Public Types | Public Member Functions | Private Types | Private Attributes | List of all members
gtsam::CombinedImuFactor Class Reference

#include <CombinedImuFactor.h>

Inheritance diagram for gtsam::CombinedImuFactor:
Inheritance graph
[legend]

Public Types

typedef std::shared_ptr< CombinedImuFactorshared_ptr
 
- Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
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< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< Thisshared_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
 
 CombinedImuFactor ()
 
 CombinedImuFactor (Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const PreintegratedCombinedMeasurements &preintegratedMeasurements)
 
Vector evaluateError (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, const imuBias::ConstantBias &bias_j, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3, OptionalMatrixType H4, OptionalMatrixType H5, OptionalMatrixType H6) const override
 vector of errors More...
 
const PreintegratedCombinedMeasurementspreintegratedMeasurements () const
 
 ~CombinedImuFactor () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
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< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () 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 KeyVectorkeys () 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...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Types

typedef NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBiasBase
 
typedef CombinedImuFactor This
 

Private Attributes

PreintegratedCombinedMeasurements _PIM_
 

Testable

implement functions needed for Testable

void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print More...
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 equals More...
 
GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const CombinedImuFactor &)
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
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

CombinedImuFactor is a 6-ways factor involving previous state (pose and velocity of the vehicle, as well as bias at previous time step), and current state (pose, velocity, bias at current time step). Following the pre- integration scheme proposed in [2], the CombinedImuFactor includes many IMU measurements, which are "summarized" using the PreintegratedCombinedMeasurements class. There are 3 main differences wrpt the ImuFactor class: 1) The factor is 6-ways, meaning that it also involves both biases (previous and current time step).Therefore, the factor internally imposes the biases to be slowly varying; in particular, the matrices "biasAccCovariance" and "biasOmegaCovariance" described the random walk that models bias evolution. 2) The preintegration covariance takes into account the noise in the bias estimate used for integration. 3) The covariance matrix of the PreintegratedCombinedMeasurements preserves the correlation between the bias uncertainty and the preintegrated measurements uncertainty.

Definition at line 205 of file CombinedImuFactor.h.

Member Typedef Documentation

◆ Base

Definition at line 213 of file CombinedImuFactor.h.

◆ shared_ptr

Shorthand for a smart pointer to a factor

Definition at line 225 of file CombinedImuFactor.h.

◆ This

Definition at line 210 of file CombinedImuFactor.h.

Constructor & Destructor Documentation

◆ CombinedImuFactor() [1/2]

gtsam::CombinedImuFactor::CombinedImuFactor ( )
inline

Default constructor - only use for serialization

Definition at line 229 of file CombinedImuFactor.h.

◆ CombinedImuFactor() [2/2]

gtsam::CombinedImuFactor::CombinedImuFactor ( Key  pose_i,
Key  vel_i,
Key  pose_j,
Key  vel_j,
Key  bias_i,
Key  bias_j,
const PreintegratedCombinedMeasurements preintegratedMeasurements 
)

Constructor

Parameters
pose_iPrevious pose key
vel_iPrevious velocity key
pose_jCurrent pose key
vel_jCurrent velocity key
bias_iPrevious bias key
bias_jCurrent bias key
PreintegratedCombinedMeasurementsCombined IMU measurements

Definition at line 202 of file CombinedImuFactor.cpp.

◆ ~CombinedImuFactor()

gtsam::CombinedImuFactor::~CombinedImuFactor ( )
inlineoverride

Definition at line 245 of file CombinedImuFactor.h.

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::CombinedImuFactor::clone ( ) const
overridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 210 of file CombinedImuFactor.cpp.

◆ equals()

bool gtsam::CombinedImuFactor::equals ( const NonlinearFactor expected,
double  tol = 1e-9 
) const
overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 228 of file CombinedImuFactor.cpp.

◆ evaluateError()

Vector gtsam::CombinedImuFactor::evaluateError ( const Pose3 pose_i,
const Vector3 vel_i,
const Pose3 pose_j,
const Vector3 vel_j,
const imuBias::ConstantBias bias_i,
const imuBias::ConstantBias bias_j,
OptionalMatrixType  H1,
OptionalMatrixType  H2,
OptionalMatrixType  H3,
OptionalMatrixType  H4,
OptionalMatrixType  H5,
OptionalMatrixType  H6 
) const
override

vector of errors

implement functions needed to derive from Factor

Definition at line 234 of file CombinedImuFactor.cpp.

◆ preintegratedMeasurements()

const PreintegratedCombinedMeasurements& gtsam::CombinedImuFactor::preintegratedMeasurements ( ) const
inline

Access the preintegrated measurements.

Definition at line 267 of file CombinedImuFactor.h.

◆ print()

void gtsam::CombinedImuFactor::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 216 of file CombinedImuFactor.cpp.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const CombinedImuFactor f 
)
friend

Definition at line 299 of file CombinedImuFactor.cpp.

Member Data Documentation

◆ _PIM_

PreintegratedCombinedMeasurements gtsam::CombinedImuFactor::_PIM_
private

Definition at line 215 of file CombinedImuFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:15