#include <EquivInertialNavFactor_GlobalVel_NoBias.h>

Inheritance diagram for gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >:

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Public Types
typedef boost::shared_ptr< EquivInertialNavFactor_GlobalVel_NoBias >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor4< POSE, VELOCITY, POSE, VELOCITY >
typedef POSE	X1

typedef VELOCITY	X2

typedef POSE	X3

typedef VELOCITY	X4

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

	EquivInertialNavFactor_GlobalVel_NoBias ()

	EquivInertialNavFactor_GlobalVel_NoBias (const Key &Pose1, const Key &Vel1, const Key &Pose2, const Key &Vel2, const Vector &delta_pos_in_t0, const Vector &delta_vel_in_t0, const Vector3 &delta_angles, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const noiseModel::Gaussian::shared_ptr &model_equivalent, const Matrix &Jacobian_wrt_t0_Overall, boost::optional< POSE > body_P_sensor=boost::none)

Vector	evaluateError (const POSE &Pose1, const VELOCITY &Vel1, const POSE &Pose2, const VELOCITY &Vel2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none) const

POSE	evaluatePoseError (const POSE &Pose1, const VELOCITY &Vel1, const POSE &Pose2, const VELOCITY &Vel2) const

VELOCITY	evaluateVelocityError (const POSE &Pose1, const VELOCITY &Vel1, const POSE &Pose2, const VELOCITY &Vel2) const

void	predict (const POSE &Pose1, const VELOCITY &Vel1, POSE &Pose2, VELOCITY &Vel2) const

POSE	predictPose (const POSE &Pose1, const VELOCITY &Vel1) const

VELOCITY	predictVelocity (const POSE &Pose1, const VELOCITY &Vel1) const

virtual void	print (const std::string &s="EquivInertialNavFactor_GlobalVel_NoBias", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const

virtual	~EquivInertialNavFactor_GlobalVel_NoBias ()

Public Member Functions inherited from gtsam::NoiseModelFactor4< POSE, VELOCITY, POSE, VELOCITY >
Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

	NoiseModelFactor4 ()

	NoiseModelFactor4 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4)

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

	~NoiseModelFactor4 () override

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

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)

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

Static Public Member Functions
static noiseModel::Gaussian::shared_ptr	calc_descrete_noise_model (const noiseModel::Gaussian::shared_ptr &model, double delta_t)

static void	Calc_g_rho_omega_earth_ENU (const Vector &Pos_ENU, const Vector &Vel_ENU, const Vector &LatLonHeight_IC, const Vector &Pos_ENU_Initial, Vector &g_ENU, Vector &rho_ENU, Vector &omega_earth_ENU)

static void	Calc_g_rho_omega_earth_NED (const Vector &Pos_NED, const Vector &Vel_NED, const Vector &LatLonHeight_IC, const Vector &Pos_NED_Initial, Vector &g_NED, Vector &rho_NED, Vector &omega_earth_NED)

static noiseModel::Gaussian::shared_ptr	CalcEquivalentNoiseCov (const noiseModel::Gaussian::shared_ptr &gaussian_acc, const noiseModel::Gaussian::shared_ptr &gaussian_gyro, const noiseModel::Gaussian::shared_ptr &gaussian_process)

static void	CalcEquivalentNoiseCov_DifferentParts (const noiseModel::Gaussian::shared_ptr &gaussian_acc, const noiseModel::Gaussian::shared_ptr &gaussian_gyro, const noiseModel::Gaussian::shared_ptr &gaussian_process, Matrix &cov_acc, Matrix &cov_gyro, Matrix &cov_process_without_acc_gyro)

static void	PredictFromPreIntegration (const POSE &Pose1, const VELOCITY &Vel1, POSE &Pose2, VELOCITY &Vel2, const Vector &delta_pos_in_t0, const Vector &delta_vel_in_t0, const Vector3 &delta_angles, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const Matrix &Jacobian_wrt_t0_Overall)

static POSE	predictPose_inertial (const POSE &Pose1, const VELOCITY &Vel1, const Vector &delta_pos_in_t0, const Vector3 &delta_angles, const double dt12, const Vector &world_g, const Vector &world_rho, const Vector &world_omega_earth)

static POSE	PredictPoseFromPreIntegration (const POSE &Pose1, const VELOCITY &Vel1, const Vector &delta_pos_in_t0, const Vector3 &delta_angles, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const Matrix &Jacobian_wrt_t0_Overall)

static VELOCITY	predictVelocity_inertial (const POSE &Pose1, const VELOCITY &Vel1, const Vector &delta_vel_in_t0, const double dt12, const Vector &world_g, const Vector &world_rho, const Vector &world_omega_earth)

static VELOCITY	PredictVelocityFromPreIntegration (const POSE &Pose1, const VELOCITY &Vel1, const Vector &delta_vel_in_t0, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const Matrix &Jacobian_wrt_t0_Overall)

static void	PreIntegrateIMUObservations (const Vector &msr_acc_t, const Vector &msr_gyro_t, const double msr_dt, Vector &delta_pos_in_t0, Vector3 &delta_angles, Vector &delta_vel_in_t0, double &delta_t, const noiseModel::Gaussian::shared_ptr &model_continuous_overall, Matrix &EquivCov_Overall, Matrix &Jacobian_wrt_t0_Overall, boost::optional< POSE > p_body_P_sensor=boost::none)

static Vector	PreIntegrateIMUObservations_delta_angles (const Vector &msr_gyro_t, const double msr_dt, const Vector3 &delta_angles, const bool flag_use_body_P_sensor, const POSE &body_P_sensor)

static Vector	PreIntegrateIMUObservations_delta_pos (const double msr_dt, const Vector &delta_pos_in_t0, const Vector &delta_vel_in_t0)

static Vector	PreIntegrateIMUObservations_delta_vel (const Vector &msr_gyro_t, const Vector &msr_acc_t, const double msr_dt, const Vector3 &delta_angles, const Vector &delta_vel_in_t0, const bool flag_use_body_P_sensor, const POSE &body_P_sensor)

Private Types
typedef NoiseModelFactor4< POSE, VELOCITY, POSE, VELOCITY >	Base

typedef EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY >	This

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

Private Attributes
boost::optional< POSE >	body_P_sensor_

Vector3	delta_angles_

Vector	delta_pos_in_t0_

Vector	delta_vel_in_t0_

double	dt12_

Matrix	Jacobian_wrt_t0_Overall_

Vector	world_g_

Vector	world_omega_earth_

Vector	world_rho_

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor4< POSE, VELOCITY, POSE, VELOCITY >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor4< POSE, VELOCITY, POSE, VELOCITY >	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...