Detailed Description

This class implements the second position-momentum update rule p_k1 = D_2 L_d(q_k,q_{k+1},h) = \frac{1}{h}mr^{2}\left(q_{k+1}-q_{k}\right)-mgrh\alpha\sin\left((1-\alpha)q_{k}+\alpha q_{k+1}\right) = (1/h)mr^2 (q_{k+1}-q_k) - mgrh alpha sin ((1-alpha)q_k+\alpha q_{k+1})

Inheritance diagram for gtsam::PendulumFactorPk1:

Public Member Functions
	PendulumFactorPk1 (Key pKey1, Key qKey, Key qKey1, double h, double m=1.0, double r=1.0, double g=9.81, double alpha=0.0, double mu=1000.0)
	Constructor.

virtual gtsam::NonlinearFactor::shared_ptr	clone () const

Vector	evaluateError (const double &pk1, const double &qk, const double &qk1, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const
	1/h mr^2 (qk1-qk) - mgrh a sin((1-a)pk + a*pk1) - pk1 = 0, with optional derivatives

Public Member Functions inherited from gtsam::NoiseModelFactor3< double, double, double >
	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 Types
typedef boost::shared_ptr< PendulumFactorPk1 >	shared_ptr
	in [0,1], define the mid-point between [q_k,q_{k+1}] for approximation. The sympletic rule above can be obtained as a special case when alpha = 0.

Public Types inherited from gtsam::NoiseModelFactor3< double, double, double >
typedef double	X1

typedef double	X2

typedef double	X3

Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< This >	shared_ptr
	Noise model.

Protected Types
typedef NoiseModelFactor3< double, double, double >	Base

Protected Types inherited from gtsam::NoiseModelFactor3< double, double, double >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< double, double, double >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Member Functions
	PendulumFactorPk1 ()
	default constructor to allow for serialization

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)
	Constructor - only for subclasses, as this does not set keys.

Protected Attributes
double	h_

double	m_
	time step

double	r_
	mass

double	g_
	length

double	alpha_
	gravity

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Member Function Documentation

◆ clone()

virtual gtsam::NonlinearFactor::shared_ptr gtsam::PendulumFactorPk1::clone ( ) const

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

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

/Users/dellaert/git/gtsam/gtsam_unstable/dynamics/Pendulum.h
/Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h

Detailed Description

Public Member Functions

Public Types

Protected Types

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ clone()