Inheritance diagram for gtsam::ImuFactor2:

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const ImuFactor2 &)

virtual void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Print.

virtual bool	equals (const NonlinearFactor &expected, double tol=1e-9) const
	Check if two factors are equal.

Public Member Functions
	ImuFactor2 ()
	Default constructor - only use for serialization.

	ImuFactor2 (Key state_i, Key state_j, Key bias, const PreintegratedImuMeasurements &preintegratedMeasurements)
	Constructor. More...

virtual gtsam::NonlinearFactor::shared_ptr	clone () const

const PreintegratedImuMeasurements &	preintegratedMeasurements () const
	Access the preintegrated measurements. More...

Vector	evaluateError (const NavState &state_i, const NavState &state_j, const imuBias::ConstantBias &bias_i, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const
	implement functions needed to derive from Factor More...

Public Member Functions inherited from gtsam::NoiseModelFactor3< NavState, NavState, imuBias::ConstantBias >
	NoiseModelFactor3 ()
	Default Constructor for I/O.

	NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3)
	Constructor. More...

Key	key1 () const
	methods to retrieve keys

Key	key2 () const

Key	key3 () const

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 3-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...

Public Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor ()
	Default constructor for I/O only.

virtual	~NoiseModelFactor ()
	Destructor.

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.

virtual size_t	dim () const
	get the dimension of the factor (number of rows on linearization)

const SharedNoiseModel &	noiseModel () const
	access to the noise model

Vector	whitenedError (const Values &c) const
	Vector of errors, whitened This is the raw error, i.e., i.e. More...

virtual double	error (const Values &c) const
	Calculate the error of the factor. More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const
	Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
	Default constructor for I/O only.

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
	Constructor from a collection of the keys involved in this factor.

virtual	~NonlinearFactor ()
	Destructor.

virtual bool	active (const Values &) const
	Checks whether a factor should be used based on a set of values. More...

shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
	Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.

shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys. More...

Public Member Functions inherited from gtsam::Factor
Key	front () const
	First key.

Key	back () const
	Last key.

const_iterator	find (Key key) const
	find

const KeyVector &	keys () const
	Access the factor's involved variable keys.

const_iterator	begin () const
	Iterator at beginning of involved variable keys.

const_iterator	end () const
	Iterator at end of involved variable keys.

size_t	size () const

void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print

void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor3< NavState, NavState, imuBias::ConstantBias >
typedef NavState	X1

typedef NavState	X2

typedef imuBias::ConstantBias	X3

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Types inherited from gtsam::NoiseModelFactor3< NavState, NavState, imuBias::ConstantBias >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< NavState, NavState, imuBias::ConstantBias >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
	Constructor - only for subclasses, as this does not set keys.

Protected Member Functions inherited from gtsam::Factor
	Factor ()
	Default constructor for I/O.

template<typename CONTAINER >
	Factor (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

bool	equals (const This &other, double tol=1e-9) const
	check equality

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Constructor & Destructor Documentation

◆ ImuFactor2()

gtsam::ImuFactor2::ImuFactor2	(	Key	state_i,
		Key	state_j,
		Key	bias,
		const PreintegratedImuMeasurements &	preintegratedMeasurements
	)

Constructor.

Parameters

state_i	Previous state key
state_j	Current state key
bias	Previous bias key

Member Function Documentation

◆ clone()

NonlinearFactor::shared_ptr gtsam::ImuFactor2::clone ( ) const

virtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

Vector gtsam::ImuFactor2::evaluateError	(	const NavState &	state_i,
		const NavState &	state_j,
		const imuBias::ConstantBias &	bias_i,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`
	)		const

virtual

implement functions needed to derive from Factor

vector of errors

Implements gtsam::NoiseModelFactor3< NavState, NavState, imuBias::ConstantBias >.

◆ preintegratedMeasurements()

const PreintegratedImuMeasurements& gtsam::ImuFactor2::preintegratedMeasurements ( ) const

inline

Access the preintegrated measurements.

The documentation for this class was generated from the following files:

/Users/dellaert/git/gtsam/gtsam/navigation/ImuFactor.h
/Users/dellaert/git/gtsam/gtsam/navigation/ImuFactor.cpp

Testable

Public Member Functions