Detailed Description

Constraint to enforce dynamics between the velocities and poses, using a prediction based on a numerical integration flag.

NOTE: this approximation is insufficient for large timesteps, but is accurate if timesteps are small.

Inheritance diagram for gtsam::VelocityConstraint:

Public Member Functions
	VelocityConstraint (Key key1, Key key2, const dynamics::IntegrationMode &mode, double dt, double mu=1000)
	Creates a constraint relating the given variables with fully constrained noise model.

	VelocityConstraint (Key key1, Key key2, double dt, double mu=1000)
	Creates a constraint relating the given variables with fully constrained noise model Uses the default Trapezoidal integrator.

	VelocityConstraint (Key key1, Key key2, const dynamics::IntegrationMode &mode, double dt, const gtsam::SharedNoiseModel &model)
	Creates a constraint relating the given variables with arbitrary noise model.

	VelocityConstraint (Key key1, Key key2, double dt, const gtsam::SharedNoiseModel &model)
	Creates a constraint relating the given variables with arbitrary noise model Uses the default Trapezoidal integrator.

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

virtual gtsam::Vector	evaluateError (const PoseRTV &x1, const PoseRTV &x2, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const
	Calculates the error for trapezoidal model given.

virtual void	print (const std::string &s="", const gtsam::KeyFormatter &formatter=gtsam::DefaultKeyFormatter) const
	Print.

Public Member Functions inherited from gtsam::NoiseModelFactor2< PoseRTV, PoseRTV >
	NoiseModelFactor2 ()
	Default Constructor for I/O.

	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)
	Constructor. More...

Key	key1 () const
	methods to retrieve both keys

Key	key2 () const

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const
	Calls the 2-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 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 Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()
	Default constructor for I/O only.

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)
	Constructor from a collection of the keys involved in this factor.

virtual	~NonlinearFactor ()
	Destructor.

virtual bool	active (const Values &) const
	Checks whether a factor should be used based on a set of values. More...

shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const
	Creates a shared_ptr clone of the factor with different keys using a map from old->new keys.

shared_ptr	rekey (const KeyVector &new_keys) const
	Clones a factor and fully replaces its keys. More...

Public Member Functions inherited from gtsam::Factor
Key	front () const
	First key.

Key	back () const
	Last key.

const_iterator	find (Key key) const
	find

const KeyVector &	keys () const
	Access the factor's involved variable keys.

const_iterator	begin () const
	Iterator at beginning of involved variable keys.

const_iterator	end () const
	Iterator at end of involved variable keys.

size_t	size () const

void	print (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print

void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys

KeyVector &	keys ()

iterator	begin ()
	Iterator at beginning of involved variable keys.

iterator	end ()
	Iterator at end of involved variable keys.

Public Types
typedef gtsam::NoiseModelFactor2< PoseRTV, PoseRTV >	Base

Public Types inherited from gtsam::NoiseModelFactor2< PoseRTV, PoseRTV >
typedef PoseRTV	X1

typedef PoseRTV	X2

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

Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::iterator	iterator
	Iterator over keys.

typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys.

Protected Attributes
double	dt_

dynamics::IntegrationMode	integration_mode_
	time difference between frames in seconds More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor.

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< PoseRTV, PoseRTV >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< PoseRTV, PoseRTV >	This

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

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

Protected Member Functions inherited from gtsam::Factor
	Factor ()
	Default constructor for I/O.

template<typename CONTAINER >
	Factor (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

bool	equals (const This &other, double tol=1e-9) const
	check equality

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)
	Construct factor from container of keys. More...

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)
	Construct factor from iterator keys. More...

Member Function Documentation

◆ clone()

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

inlinevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Member Data Documentation

◆ integration_mode_

dynamics::IntegrationMode gtsam::VelocityConstraint::integration_mode_

protected

time difference between frames in seconds

Numerical integration control

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

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

Detailed Description

Public Member Functions

Public Types

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ clone()

Member Data Documentation

◆ integration_mode_