48 BOOST_CONCEPT_ASSERT((IsManifold<VALUE>));
51 typedef boost::shared_ptr<ExtendedKalmanFilter<VALUE> > shared_ptr;
54#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
78 void print(
const std::string& s =
"")
const {
79 std::cout << s <<
"\n";
81 priorFactor_->print(s +
"density");
Class to perform generic Kalman Filtering using nonlinear factor graphs.
Factor Graph consisting of non-linear factors.
Non-linear factor base classes.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
std::uint64_t Key
Integer nonlinear key type.
Definition types.h:100
A testable concept check that should be placed in applicable unit tests and in generic algorithms.
Definition Testable.h:58
A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e.
Definition GaussianFactorGraph.h:75
boost::shared_ptr< This > shared_ptr
shared_ptr to this class
Definition JacobianFactor.h:96
This is a generic Extended Kalman Filter class implemented using nonlinear factors.
Definition ExtendedKalmanFilter.h:45
T update(const NoiseModelFactor &measurementFactor)
Calculate posterior density P(x_) ~ L(z|x) P(x) The likelihood L(z|x) should be given as a unary fact...
Definition ExtendedKalmanFilter-inl.h:105
const JacobianFactor::shared_ptr Density() const
Return current predictive (if called after predict)/posterior (if called after update)
Definition ExtendedKalmanFilter.h:102
T predict(const NoiseModelFactor &motionFactor)
Calculate predictive density The motion model should be given as a factor with key1 for and key2 fo...
Definition ExtendedKalmanFilter-inl.h:80
void print(const std::string &s="") const
print
Definition ExtendedKalmanFilter.h:78
A nonlinear sum-of-squares factor with a zero-mean noise model implementing the density Templated on...
Definition NonlinearFactor.h:174
A convenient base class for creating your own NoiseModelFactor with n variables.
Definition NonlinearFactor.h:400
A non-templated config holding any types of Manifold-group elements.
Definition Values.h:65