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

#include <MagFactor.h>

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

Public Member Functions

NonlinearFactor::shared_ptr clone () const override
 
Vector evaluateError (const Rot2 &nRb, OptionalMatrixType H) const override
 vector of errors More...
 
 MagFactor (Key key, const Point3 &measured, double scale, const Unit3 &direction, const Point3 &bias, const SharedNoiseModel &model)
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< Rot2 >
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 Point3 unrotate (const Rot2 &R, const Point3 &p, OptionalMatrixType HR=OptionalNone)
 

Private Attributes

const Point3 bias_
 bias More...
 
const Point3 measured_
 The measured magnetometer values. More...
 
const Point3 nM_
 Local magnetic field (mag output units) More...
 

Additional Inherited Members

- Public Types inherited from gtsam::NoiseModelFactorN< Rot2 >
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...
 
- Protected Types inherited from gtsam::NoiseModelFactorN< Rot2 >
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

Factor to estimate rotation given magnetometer reading This version uses model measured bM = scale * bRn * direction + bias and assumes scale, direction, and the bias are given. Rotation is around negative Z axis, i.e. positive is yaw to right!

Definition at line 33 of file MagFactor.h.

Constructor & Destructor Documentation

◆ MagFactor()

gtsam::MagFactor::MagFactor ( Key  key,
const Point3 measured,
double  scale,
const Unit3 direction,
const Point3 bias,
const SharedNoiseModel model 
)
inline

Constructor of factor that estimates nav to body rotation bRn

Parameters
keyof the unknown rotation bRn in the factor graph
measuredmagnetometer reading, a 3-vector
scaleby which a unit vector is scaled to yield a magnetometer reading
directionof the local magnetic field, see e.g. http://www.ngdc.noaa.gov/geomag-web/#igrfwmm
biasof the magnetometer, modeled as purely additive (after scaling)
modelof the additive Gaussian noise that is assumed

Definition at line 53 of file MagFactor.h.

Member Function Documentation

◆ clone()

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

Reimplemented from gtsam::NonlinearFactor.

Definition at line 61 of file MagFactor.h.

◆ evaluateError()

Vector gtsam::MagFactor::evaluateError ( const Rot2 nRb,
OptionalMatrixType  H 
) const
inlineoverride

vector of errors

Definition at line 80 of file MagFactor.h.

◆ unrotate()

static Point3 gtsam::MagFactor::unrotate ( const Rot2 R,
const Point3 p,
OptionalMatrixType  HR = OptionalNone 
)
inlinestatic

Definition at line 66 of file MagFactor.h.

Member Data Documentation

◆ bias_

const Point3 gtsam::MagFactor::bias_
private

bias

Definition at line 37 of file MagFactor.h.

◆ measured_

const Point3 gtsam::MagFactor::measured_
private

The measured magnetometer values.

Definition at line 35 of file MagFactor.h.

◆ nM_

const Point3 gtsam::MagFactor::nM_
private

Local magnetic field (mag output units)

Definition at line 36 of file MagFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:23