WnoaFactorGraph.h File Reference

Factor graph that handles computation of interpolated states for WNOA. More...

Go to the source code of this file.

Classes
class	gtsam::WnoaFactorGraph< PoseType >
	Factor graph specialized for WNOA interpolation-aware computation. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Functions
template<class PoseType, class FactorGraphType = NonlinearFactorGraph>
FactorGraphType	gtsam::interpolateFactorGraph (const NonlinearFactorGraph &graph, const std::set< StateData > &estimated_states, const std::set< StateData > &interp_states, Vector q_psd_diag, bool fixed_noise=false)
	Utility functions for working with Factor Graphs containing interpolated variables.
template<class PoseType>
WnoaFactorGraph< PoseType >	gtsam::interpolateWnoaFactorGraph (const NonlinearFactorGraph &graph, const std::set< StateData > &estimated_states, const std::set< StateData > &interp_states, Vector q_psd_diag, bool fixed_noise=false)
	WnoaFactorGraph specialization of interpolateFactorGraph for use in Python bindings.
template<class PoseType>
Values	gtsam::updateInterpValues (const NonlinearFactorGraph &interp_graph, const Values &values, const std::set< StateData > &estim_states, const std::set< StateData > &interp_states, const Vector q_psd_diag, std::shared_ptr< InterpCovarianceMap > covarianceMapOut=nullptr)
	Update a Values with interpolated pose and velocity entries.
template<class PoseType>
std::pair< Values, InterpCovarianceMap >	gtsam::updateInterpValuesWithCovariance (const NonlinearFactorGraph &interp_graph, const Values &values, const std::set< StateData > &estim_states, const std::set< StateData > &interp_states, const Vector q_psd_diag)
	Update Values with interpolated states and return covariances.

Detailed Description

Factor graph that handles computation of interpolated states for WNOA.

Author

Sven Lilge