| active(const Values &) const | gtsam::NonlinearFactor | inlinevirtual |
| AreAllMatrixPtrs typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| AreAllMatrixRefs typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| back() const | gtsam::Factor | inline |
| Base typedef | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| begin() const | gtsam::Factor | inline |
| begin() | gtsam::Factor | inline |
| Bias_initial_ | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| body_P_sensor_ | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| calc_descrete_noise_model(const noiseModel::Gaussian::shared_ptr &model, double delta_t) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| Calc_g_rho_omega_earth_ENU(const Vector &Pos_ENU, const Vector &Vel_ENU, const Vector &LatLonHeight_IC, const Vector &Pos_ENU_Initial, Vector &g_ENU, Vector &rho_ENU, Vector &omega_earth_ENU) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| Calc_g_rho_omega_earth_NED(const Vector &Pos_NED, const Vector &Vel_NED, const Vector &LatLonHeight_IC, const Vector &Pos_NED_Initial, Vector &g_NED, Vector &rho_NED, Vector &omega_earth_NED) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| CalcEquivalentNoiseCov(const noiseModel::Gaussian::shared_ptr &gaussian_acc, const noiseModel::Gaussian::shared_ptr &gaussian_gyro, const noiseModel::Gaussian::shared_ptr &gaussian_process) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| CalcEquivalentNoiseCov_DifferentParts(const noiseModel::Gaussian::shared_ptr &gaussian_acc, const noiseModel::Gaussian::shared_ptr &gaussian_gyro, const noiseModel::Gaussian::shared_ptr &gaussian_process, Matrix &cov_acc, Matrix &cov_gyro, Matrix &cov_process_without_acc_gyro) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| clone() const | gtsam::NonlinearFactor | inlinevirtual |
| cloneWithNewNoiseModel(const SharedNoiseModel newNoise) const | gtsam::NoiseModelFactor | |
| const_iterator typedef | gtsam::Factor | |
| ContainerElementType typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| delta_angles_ | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| delta_pos_in_t0_ | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| delta_vel_in_t0_ | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| dim() const override | gtsam::NoiseModelFactor | inlinevirtual |
| dt12_ | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| empty() const | gtsam::Factor | inline |
| end() const | gtsam::Factor | inline |
| end() | gtsam::Factor | inline |
| equals(const NonlinearFactor &expected, double tol=1e-9) const override | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinevirtual |
| gtsam::Factor::equals(const This &other, double tol=1e-9) const | gtsam::Factor | |
| EquivInertialNavFactor_GlobalVel() | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inline |
| EquivInertialNavFactor_GlobalVel(const Key &Pose1, const Key &Vel1, const Key &IMUBias1, const Key &Pose2, const Key &Vel2, const Vector &delta_pos_in_t0, const Vector &delta_vel_in_t0, const Vector3 &delta_angles, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const noiseModel::Gaussian::shared_ptr &model_equivalent, const Matrix &Jacobian_wrt_t0_Overall, std::optional< IMUBIAS > Bias_initial={}, std::optional< POSE > body_P_sensor={}) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inline |
| error(const Values &c) const override | gtsam::NoiseModelFactor | virtual |
| gtsam::NonlinearFactor::error(const HybridValues &c) const override | gtsam::NonlinearFactor | virtual |
| evaluateError(const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, const POSE &Pose2, const VELOCITY &Vel2, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3, OptionalMatrixType H4, OptionalMatrixType H5) const override | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inline |
| NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY >::evaluateError(const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0 | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | pure virtual |
| NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY >::evaluateError(const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY >::evaluateError(const ValueTypes &... x) const | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY >::evaluateError(const ValueTypes &... x, OptionalJacArgs &&... H) const | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| evaluatePoseError(const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, const POSE &Pose2, const VELOCITY &Vel2) const | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inline |
| evaluateVelocityError(const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, const POSE &Pose2, const VELOCITY &Vel2) const | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inline |
| Factor() | gtsam::Factor | inlineprotected |
| Factor(const CONTAINER &keys) | gtsam::Factor | inlineexplicitprotected |
| Factor(ITERATOR first, ITERATOR last) | gtsam::Factor | inlineprotected |
| find(Key key) const | gtsam::Factor | inline |
| FromIterators(ITERATOR first, ITERATOR last) | gtsam::Factor | inlineprotectedstatic |
| FromKeys(const CONTAINER &keys) | gtsam::Factor | inlineprotectedstatic |
| front() const | gtsam::Factor | inline |
| IndexIsValid typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| IsContainerOfKeys typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| IsConvertible typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| IsMatrixPointer typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| IsNullpointer typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| iterator typedef | gtsam::Factor | |
| Jacobian_wrt_t0_Overall_ | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| key() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| key1() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| key2() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| key3() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| key4() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| key5() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| key6() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| keys() const | gtsam::Factor | inline |
| keys() | gtsam::Factor | inline |
| keys_ | gtsam::Factor | protected |
