struct mrpt::graphs::ScalarFactorGraph::FactorBase

Overview

#include <mrpt/graphs/ScalarFactorGraph.h>

struct FactorBase
{
    // methods

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

// direct descendants

struct BinaryFactorVirtualBase;
struct UnaryFactorVirtualBase;

Methods

virtual double evaluateResidual() const = 0

Return the residual/error of this observation.

virtual double getInformation() const = 0

Return the inverse of the variance of this constraint.