#include <MagPoseFactor.h>

Inheritance diagram for gtsam::MagPoseFactor< POSE >:

[legend]

Public Member Functions
NonlinearFactor::shared_ptr	clone () const override

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override
	Equals function. More...

Vector	evaluateError (const POSE &nPb, OptionalMatrixType H) const override
	Implement functions needed to derive from Factor. More...

	MagPoseFactor ()
	Default constructor - only use for serialization. More...

	MagPoseFactor (Key pose_key, const Point &measured, double scale, const Point &direction, const Point &bias, const SharedNoiseModel &model, const std::optional< POSE > &body_P_sensor)

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	Implement functions needed for Testable. More...

	~MagPoseFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< POSE >
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
using	Base = NoiseModelFactorN< POSE >

using	Point = typename POSE::Translation
	Could be a Vector2 or Vector3 depending on POSE. More...

using	Rot = typename POSE::Rotation

using	shared_ptr = std::shared_ptr< MagPoseFactor< POSE > >
	Shorthand for a smart pointer to a factor. More...

using	This = MagPoseFactor< POSE >

Private Attributes
const Point	bias_
	The bias vector (mag output units) in the body frame. More...

std::optional< POSE >	body_P_sensor_
	The pose of the sensor in the body frame. More...

const Point	measured_
	The measured magnetometer data in the body frame. More...

const Point	nM_
	Local magnetic field (mag output units) in the nav frame. More...

Static Private Attributes
static const int	MeasDim = Point::RowsAtCompileTime

static const int	PoseDim = traits<POSE>::dimension

static const int	RotDim = traits<Rot>::dimension

Additional Inherited Members
Public Types inherited from gtsam::NoiseModelFactorN< POSE >
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 Types inherited from gtsam::NoiseModelFactorN< POSE >
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

template<class POSE>
class gtsam::MagPoseFactor< POSE >

Factor to estimate rotation of a Pose2 or Pose3 given a magnetometer reading. This version uses the measurement model bM = scale * bRn * direction + bias, where bRn is the rotation of the body in the nav frame, and scale, direction, and bias are assumed to be known. If the factor is constructed with a body_P_sensor, then the magnetometer measurements and bias should be expressed in the sensor frame.

Definition at line 31 of file MagPoseFactor.h.

Member Typedef Documentation

◆ Base

template<class POSE>

using gtsam::MagPoseFactor< POSE >::Base = NoiseModelFactorN<POSE>

private

Definition at line 34 of file MagPoseFactor.h.

◆ Point

template<class POSE>

using gtsam::MagPoseFactor< POSE >::Point = typename POSE::Translation

private

Could be a Vector2 or Vector3 depending on POSE.

Definition at line 35 of file MagPoseFactor.h.

◆ Rot

template<class POSE>

using gtsam::MagPoseFactor< POSE >::Rot = typename POSE::Rotation

private

Definition at line 36 of file MagPoseFactor.h.

◆ shared_ptr

template<class POSE>

using gtsam::MagPoseFactor< POSE >::shared_ptr = std::shared_ptr<MagPoseFactor<POSE> >

private

Shorthand for a smart pointer to a factor.

Definition at line 48 of file MagPoseFactor.h.

◆ This

template<class POSE>

using gtsam::MagPoseFactor< POSE >::This = MagPoseFactor<POSE>

private

Definition at line 33 of file MagPoseFactor.h.

Constructor & Destructor Documentation

◆ ~MagPoseFactor()

template<class POSE>

gtsam::MagPoseFactor< POSE >::~MagPoseFactor ( )

inlineoverride

Definition at line 59 of file MagPoseFactor.h.

◆ MagPoseFactor() [1/2]

template<class POSE>

gtsam::MagPoseFactor< POSE >::MagPoseFactor ( )

inline

Default constructor - only use for serialization.

Definition at line 62 of file MagPoseFactor.h.

◆ MagPoseFactor() [2/2]

template<class POSE>

gtsam::MagPoseFactor< POSE >::MagPoseFactor	(	Key	pose_key,
		const Point &	measured,
		double	scale,
		const Point &	direction,
		const Point &	bias,
		const SharedNoiseModel &	model,
		const std::optional< POSE > &	body_P_sensor
	)

inline

Construct the factor.

