#include <LocalOrientedPlane3Factor.h>

Inheritance diagram for gtsam::LocalOrientedPlane3Factor:

[legend]

Public Member Functions
Vector	evaluateError (const Pose3 &wTwi, const Pose3 &wTwa, const OrientedPlane3 &a_plane, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override

	LocalOrientedPlane3Factor ()
	Constructor. More...

	LocalOrientedPlane3Factor (const Vector4 &z, const SharedNoiseModel &noiseModel, Key poseKey, Key anchorPoseKey, Key landmarkKey)

	LocalOrientedPlane3Factor (const OrientedPlane3 &z, const SharedNoiseModel &noiseModel, Key poseKey, Key anchorPoseKey, Key landmarkKey)

void	print (const std::string &s="LocalOrientedPlane3Factor", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print More...

	~LocalOrientedPlane3Factor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Pose3, OrientedPlane3 >
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)

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	clone () 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 ()

Protected Types
typedef NoiseModelFactorN< Pose3, Pose3, OrientedPlane3 >	Base

Protected Types inherited from gtsam::NoiseModelFactorN< Pose3, Pose3, OrientedPlane3 >
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 Attributes
OrientedPlane3	measured_p_

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Pose3, OrientedPlane3 >
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...

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)

Detailed Description

Factor to measure a planar landmark from a given pose, with a given local linearization point.

This factor is based on the relative plane factor formulation proposed in: Equation 25, M. Kaess, "Simultaneous Localization and Mapping with Infinite Planes", IEEE International Conference on Robotics and Automation, 2015.

The main purpose of this factor is to improve the numerical stability of the optimization, especially compared to gtsam::OrientedPlane3Factor. This is especially relevant when the sensor is far from the origin (and thus the derivatives associated to transforming the plane are large).

x0 is the current sensor pose, and x1 is the local "anchor pose" - i.e. a local linearisation point for the plane. The plane is representated and optimized in x1 frame in the optimization.

Definition at line 37 of file LocalOrientedPlane3Factor.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Pose3, Pose3, OrientedPlane3> gtsam::LocalOrientedPlane3Factor::Base

protected

Definition at line 41 of file LocalOrientedPlane3Factor.h.

Constructor & Destructor Documentation

◆ LocalOrientedPlane3Factor() [1/3]

gtsam::LocalOrientedPlane3Factor::LocalOrientedPlane3Factor ( )

inline

Constructor.

Definition at line 48 of file LocalOrientedPlane3Factor.h.

◆ ~LocalOrientedPlane3Factor()

gtsam::LocalOrientedPlane3Factor::~LocalOrientedPlane3Factor ( )

inlineoverride

Definition at line 50 of file LocalOrientedPlane3Factor.h.

◆ LocalOrientedPlane3Factor() [2/3]

gtsam::LocalOrientedPlane3Factor::LocalOrientedPlane3Factor	(	const Vector4 &	z,
		const SharedNoiseModel &	noiseModel,
		Key	poseKey,
		Key	anchorPoseKey,
		Key	landmarkKey
	)

inline

Constructor with measured plane (a,b,c,d) coefficients

Parameters

z	measured plane (a,b,c,d) coefficients as 4D vector
noiseModel	noiseModel Gaussian noise model
poseKey	Key or symbol for unknown pose
anchorPoseKey	Key or symbol for the plane's linearization point, (called the "anchor pose").
landmarkKey	Key or symbol for unknown planar landmark

Note: The anchorPoseKey can simply be chosen as the first pose a plane is observed.

Definition at line 63 of file LocalOrientedPlane3Factor.h.

◆ LocalOrientedPlane3Factor() [3/3]

gtsam::LocalOrientedPlane3Factor::LocalOrientedPlane3Factor	(	const OrientedPlane3 &	z,
		const SharedNoiseModel &	noiseModel,
		Key	poseKey,
		Key	anchorPoseKey,
		Key	landmarkKey
	)

inline

Definition at line 67 of file LocalOrientedPlane3Factor.h.

Member Function Documentation

◆ evaluateError()

Vector gtsam::LocalOrientedPlane3Factor::evaluateError	(	const Pose3 &	wTwi,
		const Pose3 &	wTwa,
		const OrientedPlane3 &	a_plane,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3
	)		const

override

Definition at line 25 of file LocalOrientedPlane3Factor.cpp.

◆ print()

void gtsam::LocalOrientedPlane3Factor::print	(	const std::string &	s = `"LocalOrientedPlane3Factor"`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 15 of file LocalOrientedPlane3Factor.cpp.

Member Data Documentation

◆ measured_p_

OrientedPlane3 gtsam::LocalOrientedPlane3Factor::measured_p_

protected

Definition at line 40 of file LocalOrientedPlane3Factor.h.

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

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ LocalOrientedPlane3Factor() [1/3]

◆ ~LocalOrientedPlane3Factor()

◆ LocalOrientedPlane3Factor() [2/3]

◆ LocalOrientedPlane3Factor() [3/3]

Member Function Documentation

◆ evaluateError()

◆ print()

Member Data Documentation

◆ measured_p_