gtsam::NoiseModelFactor2 gtsam::NoiseModelFactor NonlinearFactor.h class VALUE1 class VALUE2 VALUE1 typedef VALUE1 gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::X1 X1 VALUE2 typedef VALUE2 gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::X2 X2 NoiseModelFactor typedef NoiseModelFactor gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::Base Base NoiseModelFactor2< VALUE1, VALUE2 > typedef NoiseModelFactor2<VALUE1, VALUE2> gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::This This friend class friend class boost::serialization::access boost::serialization::access Serialization function gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::NoiseModelFactor2 () NoiseModelFactor2 Default Constructor for I/O gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2) NoiseModelFactor2 const SharedNoiseModel & noiseModel Key j1 Key j2 Constructor noiseModel shared pointer to noise model j1 key of the first variable j2 key of the second variable virtual gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::~NoiseModelFactor2 () ~NoiseModelFactor2 Key Key gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::key1 () const key1 methods to retrieve both keys Key Key gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::key2 () const key2 Vector virtual Vector gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const unwhitenedError unwhitenedError const Values & x boost::optional< std::vector< Matrix > & > H boost::none Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. Vector virtual Vector gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const =0 evaluateError const X1 & const X2 & boost::optional< Matrix & > H1 boost::none boost::optional< Matrix & > H2 boost::none Override this method to finish implementing a binary factor. If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2). class ARCHIVE void void gtsam::NoiseModelFactor2< VALUE1, VALUE2 >::serialize (ARCHIVE &ar, const unsigned int) serialize ARCHIVE & ar const unsigned int A convenient base class for creating your own NoiseModelFactor with 2 variables. To derive from this class, implement evaluateError(). Factor gtsam::NonlinearFactor gtsam::NoiseModelFactor gtsam::NoiseModelFactor2< VALUE1, VALUE2 > Factor gtsam::NonlinearFactor gtsam::NoiseModelFactor gtsam::NoiseModelFactor2< VALUE1, VALUE2 > gtsam::NoiseModelFactor2active gtsam::NoiseModelFactor2Base gtsam::NoiseModelFactor2boost::serialization::access gtsam::NoiseModelFactor2clone gtsam::NoiseModelFactor2dim gtsam::NoiseModelFactor2equals gtsam::NoiseModelFactor2error gtsam::NoiseModelFactor2evaluateError gtsam::NoiseModelFactor2get_noiseModel gtsam::NoiseModelFactor2key1 gtsam::NoiseModelFactor2key2 gtsam::NoiseModelFactor2linearize gtsam::NoiseModelFactor2noiseModel gtsam::NoiseModelFactor2noiseModel_ gtsam::NoiseModelFactor2NoiseModelFactor gtsam::NoiseModelFactor2NoiseModelFactor gtsam::NoiseModelFactor2NoiseModelFactor gtsam::NoiseModelFactor2NoiseModelFactor2 gtsam::NoiseModelFactor2NoiseModelFactor2 gtsam::NoiseModelFactor2NonlinearFactor gtsam::NoiseModelFactor2NonlinearFactor gtsam::NoiseModelFactor2print gtsam::NoiseModelFactor2rekey gtsam::NoiseModelFactor2rekey gtsam::NoiseModelFactor2serialize gtsam::NoiseModelFactor2shared_ptr gtsam::NoiseModelFactor2This gtsam::NoiseModelFactor2unwhitenedError gtsam::NoiseModelFactor2whitenedError gtsam::NoiseModelFactor2X1 gtsam::NoiseModelFactor2X2 gtsam::NoiseModelFactor2~NoiseModelFactor gtsam::NoiseModelFactor2~NoiseModelFactor2 gtsam::NoiseModelFactor2~NonlinearFactor