gtsam 4.1.1
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...
 
 ~ExpressionFactor () override
 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 More...
 
bool equals (const NonlinearFactor &f, double tol) const override
 equals relies on Testable traits being defined for T More...
 
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
 linearize to a GaussianFactor More...
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
- 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
 

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
 
- 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::ExpressionFactor< double >
typedef ExpressionFactor< double > 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::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 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::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
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 
- 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: