gtsam  4.1.0
gtsam
gtsam::TOAFactor Class Reference

Detailed Description

A "Time of Arrival" factor - so little code seems hardly worth it :-)

+ Inheritance diagram for gtsam::TOAFactor:

Public Member Functions

 TOAFactor (const Expression< Event > &eventExpression, const Expression< Point3 > &sensorExpression, double toaMeasurement, const SharedNoiseModel &model, double speed=330)
 Most general constructor with two expressions. More...
 
 TOAFactor (const Expression< Event > &eventExpression, const Point3 &sensor, double toaMeasurement, const SharedNoiseModel &model, double speed=330)
 Constructor with fixed sensor. More...
 
- Public Member Functions inherited from gtsam::ExpressionFactor< double >
 ExpressionFactor (const SharedNoiseModel &noiseModel, const double &measurement, const Expression< double > &expression)
 Constructor: creates a factor from a measurement and measurement function. More...
 
virtual ~ExpressionFactor ()
 Destructor.
 
const double & measured () const
 return the measurement
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print relies on Testable traits being defined for T
 
bool equals (const NonlinearFactor &f, double tol) const override
 equals relies on Testable traits being defined for T
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 Error function without the NoiseModel, \( z-h(x) -> Local(h(x),z) \). More...
 
boost::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 

Static Public Member Functions

static void InsertEvent (Key key, const Event &event, boost::shared_ptr< Values > values)
 

Additional Inherited Members

- Public Types inherited from gtsam::ExpressionFactor< double >
typedef boost::shared_ptr< ExpressionFactor< double > > shared_ptr
 
- Protected Types inherited from gtsam::ExpressionFactor< double >
typedef ExpressionFactor< double > This
 
- Protected Member Functions inherited from gtsam::ExpressionFactor< double >
 ExpressionFactor (const SharedNoiseModel &noiseModel, const double &measurement)
 Default constructor, for serialization. More...
 
void initialize (const Expression< double > &expression)
 Initialize with constructor arguments.
 
virtual Expression< double > expression () const
 Recreate expression from keys_ and measured_, used in load below. More...
 
- Protected Attributes inherited from gtsam::ExpressionFactor< double >
double measured_
 the measurement to be compared with the expression
 
Expression< double > expression_
 the expression that is AD enabled
 
FastVector< int > dims_
 dimensions of the Jacobian matrices
 
- Static Protected Attributes inherited from gtsam::ExpressionFactor< double >
static const int Dim
 

Constructor & Destructor Documentation

◆ TOAFactor() [1/2]

gtsam::TOAFactor::TOAFactor ( const Expression< Event > &  eventExpression,
const Expression< Point3 > &  sensorExpression,
double  toaMeasurement,
const SharedNoiseModel model,
double  speed = 330 
)
inline

Most general constructor with two expressions.

Parameters
eventExpressionexpression yielding an event
sensorExpressionexpression yielding a sensor location
toaMeasurementtime of arrival at sensor
modelnoise model
speedoptional speed of signal, in m/sec

◆ TOAFactor() [2/2]

gtsam::TOAFactor::TOAFactor ( const Expression< Event > &  eventExpression,
const Point3 sensor,
double  toaMeasurement,
const SharedNoiseModel model,
double  speed = 330 
)
inline

Constructor with fixed sensor.

Parameters
eventExpressionexpression yielding an event
sensora known sensor location
toaMeasurementtime of arrival at sensor
modelnoise model
toaoptional time of arrival functor

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