Parameters

pose_key	of the unknown pose nPb in the factor graph
measured	magnetometer reading, a Point2 or Point3
scale	by which a unit vector is scaled to yield a magnetometer reading
direction	of the local magnetic field, see e.g. http://www.ngdc.noaa.gov/geomag-web/#igrfwmm
bias	of the magnetometer, modeled as purely additive (after scaling)
model	of the additive Gaussian noise that is assumed
body_P_sensor	an optional transform of the magnetometer in the body frame

Definition at line 74 of file MagPoseFactor.h.

Member Function Documentation

◆ clone()

template<class POSE>

NonlinearFactor::shared_ptr gtsam::MagPoseFactor< POSE >::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor.

Reimplemented from gtsam::NonlinearFactor.

Definition at line 88 of file MagPoseFactor.h.

◆ equals()

template<class POSE>

bool gtsam::MagPoseFactor< POSE >::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

inlineoverridevirtual

Equals function.

Reimplemented from gtsam::NonlinearFactor.

Definition at line 104 of file MagPoseFactor.h.

◆ evaluateError()

template<class POSE>

Vector gtsam::MagPoseFactor< POSE >::evaluateError	(	const POSE &	nPb,
		OptionalMatrixType	H
	)		const

inlineoverride

Implement functions needed to derive from Factor.

Return the factor's error h(x) - z, and the optional Jacobian. Note that the measurement error is expressed in the body frame.

Definition at line 118 of file MagPoseFactor.h.

◆ print()

template<class POSE>

void gtsam::MagPoseFactor< POSE >::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

inlineoverridevirtual

Implement functions needed for Testable.

Reimplemented from gtsam::Factor.

Definition at line 96 of file MagPoseFactor.h.

Member Data Documentation

◆ bias_

template<class POSE>

const Point gtsam::MagPoseFactor< POSE >::bias_

private

The bias vector (mag output units) in the body frame.

Definition at line 40 of file MagPoseFactor.h.

◆ body_P_sensor_

template<class POSE>

std::optional<POSE> gtsam::MagPoseFactor< POSE >::body_P_sensor_

private

The pose of the sensor in the body frame.

Definition at line 41 of file MagPoseFactor.h.

◆ MeasDim

template<class POSE>

const int gtsam::MagPoseFactor< POSE >::MeasDim = Point::RowsAtCompileTime

staticprivate

Definition at line 43 of file MagPoseFactor.h.

◆ measured_

template<class POSE>

const Point gtsam::MagPoseFactor< POSE >::measured_

private

The measured magnetometer data in the body frame.

Definition at line 38 of file MagPoseFactor.h.

◆ nM_

template<class POSE>

const Point gtsam::MagPoseFactor< POSE >::nM_

private

Local magnetic field (mag output units) in the nav frame.

Definition at line 39 of file MagPoseFactor.h.

◆ PoseDim

template<class POSE>

const int gtsam::MagPoseFactor< POSE >::PoseDim = traits<POSE>::dimension

staticprivate

Definition at line 44 of file MagPoseFactor.h.

◆ RotDim

template<class POSE>

const int gtsam::MagPoseFactor< POSE >::RotDim = traits<Rot>::dimension

staticprivate

Definition at line 45 of file MagPoseFactor.h.

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

MagPoseFactor.h

Public Member Functions

Private Types

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

template<class POSE> class gtsam::MagPoseFactor< POSE >

Member Typedef Documentation

◆ Base

◆ Point

◆ Rot

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ ~MagPoseFactor()

◆ MagPoseFactor() [1/2]

◆ MagPoseFactor() [2/2]

Member Function Documentation

◆ clone()

◆ equals()

◆ evaluateError()

◆ print()

Member Data Documentation

◆ bias_

◆ body_P_sensor_

◆ MeasDim

◆ measured_

◆ nM_

◆ PoseDim

◆ RotDim

template<class POSE>
class gtsam::MagPoseFactor< POSE >