#include <ImuFactor.h>

Inheritance diagram for gtsam::ImuFactor:

[legend]

Public Types
typedef boost::shared_ptr< ImuFactor >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
typedef Pose3	X1

typedef Vector3	X2

typedef Pose3	X3

typedef Vector3	X4

typedef imuBias::ConstantBias	X5

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

Vector	evaluateError (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none, boost::optional< Matrix & > H5=boost::none) const override
	vector of errors More...

	ImuFactor ()

	ImuFactor (Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedImuMeasurements &preintegratedMeasurements)

const PreintegratedImuMeasurements &	preintegratedMeasurements () const

	~ImuFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

	NoiseModelFactor5 ()

	NoiseModelFactor5 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5)

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

	~NoiseModelFactor5 () 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

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 ()

Private Types
typedef NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >	Base

typedef ImuFactor	This

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

Private Attributes
PreintegratedImuMeasurements	_PIM_

Friends
class	boost::serialization::access

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const ImuFactor &)

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print More...

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

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >	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

Definition at line 166 of file ImuFactor.h.

Member Typedef Documentation

typedef NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias> gtsam::ImuFactor::Base

private

Definition at line 172 of file ImuFactor.h.

typedef boost::shared_ptr<ImuFactor> gtsam::ImuFactor::shared_ptr

Shorthand for a smart pointer to a factor

Definition at line 182 of file ImuFactor.h.

typedef ImuFactor gtsam::ImuFactor::This

private

Definition at line 170 of file ImuFactor.h.

Constructor & Destructor Documentation

gtsam::ImuFactor::ImuFactor ( )

inline

Default constructor - only use for serialization

Definition at line 186 of file ImuFactor.h.

gtsam::ImuFactor::ImuFactor	(	Key	pose_i,
		Key	vel_i,
		Key	pose_j,
		Key	vel_j,
		Key	bias,
		const PreintegratedImuMeasurements &	preintegratedMeasurements
	)

Constructor

Parameters

pose_i	Previous pose key
vel_i	Previous velocity key
pose_j	Current pose key
vel_j	Current velocity key
bias	Previous bias key
preintegratedMeasurements	The preintegreated measurements since the last pose.

Definition at line 113 of file ImuFactor.cpp.

gtsam::ImuFactor::~ImuFactor ( )

inlineoverride

Definition at line 201 of file ImuFactor.h.

Member Function Documentation

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

overridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 120 of file ImuFactor.cpp.

bool gtsam::ImuFactor::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

overridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 142 of file ImuFactor.cpp.

Vector gtsam::ImuFactor::evaluateError	(	const Pose3 &	pose_i,
		const Vector3 &	vel_i,
		const Pose3 &	pose_j,
		const Vector3 &	vel_j,
		const imuBias::ConstantBias &	bias_i,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`,
		boost::optional< Matrix & >	H4 = `boost::none`,
		boost::optional< Matrix & >	H5 = `boost::none`
	)		const

overridevirtual

vector of errors

implement functions needed to derive from Factor

Implements gtsam::NoiseModelFactor5< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >.

Definition at line 150 of file ImuFactor.cpp.

const PreintegratedImuMeasurements& gtsam::ImuFactor::preintegratedMeasurements ( ) const

inline

Access the preintegrated measurements.

Definition at line 217 of file ImuFactor.h.

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

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 133 of file ImuFactor.cpp.

template<class ARCHIVE >

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

inlineprivate

Definition at line 245 of file ImuFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 243 of file ImuFactor.h.

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const ImuFactor &	f
	)

friend

Definition at line 126 of file ImuFactor.cpp.

Member Data Documentation

PreintegratedImuMeasurements gtsam::ImuFactor::_PIM_

private

Definition at line 174 of file ImuFactor.h.

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

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Testable

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation