mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase Struct Reference

Detailed Description

Simple, scalar (1-dim) constraint (edge) for a GMRF.

Definition at line 63 of file ScalarFactorGraph.h.

#include <mrpt/graphs/ScalarFactorGraph.h>

Inheritance diagram for mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase:

Public Member Functions
virtual void	evalJacobian (double &dr_dxi, double &dr_dxj) const =0
	Returns the derivative of the residual wrt the node values. More...
virtual double	evaluateResidual () const =0
	Return the residual/error of this observation. More...
virtual double	getInformation () const =0
	Return the inverse of the variance of this constraint. More...

Public Attributes
size_t	node_id_i
size_t	node_id_j

Member Function Documentation

evalJacobian()

virtual void mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::evalJacobian ( double &  dr_dxi, double &  dr_dxj  ) const

pure virtual

Returns the derivative of the residual wrt the node values.

Implemented in mrpt::maps::CRandomFieldGridMap2D::TPriorFactorGMRF, and mrpt::maps::CRandomFieldGridMap3D::TPriorFactorGMRF.

evaluateResidual()

virtual double mrpt::graphs::ScalarFactorGraph::FactorBase::evaluateResidual ( ) const

pure virtualinherited

Return the residual/error of this observation.

Implemented in mrpt::maps::CRandomFieldGridMap2D::TPriorFactorGMRF, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF, mrpt::maps::CRandomFieldGridMap3D::TPriorFactorGMRF, and mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF.

getInformation()

virtual double mrpt::graphs::ScalarFactorGraph::FactorBase::getInformation ( ) const

pure virtualinherited

Return the inverse of the variance of this constraint.

Implemented in mrpt::maps::CRandomFieldGridMap2D::TPriorFactorGMRF, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF, mrpt::maps::CRandomFieldGridMap3D::TPriorFactorGMRF, and mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF.

Member Data Documentation

node_id_i

size_t mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_i

Definition at line 65 of file ScalarFactorGraph.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::maps::CRandomFieldGridMap3D::internal_initialize().

node_id_j

size_t mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_j

Definition at line 65 of file ScalarFactorGraph.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::maps::CRandomFieldGridMap3D::internal_initialize().