Simple, scalar (1-dim) constraint (edge) for a GMRF.
Definition at line 59 of file ScalarFactorGraph.h.
#include <mrpt/graphs/ScalarFactorGraph.h>
Public Member Functions | |
virtual void | evalJacobian (double &dr_dx) const =0 |
Returns the derivative of the residual wrt the node value. 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 |
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pure virtual |
Returns the derivative of the residual wrt the node value.
Implemented in mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF, and mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF.
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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.
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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.
size_t mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id |
Definition at line 61 of file ScalarFactorGraph.h.
Referenced by mrpt::maps::CRandomFieldGridMap3D::insertIndividualReading(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), and mrpt::maps::CRandomFieldGridMap2D::internal_clear().
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