gtsam::Reconstruction Class Reference
Detailed Description
Implement the Reconstruction equation: \( g_{k+1} = g_k \exp (h\xi_k) \), where \( h \): timestep (parameter) \( g_{k+1}, g_{k} \): poses at the current and the next timestep \( \xi_k \): the body-fixed velocity (Lie algebra) It is somewhat similar to BetweenFactor, but treats the body-fixed velocity \( \xi_k \) as a variable.
So it is a three-way factor. Note: this factor is necessary if one needs to smooth the entire graph. It's not needed in sequential update method.
Inheritance diagram for gtsam::Reconstruction:
Public Member Functions | |
| Reconstruction (Key gKey1, Key gKey, Key xiKey, double h, double mu=1000.0) | |
| virtual gtsam::NonlinearFactor::shared_ptr | clone () const |
| Public Member Functions inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector6 > | |
| 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... | |
| virtual Vector | evaluateError (const X1 &, const X2 &, const X3 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const=0 |
| Override this method to finish implementing a trinary factor. More... | |
Additional Inherited Members | |
| Public Types inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector6 > | |
| typedef Pose3 | X1 |
| typedef Pose3 | X2 |
| typedef Vector6 | X3 |
| Protected Types inherited from gtsam::NoiseModelFactor3< Pose3, Pose3, Vector6 > | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor3< Pose3, Pose3, Vector6 > | This |
Member Function Documentation
◆ clone()
|
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/SimpleHelicopter.h
- /Users/dellaert/git/gtsam/gtsam_unstable/gtsam_unstable.h
