Public Types | Public Member Functions | Protected Attributes | Static Private Member Functions | List of all members
gtsam::IMUFactor< POSE > Class Template Reference

#include <IMUFactor.h>

Inheritance diagram for gtsam::IMUFactor< POSE >:
Inheritance graph
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Public Types

typedef NoiseModelFactor2< POSE, POSE > Base
 
typedef IMUFactor< 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
 
const Vector3 & gyro () const
 
 IMUFactor (const Vector3 &accel, const Vector3 &gyro, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model)
 time between measurements More...
 
 IMUFactor (const Vector6 &imu_vector, double dt, const Key &key1, const Key &key2, const SharedNoiseModel &model)
 
void print (const std::string &s="", const gtsam::KeyFormatter &formatter=gtsam::DefaultKeyFormatter) const override
 
Vector6 z () const
 
 ~IMUFactor () 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 Vector6 predict_proxy (const PoseRTV &x1, const PoseRTV &x2, double dt, const Vector6 &meas)
 

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::IMUFactor< POSE >

Class that represents integrating IMU measurements over time for dynamic systems Templated to allow for different key types, but variables all assumed to be PoseRTV

Definition at line 21 of file IMUFactor.h.

Member Typedef Documentation

template<class POSE>
typedef NoiseModelFactor2<POSE, POSE> gtsam::IMUFactor< POSE >::Base

Definition at line 23 of file IMUFactor.h.

template<class POSE>
typedef IMUFactor<POSE> gtsam::IMUFactor< POSE >::This

Definition at line 24 of file IMUFactor.h.

Constructor & Destructor Documentation

template<class POSE>
gtsam::IMUFactor< POSE >::IMUFactor ( 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 35 of file IMUFactor.h.

template<class POSE>
gtsam::IMUFactor< POSE >::IMUFactor ( const Vector6 &  imu_vector,
double  dt,
const Key &  key1,
const Key &  key2,
const SharedNoiseModel &  model 
)
inline

Full IMU vector specification

Definition at line 40 of file IMUFactor.h.

template<class POSE>
gtsam::IMUFactor< POSE >::~IMUFactor ( )
inlineoverride

Definition at line 44 of file IMUFactor.h.

Member Function Documentation

template<class POSE>
const Vector3& gtsam::IMUFactor< POSE >::accel ( ) const
inline

Definition at line 70 of file IMUFactor.h.

template<class POSE>
gtsam::NonlinearFactor::shared_ptr gtsam::IMUFactor< POSE >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 47 of file IMUFactor.h.

template<class POSE>
bool gtsam::IMUFactor< POSE >::equals ( const NonlinearFactor &  e,
double  tol = 1e-9 
) const
inlineoverridevirtual

Check if two factors are equal

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 52 of file IMUFactor.h.

template<class POSE>
Vector gtsam::IMUFactor< 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 77 of file IMUFactor.h.

template<class POSE>
virtual Vector gtsam::IMUFactor< 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 89 of file IMUFactor.h.

template<class POSE>
const Vector3& gtsam::IMUFactor< POSE >::gyro ( ) const
inline

Definition at line 69 of file IMUFactor.h.

template<class POSE>
static Vector6 gtsam::IMUFactor< POSE >::predict_proxy ( const PoseRTV &  x1,
const PoseRTV &  x2,
double  dt,
const Vector6 &  meas 
)
inlinestaticprivate

copy of the measurement function formulated for numerical derivatives

Definition at line 98 of file IMUFactor.h.

template<class POSE>
void gtsam::IMUFactor< POSE >::print ( const std::string &  s = "",
const gtsam::KeyFormatter &  keyFormatter = gtsam::DefaultKeyFormatter 
) const
inlineoverridevirtual

Print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 60 of file IMUFactor.h.

template<class POSE>
Vector6 gtsam::IMUFactor< POSE >::z ( ) const
inline

Definition at line 71 of file IMUFactor.h.

Member Data Documentation

template<class POSE>
Vector3 gtsam::IMUFactor< POSE >::accel_
protected

measurements from the IMU

Definition at line 29 of file IMUFactor.h.

template<class POSE>
double gtsam::IMUFactor< POSE >::dt_
protected

Definition at line 30 of file IMUFactor.h.

template<class POSE>
Vector3 gtsam::IMUFactor< POSE >::gyro_
protected

Definition at line 29 of file IMUFactor.h.

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

gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:12