This class implements the second constraint the.
- For explicit Euler method: v_{k+1} = v_k - h*g/L*sin(q_k)
- For implicit Euler method: v_{k+1} = v_k - h*g/L*sin(q_{k+1})
- For sympletic Euler method: v_{k+1} = v_k - h*g/L*sin(q_k)
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| PendulumFactor2 (Key vk1, Key vk, Key qkey, double h, double r=1.0, double g=9.81, double mu=1000.0) |
| | Constructor. vk1: v_{k+1}, vk: v_k, qkey: q's key depending on the chosen method, h: time step.
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| virtual gtsam::NonlinearFactor::shared_ptr | clone () const |
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Vector | evaluateError (const double &vk1, const double &vk, const double &q, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const |
| | v_k - h*g/L*sin(q) - v_k1 = 0, with optional derivatives
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| NoiseModelFactor3 () |
| | Default Constructor for I/O.
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| | NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3) |
| | Constructor. More...
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Key | key1 () const |
| | methods to retrieve keys
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Key | key2 () const |
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Key | key3 () const |
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| 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...
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| NoiseModelFactor () |
| | Default constructor for I/O only.
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virtual | ~NoiseModelFactor () |
| | Destructor.
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template<typename CONTAINER > |
| | NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) |
| | Constructor.
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virtual void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
| | Print.
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virtual bool | equals (const NonlinearFactor &f, double tol=1e-9) const |
| | Check if two factors are equal.
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virtual size_t | dim () const |
| | get the dimension of the factor (number of rows on linearization)
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const SharedNoiseModel & | noiseModel () const |
| | access to the noise model
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| Vector | whitenedError (const Values &c) const |
| | Vector of errors, whitened This is the raw error, i.e., i.e. More...
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| virtual double | error (const Values &c) const |
| | Calculate the error of the factor. More...
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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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Inheritance diagram for gtsam::PendulumFactor2:
