#include <AHRSFactor.h>

Inheritance diagram for gtsam::AHRSFactor:

[legend]

Public Types
typedef PreintegratedAhrsMeasurements	PreintegratedMeasurements

typedef boost::shared_ptr< AHRSFactor >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor3< Rot3, Rot3, Vector3 >
typedef Rot3	X1

typedef Rot3	X2

typedef Vector3	X3

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

Public Types inherited from gtsam::NonlinearFactor
typedef boost::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
	AHRSFactor (Key rot_i, Key rot_j, Key bias, const PreintegratedAhrsMeasurements &preintegratedMeasurements)

	AHRSFactor (Key rot_i, Key rot_j, Key bias, const PreintegratedMeasurements &preintegratedMeasurements, const Vector3 &omegaCoriolis, const boost::optional< Pose3 > &body_P_sensor=boost::none)

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

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

Vector	evaluateError (const Rot3 &rot_i, const Rot3 &rot_j, const Vector3 &bias, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const override
	vector of errors More...

const PreintegratedAhrsMeasurements &	preintegratedMeasurements () const
	Access the preintegrated measurements. More...

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

	~AHRSFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactor3< Rot3, Rot3, Vector3 >
Key	key1 () const

Key	key2 () const

Key	key3 () const

	NoiseModelFactor3 ()

	NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3)

Vector	unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override

	~NoiseModelFactor3 () override

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

boost::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

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)

virtual	~NonlinearFactor ()

virtual bool	active (const Values &) const

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

shared_ptr	rekey (const KeyVector &new_keys) const

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

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

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

Static Public Member Functions
static Rot3	Predict (const Rot3 &rot_i, const Vector3 &bias, const PreintegratedAhrsMeasurements preintegratedMeasurements)

static Rot3	predict (const Rot3 &rot_i, const Vector3 &bias, const PreintegratedMeasurements preintegratedMeasurements, const Vector3 &omegaCoriolis, const boost::optional< Pose3 > &body_P_sensor=boost::none)

Private Types
typedef NoiseModelFactor3< Rot3, Rot3, Vector3 >	Base

typedef AHRSFactor	This

Private Member Functions
	AHRSFactor ()

template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Private Attributes
PreintegratedAhrsMeasurements	_PIM_

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor3< Rot3, Rot3, Vector3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< Rot3, Rot3, Vector3 >	This

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)

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

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

Definition at line 128 of file AHRSFactor.h.

Member Typedef Documentation

typedef NoiseModelFactor3<Rot3, Rot3, Vector3> gtsam::AHRSFactor::Base

private

Definition at line 131 of file AHRSFactor.h.

typedef PreintegratedAhrsMeasurements gtsam::AHRSFactor::PreintegratedMeasurements

Deprecated:: name

Definition at line 190 of file AHRSFactor.h.

typedef boost::shared_ptr<AHRSFactor> gtsam::AHRSFactor::shared_ptr

Shorthand for a smart pointer to a factor

Definition at line 144 of file AHRSFactor.h.

typedef AHRSFactor gtsam::AHRSFactor::This

private

Definition at line 130 of file AHRSFactor.h.

Constructor & Destructor Documentation

gtsam::AHRSFactor::AHRSFactor ( )

inlineprivate

Default constructor - only use for serialization

Definition at line 136 of file AHRSFactor.h.

gtsam::AHRSFactor::AHRSFactor	(	Key	rot_i,
		Key	rot_j,
		Key	bias,
		const PreintegratedAhrsMeasurements &	preintegratedMeasurements
	)

Constructor

Parameters

rot_i	previous rot key
rot_j	current rot key
bias	previous bias key
preintegratedMeasurements	preintegrated measurements

Definition at line 91 of file AHRSFactor.cpp.

gtsam::AHRSFactor::~AHRSFactor ( )

inlineoverride

Definition at line 157 of file AHRSFactor.h.

gtsam::AHRSFactor::AHRSFactor	(	Key	rot_i,
		Key	rot_j,
		Key	bias,
		const PreintegratedMeasurements &	preintegratedMeasurements,
		const Vector3 &	omegaCoriolis,
		const boost::optional< Pose3 > &	body_P_sensor = `boost::none`
	)

Deprecated:: constructor

Definition at line 186 of file AHRSFactor.cpp.

Member Function Documentation

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

overridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 99 of file AHRSFactor.cpp.

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

overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 115 of file AHRSFactor.cpp.

Vector gtsam::AHRSFactor::evaluateError	(	const Rot3 &	rot_i,
		const Rot3 &	rot_j,
		const Vector3 &	bias,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`
	)		const

overridevirtual

vector of errors

implement functions needed to derive from Factor

Implements gtsam::NoiseModelFactor3< Rot3, Rot3, Vector3 >.

Definition at line 121 of file AHRSFactor.cpp.

Rot3 gtsam::AHRSFactor::Predict	(	const Rot3 &	rot_i,
		const Vector3 &	bias,
		const PreintegratedAhrsMeasurements	preintegratedMeasurements
	)

static

predicted states from IMU TODO(frank): relationship with PIM predict ??

Definition at line 171 of file AHRSFactor.cpp.

Rot3 gtsam::AHRSFactor::predict	(	const Rot3 &	rot_i,
		const Vector3 &	bias,
		const PreintegratedMeasurements	preintegratedMeasurements,
		const Vector3 &	omegaCoriolis,
		const boost::optional< Pose3 > &	body_P_sensor = `boost::none`
	)

static

Deprecated:: static function

Definition at line 199 of file AHRSFactor.cpp.

const PreintegratedAhrsMeasurements& gtsam::AHRSFactor::preintegratedMeasurements ( ) const

inline

Access the preintegrated measurements.

Definition at line 171 of file AHRSFactor.h.

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 106 of file AHRSFactor.cpp.

template<class ARCHIVE >

void gtsam::AHRSFactor::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 209 of file AHRSFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 207 of file AHRSFactor.h.

Member Data Documentation

PreintegratedAhrsMeasurements gtsam::AHRSFactor::_PIM_

private

Definition at line 133 of file AHRSFactor.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation