gtsam
4.0.0
gtsam
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Public Member Functions | |
EquivInertialNavFactor_GlobalVel_NoBias () | |
default constructor - only use for serialization | |
EquivInertialNavFactor_GlobalVel_NoBias (const Key &Pose1, const Key &Vel1, const Key &Pose2, const Key &Vel2, const Vector &delta_pos_in_t0, const Vector &delta_vel_in_t0, const Vector3 &delta_angles, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const noiseModel::Gaussian::shared_ptr &model_equivalent, const Matrix &Jacobian_wrt_t0_Overall, boost::optional< POSE > body_P_sensor=boost::none) | |
Constructor. | |
virtual void | print (const std::string &s="EquivInertialNavFactor_GlobalVel_NoBias", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
implement functions needed for Testable More... | |
virtual bool | equals (const NonlinearFactor &expected, double tol=1e-9) const |
equals | |
POSE | predictPose (const POSE &Pose1, const VELOCITY &Vel1) const |
VELOCITY | predictVelocity (const POSE &Pose1, const VELOCITY &Vel1) const |
void | predict (const POSE &Pose1, const VELOCITY &Vel1, POSE &Pose2, VELOCITY &Vel2) const |
POSE | evaluatePoseError (const POSE &Pose1, const VELOCITY &Vel1, const POSE &Pose2, const VELOCITY &Vel2) const |
VELOCITY | evaluateVelocityError (const POSE &Pose1, const VELOCITY &Vel1, const POSE &Pose2, const VELOCITY &Vel2) const |
Vector | evaluateError (const POSE &Pose1, const VELOCITY &Vel1, const POSE &Pose2, const VELOCITY &Vel2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const |
Override this method to finish implementing a 4-way factor. More... | |
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NoiseModelFactor4 () | |
Default Constructor for I/O. | |
NoiseModelFactor4 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4) | |
Constructor. More... | |
Key | key1 () const |
methods to retrieve keys | |
Key | key2 () const |
Key | key3 () const |
Key | key4 () const |
virtual Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const |
Calls the 4-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More... | |
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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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \). | |
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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... | |
virtual shared_ptr | clone () const |
Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. 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... | |
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KeyVector & | keys () |
iterator | begin () |
Iterator at beginning of involved variable keys. | |
iterator | end () |
Iterator at end of involved variable keys. | |
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 | |
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 |
Static Public Member Functions | |
static POSE | predictPose_inertial (const POSE &Pose1, const VELOCITY &Vel1, const Vector &delta_pos_in_t0, const Vector3 &delta_angles, const double dt12, const Vector &world_g, const Vector &world_rho, const Vector &world_omega_earth) |
static VELOCITY | predictVelocity_inertial (const POSE &Pose1, const VELOCITY &Vel1, const Vector &delta_vel_in_t0, const double dt12, const Vector &world_g, const Vector &world_rho, const Vector &world_omega_earth) |
static POSE | PredictPoseFromPreIntegration (const POSE &Pose1, const VELOCITY &Vel1, const Vector &delta_pos_in_t0, const Vector3 &delta_angles, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const Matrix &Jacobian_wrt_t0_Overall) |
static VELOCITY | PredictVelocityFromPreIntegration (const POSE &Pose1, const VELOCITY &Vel1, const Vector &delta_vel_in_t0, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const Matrix &Jacobian_wrt_t0_Overall) |
static void | PredictFromPreIntegration (const POSE &Pose1, const VELOCITY &Vel1, POSE &Pose2, VELOCITY &Vel2, const Vector &delta_pos_in_t0, const Vector &delta_vel_in_t0, const Vector3 &delta_angles, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const Matrix &Jacobian_wrt_t0_Overall) |
static void | PreIntegrateIMUObservations (const Vector &msr_acc_t, const Vector &msr_gyro_t, const double msr_dt, Vector &delta_pos_in_t0, Vector3 &delta_angles, Vector &delta_vel_in_t0, double &delta_t, const noiseModel::Gaussian::shared_ptr &model_continuous_overall, Matrix &EquivCov_Overall, Matrix &Jacobian_wrt_t0_Overall, boost::optional< POSE > p_body_P_sensor=boost::none) |
static Vector | PreIntegrateIMUObservations_delta_pos (const double msr_dt, const Vector &delta_pos_in_t0, const Vector &delta_vel_in_t0) |
static Vector | PreIntegrateIMUObservations_delta_vel (const Vector &msr_gyro_t, const Vector &msr_acc_t, const double msr_dt, const Vector3 &delta_angles, const Vector &delta_vel_in_t0, const bool flag_use_body_P_sensor, const POSE &body_P_sensor) |
static Vector | PreIntegrateIMUObservations_delta_angles (const Vector &msr_gyro_t, const double msr_dt, const Vector3 &delta_angles, const bool flag_use_body_P_sensor, const POSE &body_P_sensor) |
static noiseModel::Gaussian::shared_ptr | CalcEquivalentNoiseCov (const noiseModel::Gaussian::shared_ptr &gaussian_acc, const noiseModel::Gaussian::shared_ptr &gaussian_gyro, const noiseModel::Gaussian::shared_ptr &gaussian_process) |
static void | CalcEquivalentNoiseCov_DifferentParts (const noiseModel::Gaussian::shared_ptr &gaussian_acc, const noiseModel::Gaussian::shared_ptr &gaussian_gyro, const noiseModel::Gaussian::shared_ptr &gaussian_process, Matrix &cov_acc, Matrix &cov_gyro, Matrix &cov_process_without_acc_gyro) |
static void | Calc_g_rho_omega_earth_NED (const Vector &Pos_NED, const Vector &Vel_NED, const Vector &LatLonHeight_IC, const Vector &Pos_NED_Initial, Vector &g_NED, Vector &rho_NED, Vector &omega_earth_NED) |
static void | Calc_g_rho_omega_earth_ENU (const Vector &Pos_ENU, const Vector &Vel_ENU, const Vector &LatLonHeight_IC, const Vector &Pos_ENU_Initial, Vector &g_ENU, Vector &rho_ENU, Vector &omega_earth_ENU) |
static noiseModel::Gaussian::shared_ptr | calc_descrete_noise_model (const noiseModel::Gaussian::shared_ptr &model, double delta_t) |
Public Types | |
typedef boost::shared_ptr< EquivInertialNavFactor_GlobalVel_NoBias > | shared_ptr |
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typedef POSE | X1 |
typedef VELOCITY | X2 |
typedef POSE | X3 |
typedef VELOCITY | X4 |
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typedef boost::shared_ptr< This > | shared_ptr |
Noise model. | |
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typedef boost::shared_ptr< This > | shared_ptr |
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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 | |
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typedef NoiseModelFactor | Base |
typedef NoiseModelFactor4< POSE, VELOCITY, POSE, VELOCITY > | This |
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typedef NonlinearFactor | Base |
typedef NoiseModelFactor | This |
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typedef Factor | Base |
typedef NonlinearFactor | This |
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NoiseModelFactor (const SharedNoiseModel &noiseModel) | |
Constructor - only for subclasses, as this does not set keys. | |
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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 | |
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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... | |
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SharedNoiseModel | noiseModel_ |
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KeyVector | keys_ |
The keys involved in this factor. | |
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inlinevirtual |
Override this method to finish implementing a 4-way factor.
If any of the optional Matrix reference arguments are specified, it should compute both the function evaluation and its derivative(s) in X1 (and/or X2, X3).
Implements gtsam::NoiseModelFactor4< POSE, VELOCITY, POSE, VELOCITY >.
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inlinevirtual |