gtsam::AttitudeFactor Class Reference

Detailed Description

Base class for prior on attitude Example:

• measurement is direction of gravity in body frame bF
• reference is direction of gravity in navigation frame nG This factor will give zero error if nRb * bF == nG

Inheritance diagram for gtsam::AttitudeFactor:

Public Member Functions
	AttitudeFactor ()
	default constructor - only use for serialization
	AttitudeFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1))
	Constructor.
Vector	attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H=boost::none) const
	vector of errors
const Unit3 &	nZ () const
const Unit3 &	bRef () const
template<class ARCHIVE>
void	serialize (ARCHIVE &ar, const unsigned int)

Protected Attributes
Unit3	nZ_
Unit3	bRef_
	Position measurement in.

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

Constructor & Destructor Documentation

AttitudeFactor()

gtsam::AttitudeFactor::AttitudeFactor ( const Unit3 & nZ, const Unit3 & bRef = Unit3(0, 0, 1) )

inline

Constructor.

Parameters

nZ	measured direction in navigation frame
bRef	reference direction in body frame (default Z-axis in NED frame, i.e., [0; 0; 1])

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

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/navigation/AttitudeFactor.h
• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/navigation/AttitudeFactor.cpp