gtsam::MagFactor3 Class Reference
Detailed Description
Factor to calibrate local Earth magnetic field as well as magnetometer bias This version uses model measured bM = scale * bRn * direction + bias and optimizes for both scale, direction, and the bias.
Inheritance diagram for gtsam::MagFactor3:
Public Member Functions | |
| MagFactor3 (Key key1, Key key2, Key key3, const Point3 &measured, const Rot3 &nRb, const SharedNoiseModel &model) | |
| Constructor. | |
| virtual NonlinearFactor::shared_ptr | clone () const |
| Vector | evaluateError (const double &scale, const Unit3 &direction, const Point3 &bias, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const |
| vector of errors More... | |
| Public Member Functions inherited from gtsam::NoiseModelFactor3< double, Unit3, Point3 > | |
| NoiseModelFactor3 () | |
| Default Constructor for I/O. | |
| NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3) | |
| Constructor. More... | |
| Key | key1 () const |
| methods to retrieve keys | |
| Key | key2 () const |
| Key | key3 () const |
| virtual Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const |
| Calls the 3-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 void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| Print. | |
| virtual bool | equals (const NonlinearFactor &f, double tol=1e-9) const |
| Check if two factors are equal. | |
| 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. | |
Additional Inherited Members | |
| Public Types inherited from gtsam::NoiseModelFactor3< double, Unit3, Point3 > | |
| typedef double | X1 |
| typedef Unit3 | X2 |
| typedef Point3 | X3 |
| 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. | |
| Protected Types inherited from gtsam::NoiseModelFactor3< double, Unit3, Point3 > | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor3< double, Unit3, Point3 > | 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. | |
Member Function Documentation
◆ clone()
|
inlinevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
◆ evaluateError()
|
inlinevirtual |
vector of errors
- Parameters
-
nM (unknown) local earth magnetic field vector, in nav frame bias (unknown) 3D bias
Implements gtsam::NoiseModelFactor3< double, Unit3, Point3 >.
The documentation for this class was generated from the following file:
- /Users/dellaert/git/gtsam/gtsam/navigation/MagFactor.h
