gtsam::AttitudeFactor Class Reference

#include <AttitudeFactor.h>

Inheritance diagram for gtsam::AttitudeFactor:

Public Member Functions
Vector	attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H=boost::none) const
	AttitudeFactor ()
	AttitudeFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1))
	Constructor. More...
const Unit3 &	bRef () const
const Unit3 &	nZ () const
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Protected Attributes
Unit3	bRef_
	Position measurement in. More...
Unit3	nZ_

Friends
class	boost::serialization::access

Detailed Description

Definition at line 34 of file AttitudeFactor.h.

Constructor & Destructor Documentation

gtsam::AttitudeFactor::AttitudeFactor ( )

inline

default constructor - only use for serialization

Definition at line 43 of file AttitudeFactor.h.

gtsam::AttitudeFactor::AttitudeFactor ( const Unit3 &  nZ, const Unit3 &  bRef = Unit3(0, 0, 1)  )

inline

Constructor.

Parameters

nZ	measured direction in navigation frame
bRef	reference direction in body frame (default Z-axis in NED frame, i.e., [0; 0; 1])

Definition at line 51 of file AttitudeFactor.h.

Member Function Documentation

Vector gtsam::AttitudeFactor::attitudeError	(	const Rot3 &	p,
		OptionalJacobian< 2, 3 >	H = boost::none
	)		const

vector of errors

Definition at line 26 of file AttitudeFactor.cpp.

const Unit3& gtsam::AttitudeFactor::bRef ( ) const

inline

Definition at line 62 of file AttitudeFactor.h.

const Unit3& gtsam::AttitudeFactor::nZ ( ) const

inline

Definition at line 59 of file AttitudeFactor.h.

template<class ARCHIVE >

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

inline

Definition at line 69 of file AttitudeFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 67 of file AttitudeFactor.h.

Member Data Documentation

Unit3 gtsam::AttitudeFactor::bRef_

protected

Position measurement in.

Definition at line 38 of file AttitudeFactor.h.

Unit3 gtsam::AttitudeFactor::nZ_

protected

Definition at line 38 of file AttitudeFactor.h.

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

• AttitudeFactor.h
• AttitudeFactor.cpp