Added doxygen documentation
Alex Cunningham
parent
44e43f2393
commit
b0c2295fdd
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@ -49,83 +49,147 @@ namespace gtsam {
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/**
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* Unary inequality constraint forcing a coordinate to be greater/less than a fixed value (c)
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* Demo implementation: should be made more general using BoundingConstraint
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* @tparam VALUES is the values structure for the graph
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* @tparam KEY is the key type for the variable constrained
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* @tparam IDX is an index in tangent space to constrain, must be less than KEY::VALUE::Dim()
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*/
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template<class VALUES, class Key, unsigned int Idx>
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struct ScalarCoordConstraint1: public BoundingConstraint1<VALUES, Key> {
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typedef BoundingConstraint1<VALUES, Key> Base;
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typedef boost::shared_ptr<ScalarCoordConstraint1<VALUES, Key, Idx> > shared_ptr;
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template<class VALUES, class KEY, unsigned int IDX>
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struct ScalarCoordConstraint1: public BoundingConstraint1<VALUES, KEY> {
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typedef BoundingConstraint1<VALUES, KEY> Base; ///< Base class convenience typedef
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typedef boost::shared_ptr<ScalarCoordConstraint1<VALUES, KEY, IDX> > shared_ptr; ///< boost::shared_ptr convenience typedef
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typedef typename::KEY::Value Point; ///< Constrained variable type
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ScalarCoordConstraint1(const Key& key, double c,
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/**
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* Constructor for constraint
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* @param key is the label for the constrained variable
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* @param c is the measured value for the fixed coordinate
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* @param isGreaterThan is a flag to set inequality as greater than or less than
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* @param mu is the penalty function gain
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*/
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ScalarCoordConstraint1(const KEY& key, double c,
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bool isGreaterThan, double mu = 1000.0) :
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Base(key, c, isGreaterThan, mu) {
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}
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inline unsigned int index() const { return Idx; }
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/**
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* Access function for the constrained index
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* @return the index for the constrained coordinate
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*/
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inline unsigned int index() const { return IDX; }
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/** extracts a single value from the point */
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virtual double value(const Point2& x, boost::optional<Matrix&> H =
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/**
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* extracts a single value from the point to compute error
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* @param x is the estimate of the constrained variable being evaluated
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* @param H is an optional Jacobian, linearized at x
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*/
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virtual double value(const Point& x, boost::optional<Matrix&> H =
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boost::none) const {
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if (H) {
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Matrix D = zeros(1, 2);
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D(0, Idx) = 1.0;
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Matrix D = zeros(1, x.dim());
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D(0, IDX) = 1.0;
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*H = D;
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}
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return x.vector()(Idx);
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return Point::Logmap(x)(IDX);
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}
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};
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/** typedefs for use with simulated2D systems */
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typedef ScalarCoordConstraint1<Values, PoseKey, 0> PoseXInequality;
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typedef ScalarCoordConstraint1<Values, PoseKey, 1> PoseYInequality;
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typedef ScalarCoordConstraint1<Values, PoseKey, 0> PoseXInequality; ///< Simulated2D domain example factor constraining X
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typedef ScalarCoordConstraint1<Values, PoseKey, 1> PoseYInequality; ///< Simulated2D domain example factor constraining Y
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double range(const Point2& a, const Point2& b) { return a.dist(b); }
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/**
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* Trait for distance constraints to provide distance
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* @tparam T1 is a Lie value for which distance functions exist
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* @tparam T2 is a Lie value for which distance functions exist
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* @param a is the first Lie element
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* @param b is the second Lie element
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* @return a scalar distance between values
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*/
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template<class T1, class T2 = T1>
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double range_trait(const T1& a, const T2& b) { return a.dist(b); }
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/**
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* Binary inequality constraint forcing the range between points
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* to be less than or equal to a bound
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* @tparam VALUES is the variable set for the graph
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* @tparam KEY is the type of the keys for the variables constrained
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*/
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template<class VALUES, class Key>
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struct MaxDistanceConstraint : public BoundingConstraint2<VALUES, Key, Key> {
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typedef BoundingConstraint2<VALUES, Key, Key> Base;
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template<class VALUES, class KEY>
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struct MaxDistanceConstraint : public BoundingConstraint2<VALUES, KEY, KEY> {
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typedef BoundingConstraint2<VALUES, KEY, KEY> Base; ///< Base class for factor
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typedef typename KEY::Value Point; ///< Type of variable constrained
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MaxDistanceConstraint(const Key& key1, const Key& key2, double range_bound, double mu = 1000.0)
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/**
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* Primary constructor for factor
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* @param key1 is the first variable key
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* @param key2 is the second variable key
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* @param range_bound is the maximum range allowed between the variables
