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gtsam::IMUFactor< POSE > Class Template Reference
Detailed Description
template<class POSE>
class gtsam::IMUFactor< POSE >
class gtsam::IMUFactor< POSE >
Class that represents integrating IMU measurements over time for dynamic systems Templated to allow for different key types, but variables all assumed to be PoseRTV.
Inheritance diagram for gtsam::IMUFactor< POSE >:
Public Member Functions | |
| IMUFactor (const Vector3 &accel, const Vector3 &gyro, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model) | |
| time between measurements | |
| IMUFactor (const Vector6 &imu_vector, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model) | |
| Full IMU vector specification. | |
| gtsam::NonlinearFactor::shared_ptr | clone () const override |
| bool | equals (const NonlinearFactor &e, double tol=1e-9) const override |
| Check if two factors are equal. | |
| void | print (const std::string &s="", const gtsam::KeyFormatter &formatter=gtsam::DefaultKeyFormatter) const override |
| print | |
| const Vector3 & | gyro () const |
| const Vector3 & | accel () const |
| Vector6 | z () const |
| Vector | evaluateError (const PoseRTV &x1, const PoseRTV &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override |
| Error evaluation with optional derivatives - calculates z - h(x1,x2). | |
| virtual Vector | evaluateError (const Pose3 &x1, const Pose3 &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const |
| dummy version that fails for non-dynamic poses | |
| Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE, POSE > | |
| Key | key () const |
| Returns a key. | |
| NoiseModelFactorN () | |
| Default Constructor for I/O. | |
| NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys) | |
| Constructor. | |
| NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys) | |
| Constructor. | |
| Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
| This implements the unwhitenedError virtual function by calling the n-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. | |
| virtual Vector | evaluateError (const ValueTypes &... x, OptionalMatrix< ValueTypes >... H) const=0 |
| Override evaluateError to finish implementing an n-way factor. | |
| Vector | evaluateError (const ValueTypes &... x) const |
| No-Jacobians requested function overload. | |
| Vector | evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const |
| Some (but not all) optional Jacobians are omitted (function overload). | |
| Key | key1 () const |
| Key | key2 () const |
| Key | key3 () const |
| Key | key4 () const |
| Key | key5 () const |
| Key | key6 () const |
| 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. | |
| bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| Check if two factors are equal. | |
| size_t | dim () const override |
| get the dimension of the factor (number of rows on linearization) | |
| const SharedNoiseModel & | noiseModel () const |
| access to the noise model | |
| Vector | whitenedError (const Values &c) const |
| Vector of errors, whitened This is the raw error, i.e., i.e. | |
| 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. | |
| 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 \( b = z - h(x) = - \mathtt{error\_vector}(x) \). | |
| shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
| Creates a shared_ptr clone of the factor with a new noise model. | |
| 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. | |
| void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| print | |
| virtual | ~NonlinearFactor () |
| Destructor. | |
| double | error (const HybridValues &c) const override |
| All factor types need to implement an error function. | |
| virtual bool | active (const Values &) const |
| Checks whether a factor should be used based on a set of values. | |
| 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. | |
| virtual shared_ptr | rekey (const KeyVector &new_keys) const |
| Clones a factor and fully replaces its keys. | |
| 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). | |
| Public Member Functions inherited from gtsam::Factor | |
| virtual | ~Factor ()=default |
| Default destructor. | |
| bool | empty () const |
| Whether the factor is empty (involves zero variables). | |
| Key | front () const |
| First key. | |
| Key | back () const |
| Last key. | |
| const_iterator | find (Key key) const |
| find | |
| const KeyVector & | keys () 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 |
| virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print only keys | |
| bool | equals (const This &other, double tol=1e-9) const |
| check equality | |
| KeyVector & | keys () |
| iterator | begin () |
| Iterator at beginning of involved variable keys. | |
| iterator | end () |
| Iterator at end of involved variable keys. | |
Public Types | |
| typedef NoiseModelFactorN< POSE, POSE > | Base |
| typedef IMUFactor< POSE > | This |
| Public Types inherited from gtsam::NoiseModelFactorN< POSE, POSE > | |
| enum | |
| N is the number of variables (N-way factor). | |
| using | ValueType |
| The type of the I'th template param can be obtained as ValueType. | |
| Public Types inherited from gtsam::NoiseModelFactor | |
| typedef boost::shared_ptr< This > | shared_ptr |
| Noise model. | |
| Public Types inherited from gtsam::NonlinearFactor | |
| typedef boost::shared_ptr< This > | shared_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 Attributes | |
| Vector3 | accel_ |
| measurements from the IMU | |
| Vector3 | gyro_ |
| double | dt_ |
| Protected Attributes inherited from gtsam::NoiseModelFactor | |
| SharedNoiseModel | noiseModel_ |
| Protected Attributes inherited from gtsam::Factor | |
| KeyVector | keys_ |
| The keys involved in this factor. | |
Additional Inherited Members | |
| Protected Types inherited from gtsam::NoiseModelFactorN< POSE, POSE > | |
| using | Base |
| using | This |
| using | OptionalMatrix |
| using | KeyType |
| using | IsConvertible |
| using | IndexIsValid |
| using | ContainerElementType |
| using | IsContainerOfKeys |
| 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. | |
| Factor () | |
| Default constructor for I/O. | |
| template<typename CONTAINER> | |
| Factor (const CONTAINER &keys) | |
| Construct factor from container of keys. | |
| template<typename ITERATOR> | |
| Factor (ITERATOR first, ITERATOR last) | |
| Construct factor from iterator keys. | |
| template<typename CONTAINER> | |
| static Factor | FromKeys (const CONTAINER &keys) |
| Construct factor from container of keys. | |
| template<typename ITERATOR> | |
| static Factor | FromIterators (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys. | |
Constructor & Destructor Documentation
◆ IMUFactor()
template<class POSE>
|
inline |
time between measurements
Standard constructor
Member Function Documentation
◆ clone()
template<class POSE>
|
inlineoverridevirtual |
- Returns
- a deep copy of this factor
Reimplemented from gtsam::NonlinearFactor.
◆ equals()
template<class POSE>
|
inlineoverridevirtual |
Check if two factors are equal.
Reimplemented from gtsam::NonlinearFactor.
◆ print()
template<class POSE>
|
inlineoverridevirtual |
Reimplemented from gtsam::Factor.
The documentation for this class was generated from the following file:
- /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam_unstable/dynamics/IMUFactor.h
