struct mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase

Overview

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

#include <mrpt/graphs/ScalarFactorGraph.h>

struct BinaryFactorVirtualBase: public mrpt::graphs::ScalarFactorGraph::FactorBase
{
    // fields

    size_t node_id_i;
    size_t node_id_j;

    // methods

    virtual void evalJacobian(double& dr_dxi, double& dr_dxj) const = 0;
};

// direct descendants

struct TPriorFactorGMRF;
struct TPriorFactorGMRF;

Inherited Members

public:
    // methods

    virtual double evaluateResidual() const = 0;
    virtual double getInformation() const = 0;

Methods

virtual void evalJacobian(double& dr_dxi, double& dr_dxj) const = 0

Returns the derivative of the residual wrt the node values.