#include <CombinedImuFactor.h>

Inheritance diagram for gtsam::CombinedImuFactor:

[legend]

Public Types
typedef std::shared_ptr< CombinedImuFactor >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
enum
	N is the number of variables (N-way factor) More...

using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys. More...

typedef KeyVector::iterator	iterator
	Iterator over keys. More...

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

	CombinedImuFactor ()

	CombinedImuFactor (Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const PreintegratedCombinedMeasurements &preintegratedMeasurements)

Vector	evaluateError (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, const imuBias::ConstantBias &bias_j, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3, OptionalMatrixType H4, OptionalMatrixType H5, OptionalMatrixType H6) const override
	vector of errors More...

const PreintegratedCombinedMeasurements &	preintegratedMeasurements () const

	~CombinedImuFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
Key	key () const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

	~NoiseModelFactorN () override

	NoiseModelFactorN ()
	Default Constructor for I/O. More...

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

AreAllMatrixPtrs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

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
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

size_t	dim () const override

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override

double	error (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const SharedNoiseModel &	noiseModel () const
	access to the noise model More...

	NoiseModelFactor ()

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

Vector	unweightedWhitenedError (const Values &c) const

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

double	weight (const Values &c) const

Vector	whitenedError (const Values &c) const

	~NoiseModelFactor () override

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &) const

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

bool	empty () const
	Whether the factor is empty (involves zero variables). More...

Key	front () const
	First key. More...

Key	back () const
	Last key. More...

const_iterator	find (Key key) const
	find More...

const KeyVector &	keys () const
	Access the factor's involved variable keys. More...

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Private Types
typedef NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >	Base

typedef CombinedImuFactor	This

Private Attributes
PreintegratedCombinedMeasurements	_PIM_

Testable
implement functions needed for Testable
void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print More...

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override
	equals More...

GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const CombinedImuFactor &)

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
using	Base = NoiseModelFactor

using	KeyType = Key

using	MatrixTypeT = Matrix

using	OptionalMatrixTypeT = Matrix *

using	This = NoiseModelFactorN< ValueTypes... >

using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

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)

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

CombinedImuFactor is a 6-ways factor involving previous state (pose and velocity of the vehicle, as well as bias at previous time step), and current state (pose, velocity, bias at current time step). Following the pre- integration scheme proposed in [2], the CombinedImuFactor includes many IMU measurements, which are "summarized" using the PreintegratedCombinedMeasurements class. There are 3 main differences wrpt the ImuFactor class: 1) The factor is 6-ways, meaning that it also involves both biases (previous and current time step).Therefore, the factor internally imposes the biases to be slowly varying; in particular, the matrices "biasAccCovariance" and "biasOmegaCovariance" described the random walk that models bias evolution. 2) The preintegration covariance takes into account the noise in the bias estimate used for integration. 3) The covariance matrix of the PreintegratedCombinedMeasurements preserves the correlation between the bias uncertainty and the preintegrated measurements uncertainty.

Definition at line 205 of file CombinedImuFactor.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias> gtsam::CombinedImuFactor::Base

private

Definition at line 213 of file CombinedImuFactor.h.

◆ shared_ptr

typedef std::shared_ptr<CombinedImuFactor> gtsam::CombinedImuFactor::shared_ptr

Shorthand for a smart pointer to a factor

Definition at line 225 of file CombinedImuFactor.h.

◆ This

typedef CombinedImuFactor gtsam::CombinedImuFactor::This

private

Definition at line 210 of file CombinedImuFactor.h.

Constructor & Destructor Documentation

◆ CombinedImuFactor() [1/2]

gtsam::CombinedImuFactor::CombinedImuFactor ( )

inline

Default constructor - only use for serialization

Definition at line 229 of file CombinedImuFactor.h.

◆ CombinedImuFactor() [2/2]

gtsam::CombinedImuFactor::CombinedImuFactor	(	Key	pose_i,
		Key	vel_i,
		Key	pose_j,
		Key	vel_j,
		Key	bias_i,
		Key	bias_j,
		const PreintegratedCombinedMeasurements &	preintegratedMeasurements
	)

Constructor

Parameters

pose_i	Previous pose key
vel_i	Previous velocity key
pose_j	Current pose key
vel_j	Current velocity key
bias_i	Previous bias key
bias_j	Current bias key
PreintegratedCombinedMeasurements	Combined IMU measurements

Definition at line 202 of file CombinedImuFactor.cpp.

◆ ~CombinedImuFactor()

gtsam::CombinedImuFactor::~CombinedImuFactor ( )

inlineoverride

Definition at line 245 of file CombinedImuFactor.h.

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::CombinedImuFactor::clone ( ) const

overridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 210 of file CombinedImuFactor.cpp.

◆ equals()

bool gtsam::CombinedImuFactor::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 228 of file CombinedImuFactor.cpp.

◆ evaluateError()

Vector gtsam::CombinedImuFactor::evaluateError	(	const Pose3 &	pose_i,
		const Vector3 &	vel_i,
		const Pose3 &	pose_j,
		const Vector3 &	vel_j,
		const imuBias::ConstantBias &	bias_i,
		const imuBias::ConstantBias &	bias_j,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3,
		OptionalMatrixType	H4,
		OptionalMatrixType	H5,
		OptionalMatrixType	H6
	)		const

override

vector of errors

implement functions needed to derive from Factor

Definition at line 234 of file CombinedImuFactor.cpp.

◆ preintegratedMeasurements()

const PreintegratedCombinedMeasurements& gtsam::CombinedImuFactor::preintegratedMeasurements ( ) const

inline

Access the preintegrated measurements.

Definition at line 267 of file CombinedImuFactor.h.

◆ print()

void gtsam::CombinedImuFactor::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 216 of file CombinedImuFactor.cpp.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const CombinedImuFactor &	f
	)

friend

Definition at line 299 of file CombinedImuFactor.cpp.

Member Data Documentation

◆ _PIM_

PreintegratedCombinedMeasurements gtsam::CombinedImuFactor::_PIM_

private

Definition at line 215 of file CombinedImuFactor.h.

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

Public Types

Public Member Functions

Private Types

Private Attributes

Testable

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ CombinedImuFactor() [1/2]

◆ CombinedImuFactor() [2/2]

◆ ~CombinedImuFactor()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ preintegratedMeasurements()

◆ print()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ _PIM_