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Nonlinear

Custom factor that takes a std::function as the error . More...

## Classes

class | gtsam::PriorFactor< VALUE >
| A class for a soft prior on any Value type. More...

## Detailed Description

Custom factor that takes a std::function as the error .

A NonlinearFactorGraph is a graph of non-Gaussian, i.e.

This factor is mainly for creating a custom factor in Python.

non-linear factors, which derive from NonlinearFactor. The values structures are typically (in SAM) more general than just vectors, e.g., Rot3 or Pose3, which are objects in non-linear manifolds. Linearizing the non-linear factor graph creates a linear factor graph on the tangent vector space at the linearization point. Because the tangent space is a true vector space, the config type will be an VectorValues in that linearized factor graph.