#include <ImuFactor.h>

Inheritance diagram for gtsam::ImuFactor:

[legend]

Public Types
typedef std::shared_ptr< ImuFactor >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, 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< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< This >	shared_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

Vector	evaluateError (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3, OptionalMatrixType H4, OptionalMatrixType H5) const override
	vector of errors More...

	ImuFactor ()

	ImuFactor (Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedImuMeasurements &preintegratedMeasurements)

const PreintegratedImuMeasurements &	preintegratedMeasurements () const

	~ImuFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, 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< GaussianFactor >	linearize (const Values &x) const override

const SharedNoiseModel &	noiseModel () 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 KeyVector &	keys () 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...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Private Types
typedef NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >	Base

typedef ImuFactor	This

Private Attributes
PreintegratedImuMeasurements	_PIM_

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

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

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, 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

ImuFactor is a 5-ways factor involving previous state (pose and velocity of the vehicle at previous time step), current state (pose and velocity at current time step), and the bias estimate. Following the preintegration scheme proposed in [2], the ImuFactor includes many IMU measurements, which are "summarized" using the PreintegratedIMUMeasurements class. Note that this factor does not model "temporal consistency" of the biases (which are usually slowly varying quantities), which is up to the caller. See also CombinedImuFactor for a class that does this for you.

Definition at line 173 of file ImuFactor.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias> gtsam::ImuFactor::Base

private

Definition at line 179 of file ImuFactor.h.

◆ shared_ptr

typedef std::shared_ptr<ImuFactor> gtsam::ImuFactor::shared_ptr

Shorthand for a smart pointer to a factor

Definition at line 192 of file ImuFactor.h.

◆ This

typedef ImuFactor gtsam::ImuFactor::This

private

Definition at line 177 of file ImuFactor.h.

Constructor & Destructor Documentation

◆ ImuFactor() [1/2]

gtsam::ImuFactor::ImuFactor ( )

inline

Default constructor - only use for serialization

Definition at line 196 of file ImuFactor.h.

◆ ImuFactor() [2/2]

gtsam::ImuFactor::ImuFactor	(	Key	pose_i,
		Key	vel_i,
		Key	pose_j,
		Key	vel_j,
		Key	bias,
		const PreintegratedImuMeasurements &	preintegratedMeasurements
	)

Constructor

Parameters

pose_i	Previous pose key
vel_i	Previous velocity key
pose_j	Current pose key
vel_j	Current velocity key
bias	Previous bias key
preintegratedMeasurements	The preintegreated measurements since the last pose.

Definition at line 115 of file ImuFactor.cpp.

◆ ~ImuFactor()

gtsam::ImuFactor::~ImuFactor ( )

inlineoverride

Definition at line 211 of file ImuFactor.h.

Member Function Documentation

◆ clone()

NonlinearFactor::shared_ptr gtsam::ImuFactor::clone ( ) const

overridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 122 of file ImuFactor.cpp.

◆ equals()

bool gtsam::ImuFactor::equals	(	const NonlinearFactor &	f,
		double	tol = `1e-9`
	)		const

overridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 144 of file ImuFactor.cpp.

◆ evaluateError()

Vector gtsam::ImuFactor::evaluateError	(	const Pose3 &	pose_i,
		const Vector3 &	vel_i,
		const Pose3 &	pose_j,
		const Vector3 &	vel_j,
		const imuBias::ConstantBias &	bias_i,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3,
		OptionalMatrixType	H4,
		OptionalMatrixType	H5
	)		const

override

vector of errors

implement functions needed to derive from Factor

Definition at line 152 of file ImuFactor.cpp.

◆ preintegratedMeasurements()

const PreintegratedImuMeasurements& gtsam::ImuFactor::preintegratedMeasurements ( ) const

inline

Access the preintegrated measurements.

Definition at line 227 of file ImuFactor.h.

◆ print()

void gtsam::ImuFactor::print	(	const std::string &	s = `""`,
		const KeyFormatter &	formatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 135 of file ImuFactor.cpp.

Friends And Related Function Documentation

◆ operator<<

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

friend

Definition at line 128 of file ImuFactor.cpp.

Member Data Documentation

◆ _PIM_

PreintegratedImuMeasurements gtsam::ImuFactor::_PIM_

private

Definition at line 181 of file ImuFactor.h.

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

Public Types

Public Member Functions

Private Types

Private Attributes

Testable

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ ImuFactor() [1/2]

◆ ImuFactor() [2/2]

◆ ~ImuFactor()

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ preintegratedMeasurements()

◆ print()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ _PIM_