Inheritance diagram for rtabmap::GravityFactor:

Public Member Functions
Vector	attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H=boost::none) const

	GravityFactor ()

	GravityFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1))
	Constructor. More...

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

Protected Attributes
const Unit3	bRef_
	Position measurement in. More...

const Unit3	nZ_

Detailed Description

Definition at line 43 of file GravityFactor.h.

Constructor & Destructor Documentation

rtabmap::GravityFactor::GravityFactor ( )

inline

default constructor - only use for serialization

Definition at line 52 of file GravityFactor.h.

rtabmap::GravityFactor::GravityFactor	(	const Unit3 &	nZ,
		const Unit3 &	bRef = `Unit3(0, 0, 1)`
	)

inline

Constructor.

Parameters

nZ	measured direction in navigation frame
bRef	reference direction in body frame (default Z-axis in NED frame, i.e., [0; 0; 1])

Definition at line 60 of file GravityFactor.h.

Vector rtabmap::GravityFactor::attitudeError	(	const Rot3 &	p,
		OptionalJacobian< 2, 3 >	H = `boost::none`
	)		const

vector of errors

Definition at line 33 of file GravityFactor.cpp.

template<class ARCHIVE >

void rtabmap::GravityFactor::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inline

Definition at line 71 of file GravityFactor.h.

friend class boost::serialization::access

friend

Serialization function

Definition at line 69 of file GravityFactor.h.

const Unit3 rtabmap::GravityFactor::bRef_

protected

Position measurement in.

Definition at line 47 of file GravityFactor.h.

const Unit3 rtabmap::GravityFactor::nZ_

protected

Definition at line 47 of file GravityFactor.h.

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