gtsam::StateData Struct Reference

Detailed Description

Lightweight container for states used for continuous-time estimation and interpolation.

StateData stores the keys identifying the pose and velocity variables in a factor graph together with the associated timestamp. It is intentionally minimal and used primarily for ordering, lookup and grouping of states when constructing interpolation queries.

Public Member Functions
	StateData ()=default
	Default constructor.
	StateData (Key pose_in, Key velocity_in, double time_in)
	Construct a StateData from explicit keys and timestamp.
bool	operator< (const StateData &other) const
	Strict-weak ordering: (time, pose, velocity) ascending.
bool	operator> (const StateData &other) const
	Strict-weak ordering: (time, pose, velocity) descending.
bool	operator< (double time) const
	Returns true if this state's timestamp is before time.
bool	operator> (double time) const
	Returns true if this state's timestamp is after time.
bool	operator== (const StateData &other) const
	Equality compares the identifying keys (pose and velocity).

Public Attributes
Key	pose
	Key of the pose variable.
Key	velocity
	Key of the velocity variable.
double	time
	Timestamp (seconds) associated with this state.

Constructor & Destructor Documentation

StateData()

gtsam::StateData::StateData ( Key pose_in, Key velocity_in, double time_in )

inline

Construct a StateData from explicit keys and timestamp.

Parameters

pose_in	Pose key
velocity_in	Velocity key
time_in	Timestamp in seconds

Member Function Documentation

operator<()

bool gtsam::StateData::operator< ( const StateData & other ) const

inline

Strict-weak ordering: (time, pose, velocity) ascending.

Primarily orders states chronologically by time. When timestamps are equal, pose and then velocity keys are used as tie-breakers to provide a strict-weak ordering suitable for ordered containers such as std::set.

operator==()

bool gtsam::StateData::operator== ( const StateData & other ) const

inline

Equality compares the identifying keys (pose and velocity).

Two StateData objects are considered equal if they refer to the same pose and velocity keys. The timestamp is not used for equality to keep StateData usable as a simple identifier in unordered containers.

operator>()

bool gtsam::StateData::operator> ( const StateData & other ) const

inline

Strict-weak ordering: (time, pose, velocity) descending.

Mirror of operator< with all comparisons reversed.

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The documentation for this struct was generated from the following file:

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/nonlinear/WnoaStateData.h