Constraint to enforce dynamics between the velocities and poses, using a prediction based on a numerical integration flag.
NOTE: this approximation is insufficient for large timesteps, but is accurate if timesteps are small.
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| VelocityConstraint (Key key1, Key key2, const dynamics::IntegrationMode &mode, double dt, double mu=1000) |
| | Creates a constraint relating the given variables with fully constrained noise model.
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| VelocityConstraint (Key key1, Key key2, double dt, double mu=1000) |
| | Creates a constraint relating the given variables with fully constrained noise model Uses the default Trapezoidal integrator.
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| VelocityConstraint (Key key1, Key key2, const dynamics::IntegrationMode &mode, double dt, const gtsam::SharedNoiseModel &model) |
| | Creates a constraint relating the given variables with arbitrary noise model.
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| VelocityConstraint (Key key1, Key key2, double dt, const gtsam::SharedNoiseModel &model) |
| | Creates a constraint relating the given variables with arbitrary noise model Uses the default Trapezoidal integrator.
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| gtsam::NonlinearFactor::shared_ptr | clone () const override |
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| gtsam::Vector | evaluateError (const PoseRTV &x1, const PoseRTV &x2, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const override |
| | Calculates the error for trapezoidal model given. More...
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| void | print (const std::string &s="", const gtsam::KeyFormatter &formatter=gtsam::DefaultKeyFormatter) const override |
| | Print. More...
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| NoiseModelFactor2 () |
| | Default Constructor for I/O.
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| | NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2) |
| | Constructor. More...
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Key | key1 () const |
| | methods to retrieve both keys
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Key | key2 () const |
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| Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
| | Calls the 2-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...
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| virtual Vector | evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const=0 |
| | Override this method to finish implementing a binary factor. More...
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| NoiseModelFactor () |
| | Default constructor for I/O only.
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| ~NoiseModelFactor () override |
| | Destructor.
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template<typename CONTAINER > |
| | NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) |
| | Constructor.
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| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| | Print. More...
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| bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| | Check if two factors are equal. More...
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| size_t | dim () const override |
| | get the dimension of the factor (number of rows on linearization) More...
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const SharedNoiseModel & | noiseModel () const |
| | access to the noise model
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| 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...
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| Vector | whitenedError (const Values &c) const |
| | Vector of errors, whitened This is the raw error, i.e., i.e. More...
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Vector | unweightedWhitenedError (const Values &c) const |
| | Vector of errors, whitened, but unweighted by any loss function.
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double | weight (const Values &c) const |
| | Compute the effective weight of the factor from the noise model.
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| double | error (const Values &c) const override |
| | Calculate the error of the factor. More...
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| 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...
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shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
| | Creates a shared_ptr clone of the factor with a new noise model.
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| NonlinearFactor () |
| | Default constructor for I/O only.
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template<typename CONTAINER > |
| | NonlinearFactor (const CONTAINER &keys) |
| | Constructor from a collection of the keys involved in this factor.
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virtual | ~NonlinearFactor () |
| | Destructor.
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| virtual bool | active (const Values &) const |
| | Checks whether a factor should be used based on a set of values. More...
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| 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...
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| virtual shared_ptr | rekey (const KeyVector &new_keys) const |
| | Clones a factor and fully replaces its keys. More...
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| 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...
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virtual | ~Factor ()=default |
| | Default destructor.
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| KeyVector & | keys () |
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iterator | begin () |
| | Iterator at beginning of involved variable keys.
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iterator | end () |
| | Iterator at end of involved variable keys.
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| virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| | print only keys More...
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Key | front () const |
| | First key.
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Key | back () const |
| | Last key.
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const_iterator | find (Key key) const |
| | find
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const KeyVector & | keys () const |
| | Access the factor's involved variable keys.
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const_iterator | begin () const |
| | Iterator at beginning of involved variable keys.
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const_iterator | end () const |
| | Iterator at end of involved variable keys.
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| size_t | size () const |
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Inheritance diagram for gtsam::VelocityConstraint:
