Public Member Functions | Private Attributes | List of all members
gtsam::MagFactor3 Class Reference

#include <MagFactor.h>

Inheritance diagram for gtsam::MagFactor3:
Inheritance graph
[legend]

Public Member Functions

NonlinearFactor::shared_ptr clone () const override
 
Vector evaluateError (const double &scale, const Unit3 &direction, const Point3 &bias, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override
 vector of errors More...
 
 MagFactor3 (Key key1, Key key2, Key key3, const Point3 &measured, const Rot3 &nRb, const SharedNoiseModel &model)
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< double, Unit3, Point3 >
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 ()
 

Private Attributes

const Rot3 bRn_
 The assumed known rotation from nav to body. More...
 
const Point3 measured_
 The measured magnetometer values. More...
 

Additional Inherited Members

- Public Types inherited from gtsam::NoiseModelFactorN< double, Unit3, Point3 >
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< double, Unit3, Point3 >
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 calibrate local Earth magnetic field as well as magnetometer bias This version uses model measured bM = scale * bRn * direction + bias and optimizes for both scale, direction, and the bias.

Definition at line 177 of file MagFactor.h.

Constructor & Destructor Documentation

◆ MagFactor3()

gtsam::MagFactor3::MagFactor3 ( Key  key1,
Key  key2,
Key  key3,
const Point3 measured,
const Rot3 nRb,
const SharedNoiseModel model 
)
inline

Constructor

Definition at line 189 of file MagFactor.h.

Member Function Documentation

◆ clone()

NonlinearFactor::shared_ptr gtsam::MagFactor3::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 196 of file MagFactor.h.

◆ evaluateError()

Vector gtsam::MagFactor3::evaluateError ( const double &  scale,
const Unit3 direction,
const Point3 bias,
OptionalMatrixType  H1,
OptionalMatrixType  H2,
OptionalMatrixType  H3 
) const
inlineoverride

vector of errors

Parameters
nM(unknown) local earth magnetic field vector, in nav frame
bias(unknown) 3D bias

Definition at line 206 of file MagFactor.h.

Member Data Documentation

◆ bRn_

const Rot3 gtsam::MagFactor3::bRn_
private

The assumed known rotation from nav to body.

Definition at line 180 of file MagFactor.h.

◆ measured_

const Point3 gtsam::MagFactor3::measured_
private

The measured magnetometer values.

Definition at line 179 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