gtsam 4.1.1
gtsam
gtsam::MagPoseFactor< POSE > Class Template Reference

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 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
 

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< 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.
 
- 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_keyof the unknown pose nPb in the factor graph
measuredmagnetometer reading, a Point2 or Point3
scaleby which a unit vector is scaled to yield a magnetometer reading
directionof the local magnetic field, see e.g. http://www.ngdc.noaa.gov/geomag-web/#igrfwmm
biasof the magnetometer, modeled as purely additive (after scaling)
modelof the additive Gaussian noise that is assumed
body_P_sensoran 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: