#include <MagFactor.h>

Inheritance diagram for gtsam::MagFactor3:

[legend]

Public Member Functions
NonlinearFactor::shared_ptr	clone () const override

Vector	evaluateError (const double &scale, const Unit3 &direction, const Point3 &bias, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const override
	vector of errors More...

	MagFactor3 (Key key1, Key key2, Key key3, const Point3 &measured, const Rot3 &nRb, const SharedNoiseModel &model)

Public Member Functions inherited from gtsam::NoiseModelFactor3< double, Unit3, Point3 >
Key	key1 () const

Key	key2 () const

Key	key3 () const

	NoiseModelFactor3 ()

	NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3)

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

	~NoiseModelFactor3 () 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 Attributes
const Rot3	bRn_
	The assumed known rotation from nav to body. More...

const Point3	measured_
	The measured magnetometer values. More...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactor3< double, Unit3, Point3 >
typedef double	X1

typedef Unit3	X2

typedef Point3	X3

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...

Protected Types inherited from gtsam::NoiseModelFactor3< double, Unit3, Point3 >
typedef NoiseModelFactor	Base

typedef NoiseModelFactor3< double, Unit3, Point3 >	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

Factor to calibrate local Earth magnetic field as well as magnetometer bias This version uses model measured bM = scale * bRn * direction + bias and optimizes for both scale, direction, and the bias.

Definition at line 167 of file MagFactor.h.

Constructor & Destructor Documentation

gtsam::MagFactor3::MagFactor3	(	Key	key1,
		Key	key2,
		Key	key3,
		const Point3 &	measured,
		const Rot3 &	nRb,
		const SharedNoiseModel &	model
	)

inline

Constructor

Definition at line 175 of file MagFactor.h.

Member Function Documentation

NonlinearFactor::shared_ptr gtsam::MagFactor3::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 182 of file MagFactor.h.

Vector gtsam::MagFactor3::evaluateError	(	const double &	scale,
		const Unit3 &	direction,
		const Point3 &	bias,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`
	)		const

inlineoverridevirtual

vector of errors

Parameters

nM	(unknown) local earth magnetic field vector, in nav frame
bias	(unknown) 3D bias

Implements gtsam::NoiseModelFactor3< double, Unit3, Point3 >.

Definition at line 192 of file MagFactor.h.

Member Data Documentation

const Rot3 gtsam::MagFactor3::bRn_

private

The assumed known rotation from nav to body.

Definition at line 170 of file MagFactor.h.

const Point3 gtsam::MagFactor3::measured_

private

The measured magnetometer values.

Definition at line 169 of file MagFactor.h.

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

MagFactor.h

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation