Pendulum.h File Reference

Three-way factors for the pendulum dynamics as in [Stern06siggraph] for (1) explicit Euler method, (2) implicit Euler method, and (3) sympletic Euler method. More...

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Classes
class	gtsam::PendulumFactor1
	This class implements the first constraint. More...
class	gtsam::PendulumFactor2
	This class implements the second constraint the. More...
class	gtsam::PendulumFactorPk
	This class implements the first position-momentum update rule p_k = -D_1 L_d(q_k,q_{k+1},h) = \frac{1}{h}mr^{2}\left(q_{k+1}-q_{k}\right)+mgrh(1-\alpha)\,\sin\left((1-\alpha)q_{k}+\alpha q_{k+1}\right) = (1/h)mr^2 (q_{k+1}-q_k) + mgrh(1-alpha) sin ((1-alpha)q_k+\alpha q_{k+1}) More...
class	gtsam::PendulumFactorPk1
	This class implements the second position-momentum update rule p_k1 = D_2 L_d(q_k,q_{k+1},h) = \frac{1}{h}mr^{2}\left(q_{k+1}-q_{k}\right)-mgrh\alpha\sin\left((1-\alpha)q_{k}+\alpha q_{k+1}\right) = (1/h)mr^2 (q_{k+1}-q_k) - mgrh alpha sin ((1-alpha)q_k+\alpha q_{k+1}) More...

Namespaces
	gtsam
	Global functions in a separate testing namespace.

Detailed Description

Three-way factors for the pendulum dynamics as in [Stern06siggraph] for (1) explicit Euler method, (2) implicit Euler method, and (3) sympletic Euler method.

Note that all methods use the same formulas for the factors. They are only different in the way we connect variables using those factors in the graph.

Author

Duy-Nguyen Ta