active(const Values &) const | gtsam::NonlinearFactor | inlinevirtual |
AreAllMatrixPtrs typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | protected |
AreAllMatrixRefs typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | protected |
back() const | gtsam::Factor | inline |
Base typedef | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | private |
begin() const | gtsam::Factor | inline |
begin() | gtsam::Factor | inline |
body_P_sensor_ | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | private |
calc_descrete_noise_model(const noiseModel::Gaussian::shared_ptr &model, double delta_t) | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | 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_NoBias< POSE, VELOCITY > | 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_NoBias< POSE, VELOCITY > | 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_NoBias< POSE, VELOCITY > | 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_NoBias< POSE, VELOCITY > | inlinestatic |
clone() const | gtsam::NonlinearFactor | inlinevirtual |
cloneWithNewNoiseModel(const SharedNoiseModel newNoise) const | gtsam::NoiseModelFactor | |
const_iterator typedef | gtsam::Factor | |
ContainerElementType typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | protected |
delta_angles_ | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | private |
delta_pos_in_t0_ | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | private |
delta_vel_in_t0_ | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | private |
dim() const override | gtsam::NoiseModelFactor | inlinevirtual |
dt12_ | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | 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_NoBias< POSE, VELOCITY > | inlinevirtual |
gtsam::Factor::equals(const This &other, double tol=1e-9) const | gtsam::Factor | |
EquivInertialNavFactor_GlobalVel_NoBias() | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | inline |
EquivInertialNavFactor_GlobalVel_NoBias(const Key &Pose1, const Key &Vel1, 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< POSE > body_P_sensor={}) | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | 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 POSE &Pose2, const VELOCITY &Vel2, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3, OptionalMatrixType H4) const | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | inline |
NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY >::evaluateError(const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0 | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | pure virtual |
NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY >::evaluateError(const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY >::evaluateError(const ValueTypes &... x) const | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY >::evaluateError(const ValueTypes &... x, OptionalJacArgs &&... H) const | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
evaluatePoseError(const POSE &Pose1, const VELOCITY &Vel1, const POSE &Pose2, const VELOCITY &Vel2) const | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | inline |
evaluateVelocityError(const POSE &Pose1, const VELOCITY &Vel1, const POSE &Pose2, const VELOCITY &Vel2) const | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | 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, POSE, VELOCITY > | protected |
IsContainerOfKeys typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | protected |
IsConvertible typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | protected |
IsMatrixPointer typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | protected |
IsNullpointer typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | protected |
iterator typedef | gtsam::Factor | |
Jacobian_wrt_t0_Overall_ | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | private |
key() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
key1() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
key2() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
key3() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
key4() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
key5() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
key6() const | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
keys() const | gtsam::Factor | inline |
keys() | gtsam::Factor | inline |
keys_ | gtsam::Factor | protected |
KeyType typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | protected |
linearize(const Values &x) const override | gtsam::NoiseModelFactor | virtual |
MatrixTypeT typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | protected |
N enum value | gtsam::NoiseModelFactorN< POSE, VELOCITY, 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, POSE, VELOCITY > | inline |
NoiseModelFactorN(const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys) | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
NoiseModelFactorN(const SharedNoiseModel &noiseModel, CONTAINER keys) | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |
NonlinearFactor() | gtsam::NonlinearFactor | inline |
NonlinearFactor(const CONTAINER &keys) | gtsam::NonlinearFactor | inline |
OptionalMatrixTypeT typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | protected |
predict(const POSE &Pose1, const VELOCITY &Vel1, POSE &Pose2, VELOCITY &Vel2) const | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | inline |
PredictFromPreIntegration(const POSE &Pose1, const VELOCITY &Vel1, 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) | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | inlinestatic |
predictPose(const POSE &Pose1, const VELOCITY &Vel1) const | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | 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_NoBias< POSE, VELOCITY > | inlinestatic |
PredictPoseFromPreIntegration(const POSE &Pose1, const VELOCITY &Vel1, 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) | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | inlinestatic |
predictVelocity(const POSE &Pose1, const VELOCITY &Vel1) const | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | 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_NoBias< POSE, VELOCITY > | inlinestatic |
PredictVelocityFromPreIntegration(const POSE &Pose1, const VELOCITY &Vel1, 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) | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | 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, std::optional< POSE > p_body_P_sensor={}) | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | 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) | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | inlinestatic |
PreIntegrateIMUObservations_delta_pos(const double msr_dt, const Vector &delta_pos_in_t0, const Vector &delta_vel_in_t0) | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | 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) | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | inlinestatic |
print(const std::string &s="EquivInertialNavFactor_GlobalVel_NoBias", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | 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_NoBias< POSE, VELOCITY > | |
size() const | gtsam::Factor | inline |
This typedef | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | private |
unweightedWhitenedError(const Values &c) const | gtsam::NoiseModelFactor | |
unwhitenedError(const Values &x, OptionalMatrixVecType H=nullptr) const override | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inlinevirtual |
gtsam::NoiseModelFactor::unwhitenedError(const Values &x, std::vector< Matrix > &H) const | gtsam::NoiseModelFactor | inline |
ValueType typedef | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | |
weight(const Values &c) const | gtsam::NoiseModelFactor | |
whitenedError(const Values &c) const | gtsam::NoiseModelFactor | |
world_g_ | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | private |
world_omega_earth_ | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | private |
world_rho_ | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | private |
~EquivInertialNavFactor_GlobalVel_NoBias() | gtsam::EquivInertialNavFactor_GlobalVel_NoBias< POSE, VELOCITY > | inlinevirtual |
~Factor()=default | gtsam::Factor | virtual |
~NoiseModelFactor() override | gtsam::NoiseModelFactor | inline |
~NoiseModelFactorN() override | gtsam::NoiseModelFactorN< POSE, VELOCITY, POSE, VELOCITY > | inline |