Detailed Description

template<class POSE>
class gtsam::MagPoseFactor< POSE >

Factor to estimate rotation of a Pose2 or Pose3 given a magnetometer reading.

This version uses the measurement model bM = scale * bRn * direction + bias, where bRn is the rotation of the body in the nav frame, and scale, direction, and bias are assumed to be known. If the factor is constructed with a body_P_sensor, then the magnetometer measurements and bias should be expressed in the sensor frame.

Inheritance diagram for gtsam::MagPoseFactor< POSE >:

Public Member Functions
	~MagPoseFactor () override
	Concept check by type.

	MagPoseFactor ()
	Default constructor - only use for serialization.

	MagPoseFactor (Key pose_key, const Point &measured, double scale, const Point &direction, const Point &bias, const SharedNoiseModel &model, const boost::optional< POSE > &body_P_sensor)
	Construct the factor. More...

NonlinearFactor::shared_ptr	clone () const override

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	Implement functions needed for Testable. More...

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

Vector	evaluateError (const POSE &nPb, boost::optional< Matrix & > H=boost::none) const override
	Implement functions needed to derive from Factor. More...

Public Member Functions inherited from gtsam::NoiseModelFactor1< POSE >
	NoiseModelFactor1 ()
	Default constructor for I/O only.

	NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)
	Constructor. More...

	~NoiseModelFactor1 () override

Key	key () const

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
	Calls the 1-key specific version of evaluateError below, 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.

	~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

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor1< POSE >
typedef POSE	X

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 Types inherited from gtsam::NoiseModelFactor1< POSE >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor1< POSE >	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.

Constructor & Destructor Documentation

◆ MagPoseFactor()

template<class POSE >

gtsam::MagPoseFactor< POSE >::MagPoseFactor	(	Key	pose_key,
		const Point &	measured,
		double	scale,
		const Point &	direction,
		const Point &	bias,
		const SharedNoiseModel &	model,
		const boost::optional< POSE > &	body_P_sensor
	)

inline

Construct the factor.

Parameters

pose_key	of the unknown pose nPb in the factor graph
measured	magnetometer reading, a Point2 or Point3
scale	by which a unit vector is scaled to yield a magnetometer reading
direction	of the local magnetic field, see e.g. http://www.ngdc.noaa.gov/geomag-web/#igrfwmm
bias	of the magnetometer, modeled as purely additive (after scaling)
model	of the additive Gaussian noise that is assumed
body_P_sensor	an optional transform of the magnetometer in the body frame

Member Function Documentation

◆ clone()

template<class POSE >

NonlinearFactor::shared_ptr gtsam::MagPoseFactor< POSE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor.

Reimplemented from gtsam::NonlinearFactor.

◆ equals()

template<class POSE >

bool gtsam::MagPoseFactor< POSE >::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

Equals function.

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

template<class POSE >

Vector gtsam::MagPoseFactor< POSE >::evaluateError	(	const POSE &	nPb,
		boost::optional< Matrix & >	H = `boost::none`
	)		const

inlineoverridevirtual

Implement functions needed to derive from Factor.

Return the factor's error h(x) - z, and the optional Jacobian. Note that the measurement error is expressed in the body frame.

Implements gtsam::NoiseModelFactor1< POSE >.

◆ print()

template<class POSE >

void gtsam::MagPoseFactor< POSE >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

Implement functions needed for Testable.

Reimplemented from gtsam::Factor.

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

/Users/dellaert/git/github/gtsam/navigation/MagPoseFactor.h

Detailed Description

Public Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ MagPoseFactor()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ print()