#include <ConstantVelocityFactor.h>

Inheritance diagram for gtsam::ConstantVelocityFactor:

[legend]

Public Types
using	Base = NoiseModelFactor2< NavState, NavState >

Public Types inherited from gtsam::NoiseModelFactor2< NavState, NavState >
typedef NavState	X1

typedef NavState	X2

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
	ConstantVelocityFactor (Key i, Key j, double dt, const SharedNoiseModel &model)

gtsam::Vector	evaluateError (const NavState &x1, const NavState &x2, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const override
	Caclulate error: (x2 - x1.update(dt))) where X1 and X1 are NavStates and dt is the time difference in seconds between the states. More...

	~ConstantVelocityFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactor2< NavState, NavState >
virtual Vector	evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const =0

Key	key1 () const

Key	key2 () const

	NoiseModelFactor2 ()

	NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2)

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

	~NoiseModelFactor2 () 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

virtual shared_ptr	clone () 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

Private Attributes
double	dt_

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor2< NavState, NavState >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor2< NavState, NavState >	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

Binary factor for applying a constant velocity model to a moving body represented as a NavState. The only measurement is dt, the time delta between the states.

Definition at line 27 of file ConstantVelocityFactor.h.

Member Typedef Documentation

using gtsam::ConstantVelocityFactor::Base = NoiseModelFactor2<NavState, NavState>

Definition at line 31 of file ConstantVelocityFactor.h.

Constructor & Destructor Documentation

gtsam::ConstantVelocityFactor::ConstantVelocityFactor	(	Key	i,
		Key	j,
		double	dt,
		const SharedNoiseModel &	model
	)

inline

Definition at line 34 of file ConstantVelocityFactor.h.

gtsam::ConstantVelocityFactor::~ConstantVelocityFactor ( )

inlineoverride

Definition at line 36 of file ConstantVelocityFactor.h.

Member Function Documentation

gtsam::Vector gtsam::ConstantVelocityFactor::evaluateError	(	const NavState &	x1,
		const NavState &	x2,
		boost::optional< gtsam::Matrix & >	H1 = `boost::none`,
		boost::optional< gtsam::Matrix & >	H2 = `boost::none`
	)		const

inlineoverride

Caclulate error: (x2 - x1.update(dt))) where X1 and X1 are NavStates and dt is the time difference in seconds between the states.

Parameters

x1	NavState for key a
x2	NavState for key b
H1	optional jacobian in x1
H2	optional jacobian in x2

Returns: * Vector

Definition at line 48 of file ConstantVelocityFactor.h.

Member Data Documentation

double gtsam::ConstantVelocityFactor::dt_

private

Definition at line 28 of file ConstantVelocityFactor.h.

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

ConstantVelocityFactor.h

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation