#include <AHRSFactor.h>

Inheritance diagram for gtsam::AHRSFactor:

[legend]

Public Types
typedef std::shared_ptr< AHRSFactor >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactorN< Rot3, Rot3, Vector3 >
enum
	N is the number of variables (N-way factor) More...

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...

Public Member Functions
	AHRSFactor (Key rot_i, Key rot_j, Key bias, const PreintegratedAhrsMeasurements &preintegratedMeasurements)

	AHRSFactor (Key rot_i, Key rot_j, Key bias, const PreintegratedAhrsMeasurements &pim, const Vector3 &omegaCoriolis, const std::optional< Pose3 > &body_P_sensor={})

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

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

Vector	evaluateError (const Rot3 &rot_i, const Rot3 &rot_j, const Vector3 &bias, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override
	vector of errors More...

const PreintegratedAhrsMeasurements &	preintegratedMeasurements () const
	Access the preintegrated measurements. More...

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

	~AHRSFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Rot3, Rot3, Vector3 >
Key	key () 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 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 &) 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 ()

Static Public Member Functions
static Rot3	Predict (const Rot3 &rot_i, const Vector3 &bias, const PreintegratedAhrsMeasurements &pim)

static Rot3	predict (const Rot3 &rot_i, const Vector3 &bias, const PreintegratedAhrsMeasurements &pim, const Vector3 &omegaCoriolis, const std::optional< Pose3 > &body_P_sensor={})

Private Types
typedef NoiseModelFactorN< Rot3, Rot3, Vector3 >	Base

typedef AHRSFactor	This

Private Member Functions
	AHRSFactor ()

Private Attributes
PreintegratedAhrsMeasurements	_PIM_

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< Rot3, Rot3, Vector3 >
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

Definition at line 135 of file AHRSFactor.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Rot3, Rot3, Vector3> gtsam::AHRSFactor::Base

private

Definition at line 138 of file AHRSFactor.h.

◆ shared_ptr

typedef std::shared_ptr<AHRSFactor> gtsam::AHRSFactor::shared_ptr

Shorthand for a smart pointer to a factor

Definition at line 154 of file AHRSFactor.h.

◆ This

typedef AHRSFactor gtsam::AHRSFactor::This

private

Definition at line 137 of file AHRSFactor.h.

Constructor & Destructor Documentation

◆ AHRSFactor() [1/3]

gtsam::AHRSFactor::AHRSFactor ( )

inlineprivate

Default constructor - only use for serialization

Definition at line 143 of file AHRSFactor.h.

◆ AHRSFactor() [2/3]

gtsam::AHRSFactor::AHRSFactor	(	Key	rot_i,
		Key	rot_j,
		Key	bias,
		const PreintegratedAhrsMeasurements &	preintegratedMeasurements
	)

Constructor

Parameters

rot_i	previous rot key
rot_j	current rot key
bias	previous bias key
preintegratedMeasurements	preintegrated measurements

Definition at line 91 of file AHRSFactor.cpp.

◆ ~AHRSFactor()

gtsam::AHRSFactor::~AHRSFactor ( )

inlineoverride

Definition at line 167 of file AHRSFactor.h.

◆ AHRSFactor() [3/3]

gtsam::AHRSFactor::AHRSFactor	(	Key	rot_i,
		Key	rot_j,
		Key	bias,
		const PreintegratedAhrsMeasurements &	pim,
		const Vector3 &	omegaCoriolis,
		const std::optional< Pose3 > &	body_P_sensor = `{}`
	)

Deprecated:: constructor, but used in tests.

Definition at line 185 of file AHRSFactor.cpp.

Member Function Documentation

◆ clone()

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

overridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 99 of file AHRSFactor.cpp.

◆ equals()

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

overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 115 of file AHRSFactor.cpp.

◆ evaluateError()

Vector gtsam::AHRSFactor::evaluateError	(	const Rot3 &	rot_i,
		const Rot3 &	rot_j,
		const Vector3 &	bias,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3
	)		const

override

vector of errors

implement functions needed to derive from Factor

Definition at line 121 of file AHRSFactor.cpp.

◆ Predict()

Rot3 gtsam::AHRSFactor::Predict	(	const Rot3 &	rot_i,
		const Vector3 &	bias,
		const PreintegratedAhrsMeasurements &	pim
	)

static

predicted states from IMU TODO(frank): relationship with PIM predict ??

Definition at line 171 of file AHRSFactor.cpp.

◆ predict()

Rot3 gtsam::AHRSFactor::predict	(	const Rot3 &	rot_i,
		const Vector3 &	bias,
		const PreintegratedAhrsMeasurements &	pim,
		const Vector3 &	omegaCoriolis,
		const std::optional< Pose3 > &	body_P_sensor = `{}`
	)

static

Deprecated:: static function, but used in tests.

Definition at line 198 of file AHRSFactor.cpp.

◆ preintegratedMeasurements()

const PreintegratedAhrsMeasurements& gtsam::AHRSFactor::preintegratedMeasurements ( ) const

inline

Access the preintegrated measurements.

Definition at line 181 of file AHRSFactor.h.

◆ print()

void gtsam::AHRSFactor::print	(	const std::string &	s,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 106 of file AHRSFactor.cpp.

Member Data Documentation

◆ _PIM_

PreintegratedAhrsMeasurements gtsam::AHRSFactor::_PIM_

private

Definition at line 140 of file AHRSFactor.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ AHRSFactor() [1/3]

◆ AHRSFactor() [2/3]

◆ ~AHRSFactor()

◆ AHRSFactor() [3/3]

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ Predict()

◆ predict()

◆ preintegratedMeasurements()

◆ print()

Member Data Documentation

◆ _PIM_