Inheritance diagram for gtsam::ImuFactor:

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const ImuFactor &)

virtual void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
	Print.

virtual bool	equals (const NonlinearFactor &expected, double tol=1e-9) const
	Check if two factors are equal.

Public Member Functions
	ImuFactor ()
	Default constructor - only use for serialization.

	ImuFactor (Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedImuMeasurements &preintegratedMeasurements)
	Constructor. More...

virtual gtsam::NonlinearFactor::shared_ptr	clone () const

const PreintegratedImuMeasurements &	preintegratedMeasurements () const
	Access the preintegrated measurements. More...

Vector	evaluateError (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none, boost::optional< Matrix & > H5=boost::none) const
	implement functions needed to derive from Factor More...

Public Member Functions inherited from gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
	NoiseModelFactor5 ()
	Default Constructor for I/O.

	NoiseModelFactor5 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5)
	Constructor. More...

Key	key1 () const
	methods to retrieve keys

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 5-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...

Public Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor ()
	Default constructor for I/O only.

virtual	~NoiseModelFactor ()
	Destructor.

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
	Constructor.

virtual size_t	dim () const
	get the dimension of the factor (number of rows on linearization)

const SharedNoiseModel &	noiseModel () const
	access to the noise model

Vector	whitenedError (const Values &c) const
	Vector of errors, whitened This is the raw error, i.e., i.e. More...

virtual double	error (const Values &c) const
	Calculate the error of the factor. More...

boost::shared_ptr< GaussianFactor >	linearize (const Values &x) const
	Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \).

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
	Default constructor for I/O only.

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
	Constructor from a collection of the keys involved in this factor.

virtual	~NonlinearFactor ()
	Destructor.

virtual bool	active (const Values &) const
	Checks whether a factor should be used based on a set of values. More...

shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
	Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.

shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys. More...

Public Member Functions inherited from gtsam::Factor
Key	front () const
	First key.

Key	back () const
	Last key.

const_iterator	find (Key key) const
	find

const KeyVector &	keys () const
	Access the factor's involved variable keys.

const_iterator	begin () const
	Iterator at beginning of involved variable keys.

const_iterator	end () const
	Iterator at end of involved variable keys.

size_t	size () const

void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print

void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

Public Types
typedef boost::shared_ptr< ImuFactor >	shared_ptr
	Shorthand for a smart pointer to a factor.

Public Types inherited from gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
typedef Pose3	X1

typedef Vector3	X2

typedef Pose3	X3

typedef Vector3	X4

typedef imuBias::ConstantBias	X5

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
	Constructor - only for subclasses, as this does not set keys.

Protected Member Functions inherited from gtsam::Factor
	Factor ()
	Default constructor for I/O.

template<typename CONTAINER >
	Factor (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

bool	equals (const This &other, double tol=1e-9) const
	check equality

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Constructor & Destructor Documentation

◆ ImuFactor()

gtsam::ImuFactor::ImuFactor	(	Key	pose_i,
		Key	vel_i,
		Key	pose_j,
		Key	vel_j,
		Key	bias,
		const PreintegratedImuMeasurements &	preintegratedMeasurements
	)

Constructor.

Parameters

pose_i	Previous pose key
vel_i	Previous velocity key
pose_j	Current pose key
vel_j	Current velocity key
bias	Previous bias key

Member Function Documentation

◆ clone()

NonlinearFactor::shared_ptr gtsam::ImuFactor::clone ( ) const

virtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

Vector gtsam::ImuFactor::evaluateError	(	const Pose3 &	pose_i,
		const Vector3 &	vel_i,
		const Pose3 &	pose_j,
		const Vector3 &	vel_j,
		const imuBias::ConstantBias &	bias_i,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`,
		boost::optional< Matrix & >	H4 = `boost::none`,
		boost::optional< Matrix & >	H5 = `boost::none`
	)		const

virtual

implement functions needed to derive from Factor

vector of errors

Implements gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >.

◆ preintegratedMeasurements()

const PreintegratedImuMeasurements& gtsam::ImuFactor::preintegratedMeasurements ( ) const

inline

Access the preintegrated measurements.

The documentation for this class was generated from the following files:

/Users/dellaert/git/gtsam/gtsam/navigation/ImuFactor.h
/Users/dellaert/git/gtsam/gtsam/navigation/ImuFactor.cpp

Testable

Public Member Functions

Public Types