gtsam 4.1.1
gtsam
gtsam::ImuFactor Class Reference
+ Inheritance diagram for gtsam::ImuFactor:

Testable

GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const ImuFactor &)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print More...
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 Check if two factors are equal. More...
 

Public Member Functions

 ImuFactor ()
 Default constructor - only use for serialization.
 
 ImuFactor (Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedImuMeasurements &preintegratedMeasurements)
 Constructor. More...
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
const PreintegratedImuMeasurementspreintegratedMeasurements () const
 Access the preintegrated measurements.
 
Vector evaluateError (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none, boost::optional< Matrix & > H5=boost::none) const override
 implement functions needed to derive from Factor More...
 
- Public Member Functions inherited from gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
 NoiseModelFactor5 ()
 Default Constructor for I/O.
 
 NoiseModelFactor5 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5)
 Constructor. More...
 
Key key1 () const
 methods to retrieve keys
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Calls the 5-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 &, const X4 &, const X5 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none, boost::optional< Matrix & > H5=boost::none) const=0
 Override this method to finish implementing a 5-way 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 SharedNoiseModelnoiseModel () 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< 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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \). 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.
 
KeyVectorkeys ()
 
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 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
 

Public Types

typedef boost::shared_ptr< ImuFactorshared_ptr
 Shorthand for a smart pointer to a factor.
 
- Public Types inherited from gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
typedef Pose3 X1
 
typedef Vector3 X2
 
typedef Pose3 X3
 
typedef Vector3 X4
 
typedef imuBias::ConstantBias X5
 
- 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::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBiasThis
 
- 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.
 

Constructor & Destructor Documentation

◆ ImuFactor()

gtsam::ImuFactor::ImuFactor ( Key  pose_i,
Key  vel_i,
Key  pose_j,
Key  vel_j,
Key  bias,
const PreintegratedImuMeasurements preintegratedMeasurements 
)

Constructor.

Parameters
pose_iPrevious pose key
vel_iPrevious velocity key
pose_jCurrent pose key
vel_jCurrent velocity key
biasPrevious bias key
preintegratedMeasurementsThe preintegreated measurements since the last pose.

Member Function Documentation

◆ clone()

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

Reimplemented from gtsam::NonlinearFactor.

◆ equals()

bool gtsam::ImuFactor::equals ( const NonlinearFactor f,
double  tol = 1e-9 
) const
overridevirtual

Check if two factors are equal.

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

Vector gtsam::ImuFactor::evaluateError ( const Pose3 pose_i,
const Vector3 &  vel_i,
const Pose3 pose_j,
const Vector3 &  vel_j,
const imuBias::ConstantBias bias_i,
boost::optional< Matrix & >  H1 = boost::none,
boost::optional< Matrix & >  H2 = boost::none,
boost::optional< Matrix & >  H3 = boost::none,
boost::optional< Matrix & >  H4 = boost::none,
boost::optional< Matrix & >  H5 = boost::none 
) const
overridevirtual

implement functions needed to derive from Factor

vector of errors

Implements gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >.

◆ print()

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

print

Reimplemented from gtsam::Factor.


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