rhs)

double	error (const gtsam::Values &continuousVals, const DiscreteValues &discreteVals) const override

size_t	dim () const override

boost::shared_ptr< gtsam::GaussianFactor >	linearize (const gtsam::Values &continuousVals, const DiscreteValues &discreteVals) const override

bool	equals (const DCFactor &other, double tol=1e-9) const override

double	logNormalizingConstant (const gtsam::Values &values) const override

Public Member Functions inherited from dcsam::DCFactor
	DCFactor ()=default

	DCFactor (const gtsam::KeyVector &continuousKeys, const gtsam::DiscreteKeys &discreteKeys)

	DCFactor (const gtsam::DiscreteKeys &discreteKeys)

DCFactor &	operator= (const DCFactor &rhs)

virtual	~DCFactor ()=default

gtsam::DiscreteKeys	discreteKeys () const

virtual gtsam::DecisionTreeFactor	toDecisionTreeFactor (const gtsam::Values &continuousVals, const DiscreteValues &discreteVals) const

template<typename NonlinearFactorType >
double	nonlinearFactorLogNormalizingConstant (const NonlinearFactorType &factor, const gtsam::Values &values) const

std::vector< double >	evalProbs (const gtsam::DiscreteKey &dk, const gtsam::Values &continuousVals) const

gtsam::DecisionTreeFactor	conditionalTimes (const gtsam::DecisionTreeFactor &f, const gtsam::Values &continuousVals, const DiscreteValues &discreteVals) const

Additional Inherited Members
Protected Attributes inherited from dcsam::DCFactor
gtsam::DiscreteKeys	discreteKeys_

Detailed Description

Implementation of a "smart" updateable semantic bearing-range factor.

Simply augments SemanticBearingRangeFactor with updateProbs function to modify the probs_ member variable directly.

Member Typedef Documentation

◆ Base

using dcsam::SmartSemanticBearingRangeFactor::Base = SemanticBearingRangeFactor

Constructor & Destructor Documentation

◆ SmartSemanticBearingRangeFactor() [1/2]

dcsam::SmartSemanticBearingRangeFactor::SmartSemanticBearingRangeFactor ( )

default

◆ SmartSemanticBearingRangeFactor() [2/2]

dcsam::SmartSemanticBearingRangeFactor::SmartSemanticBearingRangeFactor	(	const gtsam::DiscreteKey &	dk,
		const std::vector< double >	probs
	)

inline

Member Function Documentation

◆ updateProbs()

void dcsam::SmartSemanticBearingRangeFactor::updateProbs ( const std::vector< double > & probs )

inline

The documentation for this class was generated from the following file:

include/dcsam/SmartSemanticBearingRangeFactor.h

Public Types

Public Member Functions

Additional Inherited Members