gtsam::FullIMUFactor< POSE > Class Template Reference

Detailed Description

template<class POSE>
class gtsam::FullIMUFactor< POSE >

Class that represents integrating IMU measurements over time for dynamic systems This factor has dimension 9, with a built-in constraint for velocity modeling.

Templated to allow for different key types, but variables all assumed to be PoseRTV

Inheritance diagram for gtsam::FullIMUFactor< POSE >:

Public Member Functions
	FullIMUFactor (const Vector3 &accel, const Vector3 &gyro, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model)
	time between measurements More...
	FullIMUFactor (const Vector6 &imu, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model)
	Single IMU vector - imu = [accel, gyro].
virtual gtsam::NonlinearFactor::shared_ptr	clone () const
virtual bool	equals (const NonlinearFactor &e, double tol=1e-9) const
	Check if two factors are equal.
void	print (const std::string &s="", const gtsam::KeyFormatter &formatter=gtsam::DefaultKeyFormatter) const
	Print.
const Vector3 &	gyro () const
const Vector3 &	accel () const
Vector6	z () const
virtual Vector	evaluateError (const PoseRTV &x1, const PoseRTV &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	Error evaluation with optional derivatives - calculates z - h(x1,x2)
virtual Vector	evaluateError (const Pose3 &x1, const Pose3 &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	dummy version that fails for non-dynamic poses
Public Member Functions inherited from gtsam::NoiseModelFactor2< POSE, POSE >
	NoiseModelFactor2 ()
	Default Constructor for I/O.
	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)
	Constructor. More...
Key	key1 () const
	methods to retrieve both keys
Key	key2 () const
virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...
virtual Vector	evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const=0
	Override this method to finish implementing a binary factor. More...

Public Types
typedef NoiseModelFactor2< POSE, POSE >	Base
typedef FullIMUFactor< POSE >	This
Public Types inherited from gtsam::NoiseModelFactor2< POSE, POSE >
typedef POSE	X1
typedef POSE	X2

Protected Attributes
Vector3	accel_
	measurements from the IMU
Vector3	gyro_
double	dt_

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< POSE, POSE >
typedef NoiseModelFactor	Base
typedef NoiseModelFactor2< POSE, POSE >	This

Constructor & Destructor Documentation

FullIMUFactor()

template<class POSE >

gtsam::FullIMUFactor< POSE >::FullIMUFactor ( const Vector3 &  accel, const Vector3 &  gyro, double  dt, const Key &  key1, const Key &  key2, const SharedNoiseModel &  model  )

inline

time between measurements

Standard constructor

Member Function Documentation

clone()

template<class POSE >

virtual gtsam::NonlinearFactor::shared_ptr gtsam::FullIMUFactor< POSE >::clone ( ) const

inlinevirtual

Returns

a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

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

• /Users/dellaert/git/gtsam/gtsam_unstable/dynamics/FullIMUFactor.h
• /Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h