#include <SimpleHelicopter.h>

Inheritance diagram for gtsam::DiscreteEulerPoincareHelicopter:

[legend]

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

	DiscreteEulerPoincareHelicopter (Key xiKey1, Key xiKey_1, Key gKey, double h, const Matrix &Inertia, const Vector &Fu, double m, double mu=1000.0)

Vector	evaluateError (const Vector6 &xik, const Vector6 &xik_1, const Pose3 &gk, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override

	~DiscreteEulerPoincareHelicopter () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Vector6, Vector6, Pose3 >
Key	key () const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

	~NoiseModelFactorN () override

	NoiseModelFactorN ()
	Default Constructor for I/O. More...

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

AreAllMatrixPtrs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Key	key6 () const

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 HybridValues &c) const override

virtual double	error (const Values &c) const

double	error (const Values &c) const override

std::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

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) 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)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &c) const

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

bool	empty () const
	Whether the factor is empty (involves zero variables). 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...

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Private Types
typedef NoiseModelFactorN< Vector6, Vector6, Pose3 >	Base
	mass. For gravity external force f_ext, which has a fixed formula in this case. More...

Private Attributes
Vector	Fu_
	Inertia tensors Inertia = [ J 0; 0 M ]. More...

double	h_

Matrix	Inertia_
	time step More...

double	m_

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< Vector6, Vector6, Pose3 >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::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...

Static Public Attributes inherited from gtsam::NoiseModelFactorN< Vector6, Vector6, Pose3 >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< Vector6, Vector6, Pose3 >
using	Base = NoiseModelFactor

using	KeyType = Key

using	MatrixTypeT = Matrix

using	OptionalMatrixTypeT = Matrix *

using	This = NoiseModelFactorN< ValueTypes... >

using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

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)

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

Implement the Discrete Euler-Poincare' equation:

Definition at line 79 of file SimpleHelicopter.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Vector6, Vector6, Pose3> gtsam::DiscreteEulerPoincareHelicopter::Base

private

mass. For gravity external force f_ext, which has a fixed formula in this case.

Definition at line 92 of file SimpleHelicopter.h.

Constructor & Destructor Documentation

◆ DiscreteEulerPoincareHelicopter()

gtsam::DiscreteEulerPoincareHelicopter::DiscreteEulerPoincareHelicopter	(	Key	xiKey1,
		Key	xiKey_1,
		Key	gKey,
		double	h,
		const Matrix &	Inertia,
		const Vector &	Fu,
		double	m,
		double	mu = `1000.0`
	)

inline

Definition at line 99 of file SimpleHelicopter.h.

◆ ~DiscreteEulerPoincareHelicopter()

gtsam::DiscreteEulerPoincareHelicopter::~DiscreteEulerPoincareHelicopter ( )

inlineoverride

Definition at line 105 of file SimpleHelicopter.h.

Member Function Documentation

◆ clone()

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 108 of file SimpleHelicopter.h.

◆ evaluateError()

Vector gtsam::DiscreteEulerPoincareHelicopter::evaluateError	(	const Vector6 &	xik,
		const Vector6 &	xik_1,
		const Pose3 &	gk,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3
	)		const

inlineoverride

DEP, with optional derivatives pk - pk_1 - h_*Fu_ - h_*f_ext = 0 where pk = CT_TLN(h*xi_k)*Inertia*xi_k pk_1 = CT_TLN(-h*xi_k_1)*Inertia*xi_k_1

Definition at line 117 of file SimpleHelicopter.h.

Member Data Documentation

◆ Fu_

Vector gtsam::DiscreteEulerPoincareHelicopter::Fu_

private

Inertia tensors Inertia = [ J 0; 0 M ].

Definition at line 83 of file SimpleHelicopter.h.

◆ h_

double gtsam::DiscreteEulerPoincareHelicopter::h_

private

Definition at line 81 of file SimpleHelicopter.h.

◆ Inertia_

Matrix gtsam::DiscreteEulerPoincareHelicopter::Inertia_

private

time step

Definition at line 82 of file SimpleHelicopter.h.

◆ m_

double gtsam::DiscreteEulerPoincareHelicopter::m_

private

F is the 6xc Control matrix, where c is the number of control variables uk, which directly change the vehicle pose (e.g., gas/brake/speed) F(.) is actually a function of the shape variables, which do not change the pose, but affect the vehicle's shape, e.g. steering wheel. Fu_ encodes everything we need to know about the vehicle's dynamics.

Definition at line 86 of file SimpleHelicopter.h.

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

SimpleHelicopter.h

Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ DiscreteEulerPoincareHelicopter()

◆ ~DiscreteEulerPoincareHelicopter()

Member Function Documentation

◆ clone()

◆ evaluateError()

Member Data Documentation

◆ Fu_

◆ h_

◆ Inertia_

◆ m_