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

#include <SimpleHelicopter.h>

Inheritance diagram for gtsam::DiscreteEulerPoincareHelicopter:
Inheritance graph
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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
 
 ~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< Vector6, Vector6, Pose3Base
 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 >
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...
 
- 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

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:


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:17