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})
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| 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.
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| virtual gtsam::NonlinearFactor::shared_ptr | clone () const |
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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
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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::PendulumFactorPk1:
