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 More...

bool	equals (const NonlinearFactor &, double tol=1e-9) const override
	equals More...

const PreintegratedAhrsMeasurements &	preintegratedMeasurements () 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. 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...

Public Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor ()
	Default constructor for I/O only.

	~NoiseModelFactor () override
	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. More...

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override
	Check if two factors are equal. More...

size_t	dim () const override
	get the dimension of the factor (number of rows on linearization) More...

const SharedNoiseModel &	noiseModel () const
	access to the noise model

virtual Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const =0
	Error function without the NoiseModel, \( z-h(x) \). More...

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< GaussianFactor >	linearize (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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \). More...

shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
	Creates a shared_ptr clone of the factor with a new noise model.

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...

virtual 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. More...

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

virtual bool	sendable () const
	Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock) More...

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor.

KeyVector &	keys ()

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

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

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

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

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< AHRSFactor >	shared_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< 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.

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

typedef PreintegratedAhrsMeasurements gtsam::AHRSFactor::PreintegratedMeasurements

Deprecated:: name

Constructor & Destructor Documentation

◆ AHRSFactor() [1/2]

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

Constructor.

Parameters

rot_i	previous rot key
rot_j	current rot key
bias	previous bias key
preintegratedMeasurements	preintegrated 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.

◆ equals()

bool gtsam::AHRSFactor::equals	(	const NonlinearFactor &	other,
		double	tol = `1e-9`
	)		const

overridevirtual

equals

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

◆ print()

void gtsam::AHRSFactor::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::Factor.

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

/Users/dellaert/git/github/gtsam/navigation/AHRSFactor.h
/Users/dellaert/git/github/gtsam/navigation/AHRSFactor.cpp

Public Member Functions

Static Public Member Functions

Public Types

Friends

Additional Inherited Members

Member Typedef Documentation

◆ PreintegratedMeasurements

Constructor & Destructor Documentation

◆ AHRSFactor() [1/2]

◆ AHRSFactor() [2/2]

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ predict()

◆ print()