Classes
class	gtsam::BarometricFactor
	Prior on height in a cartesian frame. More...
class	gtsam::CarrierPhaseFactor
	Undifferenced GNSS carrier phase factor for point positioning. More...
class	gtsam::UndifferencedCarrierPhaseFactor
	Undifferenced (raw) PPP carrier phase factor. More...
class	gtsam::UndifferencedCarrierPhaseFactorArm
	Undifferenced (raw) PPP carrier phase factor with lever-arm correction. More...
class	gtsam::CarrierPhaseFactorArm
	Carrier phase factor with lever arm correction. More...
class	gtsam::DoubleDifferenceCarrierPhaseFactor
	Double-difference carrier phase factor. More...
class	gtsam::DoubleDifferenceCarrierPhaseFactorArm
	Double-difference carrier phase factor with lever arm correction. More...
class	gtsam::PreintegratedCombinedMeasurementsT< PreintegrationType >
	PreintegratedCombinedMeasurements integrates the IMU measurements (rotation rates and accelerations) and the corresponding covariance matrix. More...
class	gtsam::CombinedImuFactorT< PIM >
	CombinedImuFactor is a 6-ways factor involving previous state (pose and velocity of the vehicle, as well as bias at previous time step), and current state (pose, velocity, bias at current time step). More...
class	gtsam::CombinedImuFactorWithGravityT< PIM, GRAVITY >
	CombinedImuFactorWithGravityT is CombinedImuFactorT with an additional GRAVITY variable, so that gravity can be optimized instead of being fixed by the preintegration parameters. More...
class	gtsam::DopplerFactor
	GNSS Doppler (range-rate) factor. More...
class	gtsam::DopplerFactorArm
	DopplerFactor with a kinematic lever-arm correction, keyed on a body Pose3. More...
class	gtsam::GPSFactor
	Prior on position in a Cartesian frame. More...
class	gtsam::GPSFactorArm
	Version of GPSFactor (for Pose3) with lever arm between GPS and Body frame. More...
class	gtsam::GPSFactorArmCalib
	Version of GPSFactorArm (for Pose3) with unknown lever arm between GPS and Body frame. More...
class	gtsam::GPSFactor2
	Version of GPSFactor for NavState, assuming zero lever arm between body frame and GPS. More...
class	gtsam::GPSFactor2Arm
	Version of GPSFactor2 with lever arm between GPS and Body frame. More...
class	gtsam::GPSFactor2ArmCalib
	Version of GPSFactor2Arm for an unknown lever arm between GPS and Body frame. More...
class	gtsam::PreintegratedImuMeasurementsT< PreintegrationType >
	PreintegratedImuMeasurements accumulates (integrates) the IMU measurements (rotation rates and accelerations) and the corresponding covariance matrix. More...
class	gtsam::ImuFactorT< PIM >
	ImuFactor is a 5-ways factor involving previous state (pose and velocity of the vehicle at previous time step), current state (pose and velocity at current time step), and the bias estimate. More...
class	gtsam::ImuFactor2T< PIM >
	ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity. More...
class	gtsam::ImuFactorWithGravityT< PIM, GRAVITY >
	ImuFactorWithGravityT is a 6-ways factor: in addition to the previous and current states (pose and velocity) and the bias estimate of ImuFactorT, it involves a GRAVITY variable so that gravity can be optimized instead of being fixed by the preintegration parameters. More...
class	gtsam::ImuFactor2WithGravityT< PIM, GRAVITY >
	ImuFactor2WithGravityT is the NavState version of ImuFactorWithGravityT, just as ImuFactor2T is the NavState version of ImuFactorT: a 4-ways factor involving the previous and current NavStates, the bias estimate, and a GRAVITY variable so that gravity can be optimized instead of being fixed by the preintegration parameters. More...
class	gtsam::PseudorangeFactor
	Simplified GNSS pseudorange model for basic positioning problems. More...
class	gtsam::UndifferencedPseudorangeFactor
	Undifferenced (raw) PPP pseudorange factor. More...
class	gtsam::UndifferencedPseudorangeFactorArm
	Undifferenced (raw) PPP pseudorange factor with lever-arm correction. More...
class	gtsam::PseudorangeFactorArm
	GNSS pseudorange factor with lever arm correction. More...
class	gtsam::DifferentialPseudorangeFactorArm
	Differentially-corrected pseudorange factor with lever arm correction. More...
class	gtsam::DoubleDifferencePseudorangeFactor
	Double-difference pseudorange factor. More...
class	gtsam::DoubleDifferencePseudorangeFactorArm
	Double-difference pseudorange factor with lever arm correction. More...
class	gtsam::AttitudeFactor< VALUE >
	Unary factor that constrains the rotation component of a value. More...

Classes

Detailed Description