gtsam  4.0.0
gtsam
gtsam::DiscreteEulerPoincareHelicopter Class Reference

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(h*xi_k)*Inertia*xi_k pk_1 = CT_TLN(-h*xi_k_1)*Inertia*xi_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, Pose3This
 

Member Function Documentation

◆ clone()

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.

Reimplemented from gtsam::NonlinearFactor.


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