#include <Pendulum.h>

Inheritance diagram for gtsam::PendulumFactorPk:

[legend]

Public Types
typedef boost::shared_ptr< PendulumFactorPk >	shared_ptr
	in [0,1], define the mid-point between [q_k,q_{k+1}] for approximation. The sympletic rule above can be obtained as a special case when alpha = 0. More...

Public Types inherited from gtsam::NoiseModelFactor3< double, double, double >
typedef double	X1

typedef double	X2

typedef double	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...

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

Vector	evaluateError (const double &pk, const double &qk, const double &qk1, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const override

	PendulumFactorPk (Key pKey, Key qKey, Key qKey1, double h, double m=1.0, double r=1.0, double g=9.81, double alpha=0.0, double mu=1000.0)
	Constructor. More...

Public Member Functions inherited from gtsam::NoiseModelFactor3< double, double, double >
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 ()

Protected Types
typedef NoiseModelFactor3< double, double, double >	Base

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

typedef NoiseModelFactor3< double, double, double >	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
	PendulumFactorPk ()

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...

Protected Attributes
double	alpha_
	gravity More...

double	g_
	length More...

double	h_

double	m_
	time step More...

double	r_
	mass More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

Additional Inherited Members
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

This class implements the first position-momentum update rule p_k = -D_1 L_d(q_k,q_{k+1},h) = {1}{h}mr^{2}(q_{k+1}-q_{k})+mgrh(1-)\,((1-)q_{k}+ q_{k+1}) = (1/h)mr^2 (q_{k+1}-q_k) + mgrh(1-alpha) sin ((1-alpha)q_k+ q_{k+1})

Definition at line 116 of file Pendulum.h.

Member Typedef Documentation

typedef NoiseModelFactor3<double, double, double> gtsam::PendulumFactorPk::Base

protected

Definition at line 120 of file Pendulum.h.

typedef boost::shared_ptr<PendulumFactorPk > gtsam::PendulumFactorPk::shared_ptr

in [0,1], define the mid-point between [q_k,q_{k+1}] for approximation. The sympletic rule above can be obtained as a special case when alpha = 0.

Definition at line 133 of file Pendulum.h.

Constructor & Destructor Documentation

gtsam::PendulumFactorPk::PendulumFactorPk ( )

inlineprotected

default constructor to allow for serialization

Definition at line 123 of file Pendulum.h.

gtsam::PendulumFactorPk::PendulumFactorPk	(	Key	pKey,
		Key	qKey,
		Key	qKey1,
		double	h,
		double	m = `1.0`,
		double	r = `1.0`,
		double	g = `9.81`,
		double	alpha = `0.0`,
		double	mu = `1000.0`
	)

inline

Constructor.

Definition at line 136 of file Pendulum.h.

Member Function Documentation

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 142 of file Pendulum.h.

Vector gtsam::PendulumFactorPk::evaluateError	(	const double &	pk,
		const double &	qk,
		const double &	qk1,
		boost::optional< Matrix & >	H1 = `boost::none`,
		boost::optional< Matrix & >	H2 = `boost::none`,
		boost::optional< Matrix & >	H3 = `boost::none`
	)		const

inlineoverridevirtual

1/h mr^2 (qk1-qk)+mgrh (1-a) sin((1-a)pk + a*pk1) - pk = 0, with optional derivatives

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

Definition at line 147 of file Pendulum.h.

Member Data Documentation

double gtsam::PendulumFactorPk::alpha_

protected

gravity

Definition at line 129 of file Pendulum.h.

double gtsam::PendulumFactorPk::g_

protected

length

Definition at line 128 of file Pendulum.h.

double gtsam::PendulumFactorPk::h_

protected

Definition at line 125 of file Pendulum.h.

double gtsam::PendulumFactorPk::m_

protected

time step

Definition at line 126 of file Pendulum.h.

double gtsam::PendulumFactorPk::r_

protected

mass

Definition at line 127 of file Pendulum.h.

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

Pendulum.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation