#include <MagFactor.h>

Inheritance diagram for gtsam::MagFactor:

[legend]

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

Vector	evaluateError (const Rot2 &nRb, OptionalMatrixType H) const override
	vector of errors More...

	MagFactor (Key key, const Point3 &measured, double scale, const Unit3 &direction, const Point3 &bias, const SharedNoiseModel &model)

Public Member Functions inherited from gtsam::NoiseModelFactorN< Rot2 >
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 ()

Static Public Member Functions
static Point3	unrotate (const Rot2 &R, const Point3 &p, OptionalMatrixType HR=OptionalNone)

Private Attributes
const Point3	bias_
	bias More...

const Point3	measured_
	The measured magnetometer values. More...

const Point3	nM_
	Local magnetic field (mag output units) More...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< Rot2 >
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...

Protected Types inherited from gtsam::NoiseModelFactorN< Rot2 >
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

Factor to estimate rotation given magnetometer reading This version uses model measured bM = scale * bRn * direction + bias and assumes scale, direction, and the bias are given. Rotation is around negative Z axis, i.e. positive is yaw to right!

Definition at line 33 of file MagFactor.h.

Constructor & Destructor Documentation

◆ MagFactor()

gtsam::MagFactor::MagFactor	(	Key	key,
		const Point3 &	measured,
		double	scale,
		const Unit3 &	direction,
		const Point3 &	bias,
		const SharedNoiseModel &	model
	)

inline

Constructor of factor that estimates nav to body rotation bRn

Parameters

key	of the unknown rotation bRn in the factor graph
measured	magnetometer reading, a 3-vector
scale	by which a unit vector is scaled to yield a magnetometer reading
direction	of the local magnetic field, see e.g. http://www.ngdc.noaa.gov/geomag-web/#igrfwmm
bias	of the magnetometer, modeled as purely additive (after scaling)
model	of the additive Gaussian noise that is assumed

Definition at line 53 of file MagFactor.h.

Member Function Documentation

◆ clone()

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 61 of file MagFactor.h.

◆ evaluateError()

Vector gtsam::MagFactor::evaluateError	(	const Rot2 &	nRb,
		OptionalMatrixType	H
	)		const

inlineoverride

vector of errors

Definition at line 80 of file MagFactor.h.

◆ unrotate()

static Point3 gtsam::MagFactor::unrotate	(	const Rot2 &	R,
		const Point3 &	p,
		OptionalMatrixType	HR = `OptionalNone`
	)

inlinestatic

Definition at line 66 of file MagFactor.h.

Member Data Documentation

◆ bias_

const Point3 gtsam::MagFactor::bias_

private

bias

Definition at line 37 of file MagFactor.h.

◆ measured_

const Point3 gtsam::MagFactor::measured_

private

The measured magnetometer values.

Definition at line 35 of file MagFactor.h.

◆ nM_

const Point3 gtsam::MagFactor::nM_

private

Local magnetic field (mag output units)

Definition at line 36 of file MagFactor.h.

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

MagFactor.h

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MagFactor()

Member Function Documentation

◆ clone()

◆ evaluateError()

◆ unrotate()

Member Data Documentation

◆ bias_

◆ measured_

◆ nM_