#include <FullIMUFactor.h>

Inheritance diagram for gtsam::FullIMUFactor< POSE >:

[legend]

Public Types
typedef NoiseModelFactor2< POSE, POSE >	Base

typedef FullIMUFactor< POSE >	This

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

typedef POSE	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
const Vector3 &	accel () const

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

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

Vector	evaluateError (const PoseRTV &x1, const PoseRTV &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const override

virtual Vector	evaluateError (const Pose3 &x1, const Pose3 &x2, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const

	FullIMUFactor (const Vector3 &accel, const Vector3 &gyro, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model)
	time between measurements More...

	FullIMUFactor (const Vector6 &imu, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model)

const Vector3 &	gyro () const

void	print (const std::string &s="", const gtsam::KeyFormatter &formatter=gtsam::DefaultKeyFormatter) const override

Vector6	z () const

	~FullIMUFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactor2< POSE, POSE >
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

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

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...

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...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Protected Attributes
Vector3	accel_

double	dt_

Vector3	gyro_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Static Private Member Functions
static Vector9	predict_proxy (const PoseRTV &x1, const PoseRTV &x2, double dt)

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

typedef NoiseModelFactor2< POSE, POSE >	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)

Detailed Description

template<class POSE>
class gtsam::FullIMUFactor< POSE >

Class that represents integrating IMU measurements over time for dynamic systems This factor has dimension 9, with a built-in constraint for velocity modeling

Templated to allow for different key types, but variables all assumed to be PoseRTV

Definition at line 23 of file FullIMUFactor.h.

Member Typedef Documentation

template<class POSE>

typedef NoiseModelFactor2<POSE, POSE> gtsam::FullIMUFactor< POSE >::Base

Definition at line 25 of file FullIMUFactor.h.

template<class POSE>

typedef FullIMUFactor<POSE> gtsam::FullIMUFactor< POSE >::This

Definition at line 26 of file FullIMUFactor.h.

Constructor & Destructor Documentation

template<class POSE>

gtsam::FullIMUFactor< POSE >::FullIMUFactor	(	const Vector3 &	accel,
		const Vector3 &	gyro,
		double	dt,
		const Key &	key1,
		const Key &	key2,
		const SharedNoiseModel &	model
	)

inline

time between measurements

Standard constructor

Definition at line 37 of file FullIMUFactor.h.

template<class POSE>

gtsam::FullIMUFactor< POSE >::FullIMUFactor	(	const Vector6 &	imu,
		double	dt,
		const Key &	key1,
		const Key &	key2,
		const SharedNoiseModel &	model
	)

inline

Single IMU vector - imu = [accel, gyro]

Definition at line 44 of file FullIMUFactor.h.

template<class POSE>

gtsam::FullIMUFactor< POSE >::~FullIMUFactor ( )

inlineoverride

Definition at line 51 of file FullIMUFactor.h.

Member Function Documentation

template<class POSE>

const Vector3& gtsam::FullIMUFactor< POSE >::accel ( ) const

inline

Definition at line 77 of file FullIMUFactor.h.

template<class POSE>

gtsam::NonlinearFactor::shared_ptr gtsam::FullIMUFactor< POSE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 54 of file FullIMUFactor.h.

template<class POSE>

bool gtsam::FullIMUFactor< POSE >::equals	(	const NonlinearFactor &	e,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

Check if two factors are equal

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 59 of file FullIMUFactor.h.

template<class POSE>

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

inlineoverride

Error evaluation with optional derivatives - calculates z - h(x1,x2)

Definition at line 84 of file FullIMUFactor.h.

template<class POSE>

virtual Vector gtsam::FullIMUFactor< POSE >::evaluateError	(	const Pose3 &	x1,
		const Pose3 &	x2,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`
	)		const

inlinevirtual

dummy version that fails for non-dynamic poses

Definition at line 99 of file FullIMUFactor.h.

template<class POSE>

const Vector3& gtsam::FullIMUFactor< POSE >::gyro ( ) const

inline

Definition at line 76 of file FullIMUFactor.h.

template<class POSE>

static Vector9 gtsam::FullIMUFactor< POSE >::predict_proxy	(	const PoseRTV &	x1,
		const PoseRTV &	x2,
		double	dt
	)

inlinestaticprivate

copy of the measurement function formulated for numerical derivatives

Definition at line 109 of file FullIMUFactor.h.

template<class POSE>

void gtsam::FullIMUFactor< POSE >::print	(	const std::string &	s = `""`,
		const gtsam::KeyFormatter &	keyFormatter = `gtsam::DefaultKeyFormatter`
	)		const

inlineoverridevirtual

Print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 67 of file FullIMUFactor.h.

template<class POSE>

Vector6 gtsam::FullIMUFactor< POSE >::z ( ) const

inline

Definition at line 78 of file FullIMUFactor.h.

Member Data Documentation

template<class POSE>

Vector3 gtsam::FullIMUFactor< POSE >::accel_

protected

measurements from the IMU

Definition at line 31 of file FullIMUFactor.h.

template<class POSE>

double gtsam::FullIMUFactor< POSE >::dt_

protected

Definition at line 32 of file FullIMUFactor.h.

template<class POSE>

Vector3 gtsam::FullIMUFactor< POSE >::gyro_

protected

Definition at line 31 of file FullIMUFactor.h.

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

FullIMUFactor.h

Public Types

Public Member Functions

Protected Attributes

Static Private Member Functions

Additional Inherited Members

Detailed Description

template<class POSE> class gtsam::FullIMUFactor< POSE >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class POSE>
class gtsam::FullIMUFactor< POSE >