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  <compounddef id="classgtsam_1_1NoiseModelFactor6" kind="class" language="C++" prot="public" abstract="yes">
    <compoundname>gtsam::NoiseModelFactor6</compoundname>
    <basecompoundref refid="classgtsam_1_1NoiseModelFactor" prot="public" virt="non-virtual">gtsam::NoiseModelFactor</basecompoundref>
    <includes refid="NonlinearFactor_8h" local="no">NonlinearFactor.h</includes>
    <templateparamlist>
      <param>
        <type>class VALUE1</type>
      </param>
      <param>
        <type>class VALUE2</type>
      </param>
      <param>
        <type>class VALUE3</type>
      </param>
      <param>
        <type>class VALUE4</type>
      </param>
      <param>
        <type>class VALUE5</type>
      </param>
      <param>
        <type>class VALUE6</type>
      </param>
    </templateparamlist>
      <sectiondef kind="public-type">
      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor6_1a369d9accd53012d84bbbaf87b176222b" prot="public" static="no">
        <type>VALUE1</type>
        <definition>typedef VALUE1 gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::X1</definition>
        <argsstring></argsstring>
        <name>X1</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="668" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="668" bodyend="-1"/>
      </memberdef>
      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor6_1a6107bc96fff5d12783429158e79b9390" prot="public" static="no">
        <type>VALUE2</type>
        <definition>typedef VALUE2 gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::X2</definition>
        <argsstring></argsstring>
        <name>X2</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="669" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="669" bodyend="-1"/>
      </memberdef>
      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor6_1a76c477f40c2b911a9f28d456ea9164a2" prot="public" static="no">
        <type>VALUE3</type>
        <definition>typedef VALUE3 gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::X3</definition>
        <argsstring></argsstring>
        <name>X3</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="670" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="670" bodyend="-1"/>
      </memberdef>
      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor6_1a2a90aff22e4bd88dae81bf824956a113" prot="public" static="no">
        <type>VALUE4</type>
        <definition>typedef VALUE4 gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::X4</definition>
        <argsstring></argsstring>
        <name>X4</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="671" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="671" bodyend="-1"/>
      </memberdef>
      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor6_1ae13e19a4b3a7a331d04d5b460e73216f" prot="public" static="no">
        <type>VALUE5</type>
        <definition>typedef VALUE5 gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::X5</definition>
        <argsstring></argsstring>
        <name>X5</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="672" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="672" bodyend="-1"/>
      </memberdef>
      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor6_1af44204ef6947a65b973dee5707495601" prot="public" static="no">
        <type>VALUE6</type>
        <definition>typedef VALUE6 gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::X6</definition>
        <argsstring></argsstring>
        <name>X6</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="673" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="673" bodyend="-1"/>
      </memberdef>
      </sectiondef>
      <sectiondef kind="protected-type">
      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor6_1ad4a36f4c5b39c0ea03806592fc1c3474" prot="protected" static="no">
        <type><ref refid="classgtsam_1_1NoiseModelFactor" kindref="compound">NoiseModelFactor</ref></type>
        <definition>typedef NoiseModelFactor gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::Base</definition>
        <argsstring></argsstring>
        <name>Base</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="677" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="677" bodyend="-1"/>
      </memberdef>
      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor6_1a6939c52138ed37f395a57db8b50c71ec" prot="protected" static="no">
        <type><ref refid="classgtsam_1_1NoiseModelFactor6" kindref="compound">NoiseModelFactor6</ref>&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;</type>
        <definition>typedef NoiseModelFactor6&lt;VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6&gt; gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::This</definition>
        <argsstring></argsstring>
        <name>This</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="678" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="678" bodyend="-1"/>
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      <sectiondef kind="friend">
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        <type>friend class</type>
        <definition>friend class boost::serialization::access</definition>
        <argsstring></argsstring>
        <name>boost::serialization::access</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
<para>Serialization function </para>        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="740" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="740" bodyend="-1"/>
      </memberdef>
      </sectiondef>
      <sectiondef kind="public-func">
      <memberdef kind="function" id="classgtsam_1_1NoiseModelFactor6_1a15bcca054e397e486fb9dda0d0436cdb" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
        <type></type>
        <definition>gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::NoiseModelFactor6</definition>
