gtsam  4.0.0
gtsam
gtsam::DGroundConstraint Class Reference

Detailed Description

Ground constraint: forces the robot to be upright (no roll, pitch), a fixed height, and no velocity in z direction Dim: 4.

+ Inheritance diagram for gtsam::DGroundConstraint:

Public Member Functions

 DGroundConstraint (Key key, double height, const gtsam::SharedNoiseModel &model)
 Primary constructor allows for variable height of the "floor".
 
 DGroundConstraint (Key key, const Vector &constraint, const gtsam::SharedNoiseModel &model)
 Fully specify vector - use only for debugging.
 
- Public Member Functions inherited from gtsam::PartialPriorFactor< PoseRTV >
 PartialPriorFactor (Key key, size_t idx, double prior, const SharedNoiseModel &model)
 Single Element Constructor: acts on a single parameter specified by idx.
 
 PartialPriorFactor (Key key, const std::vector< size_t > &mask, const Vector &prior, const SharedNoiseModel &model)
 Indices Constructor: specify the mask with a set of indices.
 
virtual gtsam::NonlinearFactor::shared_ptr clone () const
 
virtual void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 implement functions needed for Testable More...
 
virtual bool equals (const NonlinearFactor &expected, double tol=1e-9) const
 equals
 
Vector evaluateError (const T &p, boost::optional< Matrix & > H=boost::none) const
 implement functions needed to derive from Factor More...
 
const Vector & prior () const
 
const std::vector< bool > & mask () const
 
const Matrix & H () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor1< PoseRTV >
 NoiseModelFactor1 ()
 Default constructor for I/O only.
 
 NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)
 Constructor. More...
 
Key key () const
 
virtual Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
 Calls the 1-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
 
- 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 SharedNoiseModelnoiseModel () 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< GaussianFactorlinearize (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 Types

typedef gtsam::PartialPriorFactor< PoseRTVBase
 
- Public Types inherited from gtsam::PartialPriorFactor< PoseRTV >
typedef PoseRTV T
 
- Public Types inherited from gtsam::NoiseModelFactor1< PoseRTV >
typedef PoseRTV X
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 Noise model.
 

Additional Inherited Members

- Protected Types inherited from gtsam::PartialPriorFactor< PoseRTV >
typedef NoiseModelFactor1< PoseRTVBase
 
typedef PartialPriorFactor< PoseRTVThis
 
- Protected Types inherited from gtsam::NoiseModelFactor1< PoseRTV >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor1< PoseRTVThis
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Member Functions inherited from gtsam::PartialPriorFactor< PoseRTV >
 PartialPriorFactor ()
 default constructor - only use for serialization
 
 PartialPriorFactor (Key key, const SharedNoiseModel &model)
 constructor with just minimum requirements for a factor - allows more computation in the constructor. More...
 
void fillH ()
 Constructs the jacobian matrix in place.
 
- Protected Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor (const SharedNoiseModel &noiseModel)
 Constructor - only for subclasses, as this does not set keys.
 
- Protected Attributes inherited from gtsam::PartialPriorFactor< PoseRTV >
Vector prior_
 measurement on tangent space parameters, in compressed form
 
std::vector< size_t > mask_
 indices of values to constrain in compressed prior vector
 
Matrix H_
 Constant Jacobian - computed at creation.
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 

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