#include <IMUFactor.h>

Inheritance diagram for gtsam::IMUFactor< POSE >:

[legend]

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) 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
const Vector3 &	accel () const

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

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

virtual Vector	evaluateError (const Pose3 &x1, const Pose3 &x2, OptionalMatrixType H1, OptionalMatrixType H2) const

Vector	evaluateError (const PoseRTV &x1, const PoseRTV &x2, OptionalMatrixType H1, OptionalMatrixType H2) const override

const Vector3 &	gyro () const

	IMUFactor (const Vector3 &accel, const Vector3 &gyro, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model)

	IMUFactor (const Vector6 &imu_vector, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model)

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

Vector6	z () const

	~IMUFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE, POSE >
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

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)

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 ()

Protected Attributes
Vector3	accel_

double	dt_

Vector3	gyro_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Static Private Member Functions
static Vector6	predict_proxy (const PoseRTV &x1, const PoseRTV &x2, double dt, const Vector6 &meas)

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< POSE, POSE >
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)

Detailed Description

template<class 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

Definition at line 21 of file IMUFactor.h.

Member Typedef Documentation

◆ Base

template<class POSE >

typedef NoiseModelFactorN<POSE, POSE> gtsam::IMUFactor< POSE >::Base

Definition at line 23 of file IMUFactor.h.

◆ This

template<class POSE >

typedef IMUFactor<POSE> gtsam::IMUFactor< POSE >::This

Definition at line 24 of file IMUFactor.h.

Constructor & Destructor Documentation

◆ IMUFactor() [1/2]

template<class POSE >

gtsam::IMUFactor< POSE >::IMUFactor	(	const Vector3 &	accel,
		const Vector3 &	gyro,
		double	dt,
		const Key &	key1,
		const Key &	key2,
		const SharedNoiseModel &	model
	)

inline

Standard constructor

Definition at line 38 of file IMUFactor.h.

◆ IMUFactor() [2/2]

template<class POSE >

gtsam::IMUFactor< POSE >::IMUFactor	(	const Vector6 &	imu_vector,
		double	dt,
		const Key &	key1,
		const Key &	key2,
		const SharedNoiseModel &	model
	)

inline

Full IMU vector specification

Definition at line 43 of file IMUFactor.h.

◆ ~IMUFactor()

template<class POSE >

gtsam::IMUFactor< POSE >::~IMUFactor ( )

inlineoverride

Definition at line 47 of file IMUFactor.h.

Member Function Documentation

◆ accel()

template<class POSE >

const Vector3& gtsam::IMUFactor< POSE >::accel ( ) const

inline

Definition at line 73 of file IMUFactor.h.

◆ clone()

template<class POSE >

gtsam::NonlinearFactor::shared_ptr gtsam::IMUFactor< POSE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 50 of file IMUFactor.h.

◆ equals()

template<class POSE >

bool gtsam::IMUFactor< POSE >::equals	(	const NonlinearFactor &	e,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

Check if two factors are equal

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 55 of file IMUFactor.h.

◆ evaluateError() [1/2]

template<class POSE >

virtual Vector gtsam::IMUFactor< POSE >::evaluateError	(	const Pose3 &	x1,
		const Pose3 &	x2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlinevirtual

dummy version that fails for non-dynamic poses

Definition at line 91 of file IMUFactor.h.

◆ evaluateError() [2/2]

template<class POSE >

Vector gtsam::IMUFactor< POSE >::evaluateError	(	const PoseRTV &	x1,
		const PoseRTV &	x2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

Error evaluation with optional derivatives - calculates z - h(x1,x2)

Definition at line 80 of file IMUFactor.h.

◆ gyro()

template<class POSE >

const Vector3& gtsam::IMUFactor< POSE >::gyro ( ) const

inline

Definition at line 72 of file IMUFactor.h.

◆ predict_proxy()

template<class POSE >

static Vector6 gtsam::IMUFactor< POSE >::predict_proxy	(	const PoseRTV &	x1,
		const PoseRTV &	x2,
		double	dt,
		const Vector6 &	meas
	)

inlinestaticprivate

copy of the measurement function formulated for numerical derivatives

Definition at line 99 of file IMUFactor.h.

◆ print()

template<class POSE >

void gtsam::IMUFactor< POSE >::print	(	const std::string &	s = `""`,
		const gtsam::KeyFormatter &	keyFormatter = `gtsam::DefaultKeyFormatter`
	)		const

inlineoverridevirtual

Print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 63 of file IMUFactor.h.

◆ z()

template<class POSE >

Vector6 gtsam::IMUFactor< POSE >::z ( ) const

inline

Definition at line 74 of file IMUFactor.h.

Member Data Documentation

◆ accel_

template<class POSE >

Vector3 gtsam::IMUFactor< POSE >::accel_

protected

measurements from the IMU

Definition at line 29 of file IMUFactor.h.

◆ dt_

template<class POSE >

double gtsam::IMUFactor< POSE >::dt_

protected

Definition at line 30 of file IMUFactor.h.

◆ gyro_

template<class POSE >

Vector3 gtsam::IMUFactor< POSE >::gyro_

protected

Definition at line 29 of file IMUFactor.h.

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

IMUFactor.h

Public Types

Public Member Functions

Protected Attributes

Static Private Member Functions

Additional Inherited Members

Detailed Description

template<class POSE> class gtsam::IMUFactor< POSE >

Member Typedef Documentation

◆ Base

◆ This

Constructor & Destructor Documentation

◆ IMUFactor() [1/2]

◆ IMUFactor() [2/2]

◆ ~IMUFactor()

Member Function Documentation

◆ accel()

◆ clone()

◆ equals()

◆ evaluateError() [1/2]

◆ evaluateError() [2/2]

◆ gyro()

◆ predict_proxy()

◆ print()

◆ z()

Member Data Documentation

◆ accel_

◆ dt_

◆ gyro_

template<class POSE>
class gtsam::IMUFactor< POSE >