| KeyType typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| linearize(const Values &x) const override | gtsam::NoiseModelFactor | virtual |
| MatrixTypeT typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| N enum value | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | |
| noiseModel() const | gtsam::NoiseModelFactor | inline |
| noiseModel_ | gtsam::NoiseModelFactor | protected |
| NoiseModelFactor() | gtsam::NoiseModelFactor | inline |
| NoiseModelFactor(const SharedNoiseModel &noiseModel, const CONTAINER &keys) | gtsam::NoiseModelFactor | inline |
| NoiseModelFactor(const SharedNoiseModel &noiseModel) | gtsam::NoiseModelFactor | inlineprotected |
| NoiseModelFactorN() | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| NoiseModelFactorN(const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys) | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| NoiseModelFactorN(const SharedNoiseModel &noiseModel, CONTAINER keys) | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |
| NonlinearFactor() | gtsam::NonlinearFactor | inline |
| NonlinearFactor(const CONTAINER &keys) | gtsam::NonlinearFactor | inline |
| OptionalMatrixTypeT typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | protected |
| predict(const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, POSE &Pose2, VELOCITY &Vel2) const | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inline |
| PredictFromPreIntegration(const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, POSE &Pose2, VELOCITY &Vel2, const Vector &delta_pos_in_t0, const Vector &delta_vel_in_t0, const Vector3 &delta_angles, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const Matrix &Jacobian_wrt_t0_Overall, const std::optional< IMUBIAS > &Bias_initial={}) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| predictPose(const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1) const | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inline |
| predictPose_inertial(const POSE &Pose1, const VELOCITY &Vel1, const Vector &delta_pos_in_t0, const Vector3 &delta_angles, const double dt12, const Vector &world_g, const Vector &world_rho, const Vector &world_omega_earth) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| PredictPoseFromPreIntegration(const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, const Vector &delta_pos_in_t0, const Vector3 &delta_angles, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const Matrix &Jacobian_wrt_t0_Overall, const std::optional< IMUBIAS > &Bias_initial={}) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| predictVelocity(const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1) const | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inline |
| predictVelocity_inertial(const POSE &Pose1, const VELOCITY &Vel1, const Vector &delta_vel_in_t0, const double dt12, const Vector &world_g, const Vector &world_rho, const Vector &world_omega_earth) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| PredictVelocityFromPreIntegration(const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, const Vector &delta_vel_in_t0, double dt12, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const Matrix &Jacobian_wrt_t0_Overall, const std::optional< IMUBIAS > &Bias_initial={}) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| PreIntegrateIMUObservations(const Vector &msr_acc_t, const Vector &msr_gyro_t, const double msr_dt, Vector &delta_pos_in_t0, Vector3 &delta_angles, Vector &delta_vel_in_t0, double &delta_t, const noiseModel::Gaussian::shared_ptr &model_continuous_overall, Matrix &EquivCov_Overall, Matrix &Jacobian_wrt_t0_Overall, const IMUBIAS Bias_t0=IMUBIAS(), std::optional< POSE > p_body_P_sensor={}) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| PreIntegrateIMUObservations_delta_angles(const Vector &msr_gyro_t, const double msr_dt, const Vector3 &delta_angles, const bool flag_use_body_P_sensor, const POSE &body_P_sensor, IMUBIAS Bias_t0=IMUBIAS()) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| PreIntegrateIMUObservations_delta_pos(const double msr_dt, const Vector &delta_pos_in_t0, const Vector &delta_vel_in_t0) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| PreIntegrateIMUObservations_delta_vel(const Vector &msr_gyro_t, const Vector &msr_acc_t, const double msr_dt, const Vector3 &delta_angles, const Vector &delta_vel_in_t0, const bool flag_use_body_P_sensor, const POSE &body_P_sensor, IMUBIAS Bias_t0=IMUBIAS()) | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinestatic |
| print(const std::string &s="EquivInertialNavFactor_GlobalVel", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inlinevirtual |
| printKeys(const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const | gtsam::Factor | virtual |
| rekey(const std::map< Key, Key > &rekey_mapping) const | gtsam::NonlinearFactor | virtual |
| rekey(const KeyVector &new_keys) const | gtsam::NonlinearFactor | virtual |
| sendable() const | gtsam::NonlinearFactor | inlinevirtual |
| shared_ptr typedef | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | |
| size() const | gtsam::Factor | inline |
| This typedef | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| unweightedWhitenedError(const Values &c) const | gtsam::NoiseModelFactor | |
| unwhitenedError(const Values &x, OptionalMatrixVecType H=nullptr) const override | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inlinevirtual |
| gtsam::NoiseModelFactor::unwhitenedError(const Values &x, std::vector< Matrix > &H) const | gtsam::NoiseModelFactor | inline |
| ValueType typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | |
| weight(const Values &c) const | gtsam::NoiseModelFactor | |
| whitenedError(const Values &c) const | gtsam::NoiseModelFactor | |
| world_g_ | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| world_omega_earth_ | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| world_rho_ | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | private |
| ~EquivInertialNavFactor_GlobalVel() override | gtsam::EquivInertialNavFactor_GlobalVel< POSE, VELOCITY, IMUBIAS > | inline |
| ~Factor()=default | gtsam::Factor | virtual |
| ~NoiseModelFactor() override | gtsam::NoiseModelFactor | inline |
| ~NoiseModelFactorN() override | gtsam::NoiseModelFactorN< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > | inline |