Public Types | Public Member Functions | Private Types | List of all members
gtsam::Pose3AttitudeFactor Class Reference

#include <AttitudeFactor.h>

Inheritance diagram for gtsam::Pose3AttitudeFactor:
Inheritance graph
[legend]

Public Types

typedef std::shared_ptr< Pose3AttitudeFactorshared_ptr
 shorthand for a smart pointer to a factor More...
 
typedef Pose3AttitudeFactor This
 Typedef to this class. More...
 
- Public Types inherited from gtsam::NoiseModelFactorN< Pose3 >
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...
 

Public Member Functions

gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 
Vector evaluateError (const Pose3 &nTb, OptionalMatrixType H) const override
 
 Pose3AttitudeFactor ()
 
 Pose3AttitudeFactor (Key key, const Unit3 &nZ, const SharedNoiseModel &model, const Unit3 &bRef=Unit3(0, 0, 1))
 Constructor. More...
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
 ~Pose3AttitudeFactor () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3 >
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 ()
 
- Public Member Functions inherited from gtsam::AttitudeFactor
Vector attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H={}) const
 
 AttitudeFactor ()
 
 AttitudeFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1))
 Constructor. More...
 
const Unit3bRef () const
 
const Unit3nZ () const
 

Private Types

typedef NoiseModelFactorN< Pose3Base
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< Pose3 >
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...
 
- Protected Attributes inherited from gtsam::AttitudeFactor
Unit3 bRef_
 Position measurement in. More...
 
Unit3 nZ_
 

Detailed Description

Version of AttitudeFactor for Pose3

Definition at line 159 of file AttitudeFactor.h.

Member Typedef Documentation

◆ Base

Definition at line 162 of file AttitudeFactor.h.

◆ shared_ptr

shorthand for a smart pointer to a factor

Definition at line 170 of file AttitudeFactor.h.

◆ This

Typedef to this class.

Definition at line 173 of file AttitudeFactor.h.

Constructor & Destructor Documentation

◆ Pose3AttitudeFactor() [1/2]

gtsam::Pose3AttitudeFactor::Pose3AttitudeFactor ( )
inline

default constructor - only use for serialization

Definition at line 176 of file AttitudeFactor.h.

◆ ~Pose3AttitudeFactor()

gtsam::Pose3AttitudeFactor::~Pose3AttitudeFactor ( )
inlineoverride

Definition at line 179 of file AttitudeFactor.h.

◆ Pose3AttitudeFactor() [2/2]

gtsam::Pose3AttitudeFactor::Pose3AttitudeFactor ( Key  key,
const Unit3 nZ,
const SharedNoiseModel model,
const Unit3 bRef = Unit3(0, 0, 1) 
)
inline

Constructor.

Parameters
keyof the Pose3 variable that will be constrained
nZmeasured direction in navigation frame
modelGaussian noise model
bRefreference direction in body frame (default Z-axis)

Definition at line 189 of file AttitudeFactor.h.

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::Pose3AttitudeFactor::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 195 of file AttitudeFactor.h.

◆ equals()

bool gtsam::Pose3AttitudeFactor::equals ( const NonlinearFactor expected,
double  tol = 1e-9 
) const
overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 70 of file AttitudeFactor.cpp.

◆ evaluateError()

Vector gtsam::Pose3AttitudeFactor::evaluateError ( const Pose3 nTb,
OptionalMatrixType  H 
) const
inlineoverride

vector of errors

Definition at line 208 of file AttitudeFactor.h.

◆ print()

void gtsam::Pose3AttitudeFactor::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 61 of file AttitudeFactor.cpp.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:06