        <argsstring>()</argsstring>
        <name>NoiseModelFactor6</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
<para>Default Constructor for I/O </para>        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="685" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="685" bodyend="685"/>
      </memberdef>
      <memberdef kind="function" id="classgtsam_1_1NoiseModelFactor6_1ad3d89a85f0c70d7a424f2060d514cab9" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
        <type></type>
        <definition>gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::NoiseModelFactor6</definition>
        <argsstring>(const SharedNoiseModel &amp;noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6)</argsstring>
        <name>NoiseModelFactor6</name>
        <param>
          <type>const SharedNoiseModel &amp;</type>
          <declname>noiseModel</declname>
        </param>
        <param>
          <type>Key</type>
          <declname>j1</declname>
        </param>
        <param>
          <type>Key</type>
          <declname>j2</declname>
        </param>
        <param>
          <type>Key</type>
          <declname>j3</declname>
        </param>
        <param>
          <type>Key</type>
          <declname>j4</declname>
        </param>
        <param>
          <type>Key</type>
          <declname>j5</declname>
        </param>
        <param>
          <type>Key</type>
          <declname>j6</declname>
        </param>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
<para>Constructor <parameterlist kind="param"><parameteritem>
<parameternamelist>
<parametername>noiseModel</parametername>
</parameternamelist>
<parameterdescription>
<para>shared pointer to noise model </para></parameterdescription>
</parameteritem>
<parameteritem>
<parameternamelist>
<parametername>j1</parametername>
</parameternamelist>
<parameterdescription>
<para>key of the first variable </para></parameterdescription>
</parameteritem>
<parameteritem>
<parameternamelist>
<parametername>j2</parametername>
</parameternamelist>
<parameterdescription>
<para>key of the second variable </para></parameterdescription>
</parameteritem>
<parameteritem>
<parameternamelist>
<parametername>j3</parametername>
</parameternamelist>
<parameterdescription>
<para>key of the third variable </para></parameterdescription>
</parameteritem>
<parameteritem>
<parameternamelist>
<parametername>j4</parametername>
</parameternamelist>
<parameterdescription>
<para>key of the fourth variable </para></parameterdescription>
</parameteritem>
<parameteritem>
<parameternamelist>
<parametername>j5</parametername>
</parameternamelist>
<parameterdescription>
<para>key of the fifth variable </para></parameterdescription>
</parameteritem>
<parameteritem>
<parameternamelist>
<parametername>j6</parametername>
</parameternamelist>
<parameterdescription>
<para>key of the fifth variable </para></parameterdescription>
</parameteritem>
</parameterlist>
</para>        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="697" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="697" bodyend="698"/>
      </memberdef>
      <memberdef kind="function" id="classgtsam_1_1NoiseModelFactor6_1ad62b1867b67dee83e8733392a0aa579b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
        <type></type>
        <definition>virtual gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::~NoiseModelFactor6</definition>
        <argsstring>()</argsstring>
        <name>~NoiseModelFactor6</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="700" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="700" bodyend="700"/>
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        <type>Key</type>
        <definition>Key gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::key1</definition>
        <argsstring>() const </argsstring>
        <name>key1</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
<para>methods to retrieve keys </para>        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="703" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="703" bodyend="703"/>
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        <type>Key</type>
        <definition>Key gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::key2</definition>
        <argsstring>() const </argsstring>
        <name>key2</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="704" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="704" bodyend="704"/>
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        <type>Key</type>
        <definition>Key gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::key3</definition>
        <argsstring>() const </argsstring>
        <name>key3</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="705" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="705" bodyend="705"/>
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        <type>Key</type>
        <definition>Key gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::key4</definition>
        <argsstring>() const </argsstring>
        <name>key4</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="706" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="706" bodyend="706"/>
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        <type>Key</type>
        <definition>Key gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::key5</definition>
        <argsstring>() const </argsstring>
        <name>key5</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="707" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="707" bodyend="707"/>
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      <memberdef kind="function" id="classgtsam_1_1NoiseModelFactor6_1a16a7857c857694bc66e19f455ad90a57" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
        <type>Key</type>
