Detailed Description

Implement the Discrete Euler-Poincare' equation:

Inheritance diagram for gtsam::DiscreteEulerPoincareHelicopter:

Public Member Functions
	DiscreteEulerPoincareHelicopter (Key xiKey1, Key xiKey_1, Key gKey, double h, const Matrix &Inertia, const Vector &Fu, double m, double mu=1000.0)

return a deep copy of this virtual factor gtsam::NonlinearFactor::shared_ptr	clone () const
	Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses. More...

Vector	evaluateError (const Vector6 &xik, const Vector6 &xik_1, const Pose3 &gk, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const
	DEP, with optional derivatives pk - pk_1 - h_Fu_ - h_f_ext = 0 where pk = CT_TLN(hxi_k)Inertiaxi_k pk_1 = CT_TLN(-hxi_k_1)Inertiaxi_k_1.

Public Member Functions inherited from gtsam::NoiseModelFactor3< Vector6, Vector6, Pose3 >
	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...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor3< Vector6, Vector6, Pose3 >
typedef Vector6	X1

typedef Vector6	X2

typedef Pose3	X3

Protected Types inherited from gtsam::NoiseModelFactor3< Vector6, Vector6, Pose3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< Vector6, Vector6, Pose3 >	This

Member Function Documentation

return a deep copy of this virtual factor gtsam::NonlinearFactor::shared_ptr gtsam::DiscreteEulerPoincareHelicopter::clone ( ) const

inlinevirtual

Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses.

By default, throws exception if subclass does not implement the function.

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