gtsam::NoiseModelFactor4 gtsam::NoiseModelFactor NonlinearFactor.h class VALUE1 class VALUE2 class VALUE3 class VALUE4 VALUE1 typedef VALUE1 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::X1 X1 VALUE2 typedef VALUE2 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::X2 X2 VALUE3 typedef VALUE3 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::X3 X3 VALUE4 typedef VALUE4 gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::X4 X4 NoiseModelFactor typedef NoiseModelFactor gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::Base Base NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 > typedef NoiseModelFactor4<VALUE1, VALUE2, VALUE3, VALUE4> gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::This This friend class friend class boost::serialization::access boost::serialization::access Serialization function gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::NoiseModelFactor4 () NoiseModelFactor4 Default Constructor for I/O gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::NoiseModelFactor4 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4) NoiseModelFactor4 const SharedNoiseModel & noiseModel Key j1 Key j2 Key j3 Key j4 Constructor noiseModel shared pointer to noise model j1 key of the first variable j2 key of the second variable j3 key of the third variable j4 key of the fourth variable virtual gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::~NoiseModelFactor4 () ~NoiseModelFactor4 Key Key gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::key1 () const key1 methods to retrieve keys Key Key gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::key2 () const key2 Key Key gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::key3 () const key3 Key Key gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::key4 () const key4 Vector virtual Vector gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::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 4-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. Vector virtual Vector gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::evaluateError (const X1 &, const X2 &, const X3 &, const X4 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const =0 evaluateError const X1 & const X2 & const X3 & const X4 & boost::optional< Matrix & > H1 boost::none boost::optional< Matrix & > H2 boost::none boost::optional< Matrix & > H3 boost::none boost::optional< Matrix & > H4 boost::none Override this method to finish implementing a 4-way 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, X3). class ARCHIVE void void gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 >::serialize (ARCHIVE &ar, const unsigned int) serialize ARCHIVE & ar const unsigned int A convenient base class for creating your own NoiseModelFactor with 4 variables. To derive from this class, implement evaluateError(). Factor gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 > gtsam::NonlinearFactor gtsam::NoiseModelFactor Factor gtsam::NoiseModelFactor4< VALUE1, VALUE2, VALUE3, VALUE4 > gtsam::NonlinearFactor gtsam::NoiseModelFactor gtsam::NoiseModelFactor4active gtsam::NoiseModelFactor4Base gtsam::NoiseModelFactor4boost::serialization::access gtsam::NoiseModelFactor4clone gtsam::NoiseModelFactor4dim gtsam::NoiseModelFactor4equals gtsam::NoiseModelFactor4error gtsam::NoiseModelFactor4evaluateError gtsam::NoiseModelFactor4get_noiseModel gtsam::NoiseModelFactor4key1 gtsam::NoiseModelFactor4key2 gtsam::NoiseModelFactor4key3 gtsam::NoiseModelFactor4key4 gtsam::NoiseModelFactor4linearize gtsam::NoiseModelFactor4noiseModel gtsam::NoiseModelFactor4noiseModel_ gtsam::NoiseModelFactor4NoiseModelFactor gtsam::NoiseModelFactor4NoiseModelFactor gtsam::NoiseModelFactor4NoiseModelFactor gtsam::NoiseModelFactor4NoiseModelFactor4 gtsam::NoiseModelFactor4NoiseModelFactor4 gtsam::NoiseModelFactor4NonlinearFactor gtsam::NoiseModelFactor4NonlinearFactor gtsam::NoiseModelFactor4print gtsam::NoiseModelFactor4rekey gtsam::NoiseModelFactor4rekey gtsam::NoiseModelFactor4serialize gtsam::NoiseModelFactor4shared_ptr gtsam::NoiseModelFactor4This gtsam::NoiseModelFactor4unwhitenedError gtsam::NoiseModelFactor4whitenedError gtsam::NoiseModelFactor4X1 gtsam::NoiseModelFactor4X2 gtsam::NoiseModelFactor4X3 gtsam::NoiseModelFactor4X4 gtsam::NoiseModelFactor4~NoiseModelFactor gtsam::NoiseModelFactor4~NoiseModelFactor4 gtsam::NoiseModelFactor4~NonlinearFactor