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    <compoundname>gtsam::NoiseModelFactor4</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>
    </templateparamlist>
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      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor4_1ae43138cc390ef4b2956e334f160df42e" prot="public" static="no">
        <type>VALUE1</type>
        <definition>typedef VALUE1 gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::X1</definition>
        <argsstring></argsstring>
        <name>X1</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor4_1aafd5bc6e588c7e1084897814831713c5" prot="public" static="no">
        <type>VALUE2</type>
        <definition>typedef VALUE2 gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::X2</definition>
        <argsstring></argsstring>
        <name>X2</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor4_1aa07132c1d7f42154fafd026c702ca240" prot="public" static="no">
        <type>VALUE3</type>
        <definition>typedef VALUE3 gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::X3</definition>
        <argsstring></argsstring>
        <name>X3</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor4_1a6ca1a804d790e17f108c8e14df2c5077" prot="public" static="no">
        <type>VALUE4</type>
        <definition>typedef VALUE4 gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::X4</definition>
        <argsstring></argsstring>
        <name>X4</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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        <type><ref refid="classgtsam_1_1NoiseModelFactor" kindref="compound">NoiseModelFactor</ref></type>
        <definition>typedef NoiseModelFactor gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::Base</definition>
        <argsstring></argsstring>
        <name>Base</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="509" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="509" bodyend="-1"/>
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      <memberdef kind="typedef" id="classgtsam_1_1NoiseModelFactor4_1a372757bbf75dee8eaf33b479b31f06a1" prot="protected" static="no">
        <type><ref refid="classgtsam_1_1NoiseModelFactor4" kindref="compound">NoiseModelFactor4</ref>&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;</type>
        <definition>typedef NoiseModelFactor4&lt;VALUE1, VALUE2, VALUE3, VALUE4&gt; gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::This</definition>
        <argsstring></argsstring>
        <name>This</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="510" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="510" 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="566" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="566" bodyend="-1"/>
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      <sectiondef kind="public-func">
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        <type></type>
        <definition>gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::NoiseModelFactor4</definition>
        <argsstring>()</argsstring>
        <name>NoiseModelFactor4</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
<para>Default Constructor for I/O </para>        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="517" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="517" bodyend="517"/>
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        <type></type>
        <definition>gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::NoiseModelFactor4</definition>
        <argsstring>(const SharedNoiseModel &amp;noiseModel, Key j1, Key j2, Key j3, Key j4)</argsstring>
        <name>NoiseModelFactor4</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>
        <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>
</parameterlist>
</para>        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="527" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="527" bodyend="528"/>
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        <type></type>
        <definition>virtual gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::~NoiseModelFactor4</definition>
        <argsstring>()</argsstring>
        <name>~NoiseModelFactor4</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="530" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="530" bodyend="530"/>
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        <type>Key</type>
        <definition>Key gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &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="533" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="533" bodyend="533"/>
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        <type>Key</type>
        <definition>Key gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::key2</definition>
        <argsstring>() const </argsstring>
        <name>key2</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="534" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="534" bodyend="534"/>
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        <definition>Key gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::key3</definition>
        <argsstring>() const </argsstring>
        <name>key3</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="535" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="535" bodyend="535"/>
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        <type>Key</type>
        <definition>Key gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::key4</definition>
        <argsstring>() const </argsstring>
        <name>key4</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="tests/doc-test-files/NonlinearFactor.h" line="536" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="536" bodyend="536"/>
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        <type>Vector</type>
        <definition>virtual Vector gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &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 4-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="540" column="1" bodyfile="tests/doc-test-files/NonlinearFactor.h" bodystart="540" bodyend="549"/>
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        <type>Vector</type>
        <definition>virtual Vector gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &gt;::evaluateError</definition>
        <argsstring>(const X1 &amp;, const X2 &amp;, const X3 &amp;, const X4 &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) 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>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>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
<para>Override this method to finish implementing a 4-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="557" column="1"/>
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        <templateparamlist>
          <param>
            <type>class ARCHIVE</type>
          </param>
        </templateparamlist>
        <type>void</type>
        <definition>void gtsam::NoiseModelFactor4&lt; VALUE1, VALUE2, VALUE3, VALUE4 &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>
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    <briefdescription>
    </briefdescription>
    <detaileddescription>
<para>A convenient base class for creating your own <ref refid="classgtsam_1_1NoiseModelFactor" kindref="compound">NoiseModelFactor</ref> with 4 variables. To derive from this class, implement <ref refid="classgtsam_1_1NoiseModelFactor4_1a5e4197ee6a113e77d2abc1dbbebb0857" kindref="member">evaluateError()</ref>. </para>    </detaileddescription>
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        <childnode refid="125" relation="public-inheritance">
        </childnode>
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        <childnode refid="129" relation="public-inheritance">
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