        <definition>Key gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::key6</definition>
        <argsstring>() const </argsstring>
        <name>key6</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="708" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="708" bodyend="708"/>
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        <type>Vector</type>
        <definition>virtual Vector gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::unwhitenedError</definition>
        <argsstring>(const Values &amp;x, boost::optional&lt; std::vector&lt; Matrix &gt; &amp; &gt; H=boost::none) const </argsstring>
        <name>unwhitenedError</name>
        <reimplements refid="classgtsam_1_1NoiseModelFactor_1afd61874915a8076bf83f9d8311fc0e26">unwhitenedError</reimplements>
        <param>
          <type>const Values &amp;</type>
          <declname>x</declname>
        </param>
        <param>
          <type>boost::optional&lt; std::vector&lt; Matrix &gt; &amp; &gt;</type>
          <declname>H</declname>
          <defval>boost::none</defval>
        </param>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
<para>Calls the 6-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. </para>        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="712" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="712" bodyend="721"/>
      </memberdef>
      <memberdef kind="function" id="classgtsam_1_1NoiseModelFactor6_1a896a223b88b621bfe9f45bf8e2cd9960" prot="public" static="no" const="yes" explicit="no" inline="no" virt="pure-virtual">
        <type>Vector</type>
        <definition>virtual Vector gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::evaluateError</definition>
        <argsstring>(const X1 &amp;, const X2 &amp;, const X3 &amp;, const X4 &amp;, const X5 &amp;, const X6 &amp;, boost::optional&lt; Matrix &amp; &gt; H1=boost::none, boost::optional&lt; Matrix &amp; &gt; H2=boost::none, boost::optional&lt; Matrix &amp; &gt; H3=boost::none, boost::optional&lt; Matrix &amp; &gt; H4=boost::none, boost::optional&lt; Matrix &amp; &gt; H5=boost::none, boost::optional&lt; Matrix &amp; &gt; H6=boost::none) const =0</argsstring>
        <name>evaluateError</name>
        <param>
          <type>const X1 &amp;</type>
        </param>
        <param>
          <type>const X2 &amp;</type>
        </param>
        <param>
          <type>const X3 &amp;</type>
        </param>
        <param>
          <type>const X4 &amp;</type>
        </param>
        <param>
          <type>const X5 &amp;</type>
        </param>
        <param>
          <type>const X6 &amp;</type>
        </param>
        <param>
          <type>boost::optional&lt; Matrix &amp; &gt;</type>
          <declname>H1</declname>
          <defval>boost::none</defval>
        </param>
        <param>
          <type>boost::optional&lt; Matrix &amp; &gt;</type>
          <declname>H2</declname>
          <defval>boost::none</defval>
        </param>
        <param>
          <type>boost::optional&lt; Matrix &amp; &gt;</type>
          <declname>H3</declname>
          <defval>boost::none</defval>
        </param>
        <param>
          <type>boost::optional&lt; Matrix &amp; &gt;</type>
          <declname>H4</declname>
          <defval>boost::none</defval>
        </param>
        <param>
          <type>boost::optional&lt; Matrix &amp; &gt;</type>
          <declname>H5</declname>
          <defval>boost::none</defval>
        </param>
        <param>
          <type>boost::optional&lt; Matrix &amp; &gt;</type>
          <declname>H6</declname>
          <defval>boost::none</defval>
        </param>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
<para>Override this method to finish implementing a 6-way factor. If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2, X3). </para>        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="729" column="1"/>
      </memberdef>
      </sectiondef>
      <sectiondef kind="private-func">
      <memberdef kind="function" id="classgtsam_1_1NoiseModelFactor6_1ac8f738f856920913a79e5017c1ced402" prot="private" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
        <templateparamlist>
          <param>
            <type>class ARCHIVE</type>
          </param>
        </templateparamlist>
        <type>void</type>
        <definition>void gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;::serialize</definition>
        <argsstring>(ARCHIVE &amp;ar, const unsigned int)</argsstring>
        <name>serialize</name>
        <param>
          <type>ARCHIVE &amp;</type>
          <declname>ar</declname>
        </param>
        <param>
          <type>const unsigned</type>
          <declname>int</declname>
        </param>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="742" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="742" bodyend="745"/>
      </memberdef>
      </sectiondef>
    <briefdescription>
    </briefdescription>
    <detaileddescription>
<para>A convenient base class for creating your own <ref refid="classgtsam_1_1NoiseModelFactor" kindref="compound">NoiseModelFactor</ref> with 6 variables. To derive from this class, implement <ref refid="classgtsam_1_1NoiseModelFactor6_1a896a223b88b621bfe9f45bf8e2cd9960" kindref="member">evaluateError()</ref>. </para>    </detaileddescription>
    <inheritancegraph>
      <node id="142">
        <label>Factor</label>
      </node>
      <node id="139">
        <label>gtsam::NoiseModelFactor6&lt; VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6 &gt;</label>
        <link refid="classgtsam_1_1NoiseModelFactor6"/>
        <childnode refid="140" relation="public-inheritance">
        </childnode>
      </node>
      <node id="141">
        <label>gtsam::NonlinearFactor</label>
        <link refid="classgtsam_1_1NonlinearFactor"/>
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