gtsam::FullIMUFactor< POSE > Class Template Reference
Detailed Description
template<class POSE>
class gtsam::FullIMUFactor< POSE >
Class that represents integrating IMU measurements over time for dynamic systems This factor has dimension 9, with a built-in constraint for velocity modeling.
Templated to allow for different key types, but variables all assumed to be PoseRTV
Inheritance diagram for gtsam::FullIMUFactor< POSE >:
Public Member Functions | |
| FullIMUFactor (const Vector3 &accel, const Vector3 &gyro, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model) | |
| time between measurements More... | |
| FullIMUFactor (const Vector6 &imu, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model) | |
| Single IMU vector - imu = [accel, gyro]. | |
| virtual gtsam::NonlinearFactor::shared_ptr | clone () const |
| virtual bool | equals (const NonlinearFactor &e, double tol=1e-9) const |
| Check if two factors are equal. | |
| void | print (const std::string &s="", const gtsam::KeyFormatter &formatter=gtsam::DefaultKeyFormatter) const |
| Print. | |
| const Vector3 & | gyro () const |
| const Vector3 & | accel () const |
| Vector6 | z () const |
| virtual Vector | evaluateError (const PoseRTV &x1, const PoseRTV &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const |
| Error evaluation with optional derivatives - calculates z - h(x1,x2) | |
| virtual Vector | evaluateError (const Pose3 &x1, const Pose3 &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const |
| dummy version that fails for non-dynamic poses | |
| Public Member Functions inherited from gtsam::NoiseModelFactor2< POSE, POSE > | |
| NoiseModelFactor2 () | |
| Default Constructor for I/O. | |
| NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2) | |
| Constructor. More... | |
| Key | key1 () const |
| methods to retrieve both keys | |
| Key | key2 () const |
| virtual Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const |
| Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More... | |
| virtual Vector | evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const=0 |
| Override this method to finish implementing a binary factor. More... | |
Public Types | |
| typedef NoiseModelFactor2< POSE, POSE > | Base |
| typedef FullIMUFactor< POSE > | This |
| Public Types inherited from gtsam::NoiseModelFactor2< POSE, POSE > | |
| typedef POSE | X1 |
| typedef POSE | X2 |
Protected Attributes | |
| Vector3 | accel_ |
| measurements from the IMU | |
| Vector3 | gyro_ |
| double | dt_ |
Additional Inherited Members | |
| Protected Types inherited from gtsam::NoiseModelFactor2< POSE, POSE > | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor2< POSE, POSE > | This |
Constructor & Destructor Documentation
◆ FullIMUFactor()
template<class POSE >
|
inline |
time between measurements
Standard constructor
Member Function Documentation
◆ clone()
template<class POSE >
|
inlinevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
The documentation for this class was generated from the following files:
- /Users/dellaert/git/gtsam/gtsam_unstable/dynamics/FullIMUFactor.h
- /Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h