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* @param mu is the gain for the penalty function
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*/
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MaxDistanceConstraint(const KEY& key1, const KEY& key2, double range_bound, double mu = 1000.0)
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: Base(key1, key2, range_bound, false, mu) {}
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/** extracts a single scalar value with derivatives */
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virtual double value(const Point2& x1, const Point2& x2,
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/**
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* computes the range with derivatives
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* @param x1 is the first variable value
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* @param x2 is the second variable value
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* @param H1 is an optional Jacobian in x1
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* @param H2 is an optional Jacobian in x2
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* @return the distance between the variables
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*/
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virtual double value(const Point& x1, const Point& x2,
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boost::optional<Matrix&> H1 = boost::none,
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boost::optional<Matrix&> H2 = boost::none) const {
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if (H1) *H1 = numericalDerivative21(range, x1, x2, 1e-5);
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if (H1) *H2 = numericalDerivative22(range, x1, x2, 1e-5);
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return x1.dist(x2);
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if (H1) *H1 = numericalDerivative21(range_trait<Point,Point>, x1, x2, 1e-5);
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if (H1) *H2 = numericalDerivative22(range_trait<Point,Point>, x1, x2, 1e-5);
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return range_trait(x1, x2);
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}
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};
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typedef MaxDistanceConstraint<Values, PoseKey> PoseMaxDistConstraint;
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typedef MaxDistanceConstraint<Values, PoseKey> PoseMaxDistConstraint; ///< Simulated2D domain example factor
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/**
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* Binary inequality constraint forcing a minimum range
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* NOTE: this is not a convex function! Be careful with initialization.
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* @tparam VALUES is the variable set for the graph
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* @tparam XKEY is the type of the pose key constrained
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* @tparam PKEY is the type of the point key constrained
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*/
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template<class VALUES, class XKey, class PKey>
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struct MinDistanceConstraint : public BoundingConstraint2<VALUES, XKey, PKey> {
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typedef BoundingConstraint2<VALUES, XKey, PKey> Base;
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template<class VALUES, class XKEY, class PKEY>
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struct MinDistanceConstraint : public BoundingConstraint2<VALUES, XKEY, PKEY> {
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typedef BoundingConstraint2<VALUES, XKEY, PKEY> Base; ///< Base class for factor
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typedef typename XKEY::Value Pose; ///< Type of pose variable constrained
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typedef typename PKEY::Value Point; ///< Type of point variable constrained
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MinDistanceConstraint(const XKey& key1, const PKey& key2, double range_bound, double mu = 1000.0)
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/**
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* Primary constructor for factor
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* @param key1 is the first variable key
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* @param key2 is the second variable key
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* @param range_bound is the minimum range allowed between the variables
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* @param mu is the gain for the penalty function
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*/
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MinDistanceConstraint(const XKEY& key1, const PKEY& key2,
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double range_bound, double mu = 1000.0)
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: Base(key1, key2, range_bound, true, mu) {}
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/** extracts a single scalar value with derivatives */
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virtual double value(const Point2& x1, const Point2& x2,
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/**
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* computes the range with derivatives
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* @param x1 is the first variable value
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* @param x2 is the second variable value
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* @param H1 is an optional Jacobian in x1
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* @param H2 is an optional Jacobian in x2
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* @return the distance between the variables
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*/
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virtual double value(const Pose& x1, const Point& x2,
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boost::optional<Matrix&> H1 = boost::none,
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boost::optional<Matrix&> H2 = boost::none) const {
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if (H1) *H1 = numericalDerivative21(range, x1, x2, 1e-5);
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if (H1) *H2 = numericalDerivative22(range, x1, x2, 1e-5);
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return x1.dist(x2);
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if (H1) *H1 = numericalDerivative21(range_trait<Pose,Point>, x1, x2, 1e-5);
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if (H1) *H2 = numericalDerivative22(range_trait<Pose,Point>, x1, x2, 1e-5);
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return range_trait(x1, x2);
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}
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};
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typedef MinDistanceConstraint<Values, PoseKey, PointKey> LandmarkAvoid;
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typedef MinDistanceConstraint<Values, PoseKey, PointKey> LandmarkAvoid; ///< Simulated2D domain example factor
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} // \namespace inequality_constraints
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@ -79,9 +79,11 @@ namespace gtsam {
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*/
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template<class VALUES = Values, class KEY = PoseKey>
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struct GenericOdometry: public NonlinearFactor2<VALUES, KEY, KEY> {
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Pose2 z_;
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Pose2 z_; ///< Between measurement for odometry factor
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/// Create generic odometry factor
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/**
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* Creates an odometry factor between two poses
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*/
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GenericOdometry(const Pose2& z, const SharedNoiseModel& model,
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const KEY& i1, const KEY& i2) :
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NonlinearFactor2<VALUES, KEY, KEY>(model, i1, i2), z_(z) {
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