javaslam.filter
Interface LinearizationFactory
- public interface LinearizationFactory
A factory for linearization objects.
- See Also:
ExtendedTransformation.getFactory()
,
UnscentedTransformation.getFactory()
linearize
public Linearization linearize(NoisyVectorFunction f,
Gaussian px)
- Creates a new linearization.
- Parameters:
f
- a vector function that takes a
(n + m)-by-1 vector as input
and returns a k-by-1 vector; the function's input
is x stacked on top of vpx
- a Gaussian distribution (in the moment parameterization)
over the n-by-1 vector x (which can be
partitioned into several sub-variables)
- Throws:
IllegalArgumentException
- if the sum dimension of
px
and
pv
does not match the
input dimension of f