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

A "Time of Arrival" factor - so little code seems hardly worth it :-) More...

#include <TOAFactor.h>

Inheritance diagram for gtsam::TOAFactor:
Inheritance graph
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Public Member Functions

 TOAFactor (const Expression< Event > &eventExpression, const Expression< Point3 > &sensorExpression, double toaMeasurement, const SharedNoiseModel &model, double speed=330)
 
 TOAFactor (const Expression< Event > &eventExpression, const Point3 &sensor, double toaMeasurement, const SharedNoiseModel &model, double speed=330)
 
- Public Member Functions inherited from gtsam::ExpressionFactor< double >
gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &f, double tol) const override
 equals relies on Testable traits being defined for T More...
 
 ExpressionFactor (const SharedNoiseModel &noiseModel, const double &measurement, const Expression< double > &expression)
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const double & measured () const
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print relies on Testable traits being defined for T More...
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
 ~ExpressionFactor () override
 Destructor. More...
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
double error (const Values &c) const override
 
const SharedNoiseModelnoiseModel () 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 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 void InsertEvent (Key key, const Event &event, std::shared_ptr< Values > values)
 

Private Types

typedef Expression< double > Double_
 

Additional Inherited Members

- Public Types inherited from gtsam::ExpressionFactor< double >
typedef std::shared_ptr< ExpressionFactor< double > > shared_ptr
 
- 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::ExpressionFactor< double >
typedef ExpressionFactor< double > This
 
- 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::ExpressionFactor< double >
virtual Expression< double > expression () const
 
 ExpressionFactor ()
 
 ExpressionFactor (const SharedNoiseModel &noiseModel, const double &measurement)
 Default constructor, for serialization. More...
 
void initialize (const Expression< double > &expression)
 Initialize with constructor arguments. 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)
 
- Protected Attributes inherited from gtsam::ExpressionFactor< double >
FastVector< intdims_
 dimensions of the Jacobian matrices More...
 
Expression< double > expression_
 the expression that is AD enabled More...
 
double measured_
 the measurement to be compared with the expression More...
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 
- Static Protected Attributes inherited from gtsam::ExpressionFactor< double >
static const int Dim
 

Detailed Description

A "Time of Arrival" factor - so little code seems hardly worth it :-)

Definition at line 28 of file TOAFactor.h.

Member Typedef Documentation

◆ Double_

typedef Expression<double> gtsam::TOAFactor::Double_
private

Definition at line 29 of file TOAFactor.h.

Constructor & Destructor Documentation

◆ TOAFactor() [1/2]

gtsam::TOAFactor::TOAFactor ( const Expression< Event > &  eventExpression,
const Expression< Point3 > &  sensorExpression,
double  toaMeasurement,
const SharedNoiseModel model,
double  speed = 330 
)
inline

Most general constructor with two expressions

Parameters
eventExpressionexpression yielding an event
sensorExpressionexpression yielding a sensor location
toaMeasurementtime of arrival at sensor
modelnoise model
speedoptional speed of signal, in m/sec

Definition at line 40 of file TOAFactor.h.

◆ TOAFactor() [2/2]

gtsam::TOAFactor::TOAFactor ( const Expression< Event > &  eventExpression,
const Point3 sensor,
double  toaMeasurement,
const SharedNoiseModel model,
double  speed = 330 
)
inline

Constructor with fixed sensor

Parameters
eventExpressionexpression yielding an event
sensora known sensor location
toaMeasurementtime of arrival at sensor
modelnoise model
toaoptional time of arrival functor

Definition at line 55 of file TOAFactor.h.

Member Function Documentation

◆ InsertEvent()

static void gtsam::TOAFactor::InsertEvent ( Key  key,
const Event event,
std::shared_ptr< Values values 
)
inlinestatic

Definition at line 61 of file TOAFactor.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:13