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

#include <GPSFactor.h>

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

Public Types

typedef std::shared_ptr< GPSFactorshared_ptr
 shorthand for a smart pointer to a factor More...
 
typedef GPSFactor This
 Typedef to this class. More...
 
- Public Types inherited from gtsam::NoiseModelFactorN< 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...
 

Public Member Functions

gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 equals More...
 
Vector evaluateError (const Pose3 &p, OptionalMatrixType H) const override
 vector of errors More...
 
 GPSFactor ()
 
 GPSFactor (Key key, const Point3 &gpsIn, const SharedNoiseModel &model)
 Constructor from a measurement in a Cartesian frame. Use GeographicLib to convert from geographic (latitude and longitude) coordinates. More...
 
const Point3measurementIn () const
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print More...
 
 ~GPSFactor () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< 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 ()
 

Static Public Member Functions

static std::pair< Pose3, Vector3EstimateState (double t1, const Point3 &NED1, double t2, const Point3 &NED2, double timestamp)
 

Private Types

typedef NoiseModelFactorN< Pose3Base
 

Private Attributes

Point3 nT_
 Position measurement in cartesian coordinates. More...
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< 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

Prior on position in a Cartesian frame. Possibilities include: ENU: East-North-Up navigation frame at some local origin NED: North-East-Down navigation frame at some local origin ECEF: Earth-centered Earth-fixed, origin at Earth's center See Farrell08book or e.g. http://www.dirsig.org/docs/new/coordinates.html

Definition at line 35 of file GPSFactor.h.

Member Typedef Documentation

◆ Base

Definition at line 39 of file GPSFactor.h.

◆ shared_ptr

typedef std::shared_ptr<GPSFactor> gtsam::GPSFactor::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 49 of file GPSFactor.h.

◆ This

Typedef to this class.

Definition at line 52 of file GPSFactor.h.

Constructor & Destructor Documentation

◆ GPSFactor() [1/2]

gtsam::GPSFactor::GPSFactor ( )
inline

default constructor - only use for serialization

Definition at line 55 of file GPSFactor.h.

◆ ~GPSFactor()

gtsam::GPSFactor::~GPSFactor ( )
inlineoverride

Definition at line 57 of file GPSFactor.h.

◆ GPSFactor() [2/2]

gtsam::GPSFactor::GPSFactor ( Key  key,
const Point3 gpsIn,
const SharedNoiseModel model 
)
inline

Constructor from a measurement in a Cartesian frame. Use GeographicLib to convert from geographic (latitude and longitude) coordinates.

Parameters
keyof the Pose3 variable that will be constrained
gpsInmeasurement already in correct coordinates
modelGaussian noise model

Definition at line 66 of file GPSFactor.h.

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::GPSFactor::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 71 of file GPSFactor.h.

◆ equals()

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

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 34 of file GPSFactor.cpp.

◆ EstimateState()

pair< Pose3, Vector3 > gtsam::GPSFactor::EstimateState ( double  t1,
const Point3 NED1,
double  t2,
const Point3 NED2,
double  timestamp 
)
static

Convenience function to estimate state at time t, given two GPS readings (in local NED Cartesian frame) bracketing t Assumes roll is zero, calculates yaw and pitch from NED1->NED2 vector.

Definition at line 46 of file GPSFactor.cpp.

◆ evaluateError()

Vector gtsam::GPSFactor::evaluateError ( const Pose3 p,
OptionalMatrixType  H 
) const
override

vector of errors

Definition at line 40 of file GPSFactor.cpp.

◆ measurementIn()

const Point3& gtsam::GPSFactor::measurementIn ( ) const
inline

Definition at line 86 of file GPSFactor.h.

◆ print()

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

print

Reimplemented from gtsam::Factor.

Definition at line 26 of file GPSFactor.cpp.

Member Data Documentation

◆ nT_

Point3 gtsam::GPSFactor::nT_
private

Position measurement in cartesian coordinates.

Definition at line 41 of file GPSFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:19