gtsam  4.1.0
gtsam
gtsam::AHRSFactor Class Reference
+ Inheritance diagram for gtsam::AHRSFactor:

Public Member Functions

 AHRSFactor (Key rot_i, Key rot_j, Key bias, const PreintegratedAhrsMeasurements &preintegratedMeasurements)
 Constructor. More...
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print
 
bool equals (const NonlinearFactor &, double tol=1e-9) const override
 equals
 
const PreintegratedAhrsMeasurementspreintegratedMeasurements () const
 Access the preintegrated measurements.
 
Vector evaluateError (const Rot3 &rot_i, const Rot3 &rot_j, const Vector3 &bias, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const override
 implement functions needed to derive from Factor More...
 
 AHRSFactor (Key rot_i, Key rot_j, Key bias, const PreintegratedMeasurements &preintegratedMeasurements, const Vector3 &omegaCoriolis, const boost::optional< Pose3 > &body_P_sensor=boost::none)
 
- Public Member Functions inherited from gtsam::NoiseModelFactor3< Rot3, Rot3, Vector3 >
 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
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Calls the 3-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class.
 
- 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.
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 Print.
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 Check if two factors are equal.
 
size_t dim () const override
 get the dimension of the factor (number of rows on linearization)
 
const SharedNoiseModelnoiseModel () 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...
 
Vector unweightedWhitenedError (const Values &c) const
 Vector of errors, whitened, but unweighted by any loss function.
 
double weight (const Values &c) const
 Compute the effective weight of the factor from the noise model.
 
double error (const Values &c) const override
 Calculate the error of the factor. More...
 
boost::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 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
KeyVectorkeys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 
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
 
Key front () const
 First key.
 
Key back () const
 Last key.
 
const_iterator find (Key key) const
 find
 
const KeyVectorkeys () 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
 

Static Public Member Functions

static Rot3 Predict (const Rot3 &rot_i, const Vector3 &bias, const PreintegratedAhrsMeasurements preintegratedMeasurements)
 predicted states from IMU TODO(frank): relationship with PIM predict ??
 
static Rot3 predict (const Rot3 &rot_i, const Vector3 &bias, const PreintegratedMeasurements preintegratedMeasurements, const Vector3 &omegaCoriolis, const boost::optional< Pose3 > &body_P_sensor=boost::none)
 

Public Types

typedef boost::shared_ptr< AHRSFactorshared_ptr
 Shorthand for a smart pointer to a factor.
 
typedef PreintegratedAhrsMeasurements PreintegratedMeasurements
 
- Public Types inherited from gtsam::NoiseModelFactor3< Rot3, Rot3, Vector3 >
typedef Rot3 X1
 
typedef Rot3 X2
 
typedef Vector3 X3
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 Noise model.
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::Factor
typedef KeyVector::iterator iterator
 Iterator over keys.
 
typedef KeyVector::const_iterator const_iterator
 Const iterator over keys.
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor3< Rot3, Rot3, Vector3 >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor3< Rot3, Rot3, Vector3 > 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...
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 

Member Typedef Documentation

◆ PreintegratedMeasurements

Constructor & Destructor Documentation

◆ AHRSFactor() [1/2]

gtsam::AHRSFactor::AHRSFactor ( Key  rot_i,
Key  rot_j,
Key  bias,
const PreintegratedAhrsMeasurements preintegratedMeasurements 
)

Constructor.

Parameters
rot_iprevious rot key
rot_jcurrent rot key
biasprevious bias key
preintegratedMeasurementspreintegrated measurements

◆ AHRSFactor() [2/2]

gtsam::AHRSFactor::AHRSFactor ( Key  rot_i,
Key  rot_j,
Key  bias,
const PreintegratedMeasurements preintegratedMeasurements,
const Vector3 &  omegaCoriolis,
const boost::optional< Pose3 > &  body_P_sensor = boost::none 
)
Deprecated:
constructor

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::AHRSFactor::clone ( ) const
overridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

Vector gtsam::AHRSFactor::evaluateError ( const Rot3 rot_i,
const Rot3 rot_j,
const Vector3 &  bias,
boost::optional< Matrix & >  H1 = boost::none,
boost::optional< Matrix & >  H2 = boost::none,
boost::optional< Matrix & >  H3 = boost::none 
) const
overridevirtual

implement functions needed to derive from Factor

vector of errors

Implements gtsam::NoiseModelFactor3< Rot3, Rot3, Vector3 >.

◆ predict()

Rot3 gtsam::AHRSFactor::predict ( const Rot3 rot_i,
const Vector3 &  bias,
const PreintegratedMeasurements  preintegratedMeasurements,
const Vector3 &  omegaCoriolis,
const boost::optional< Pose3 > &  body_P_sensor = boost::none 
)
static
Deprecated:
static function

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