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

#include <TOAFactor.h>

Inheritance diagram for gtsam::TOAFactor:

[legend]

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< GaussianFactor >	linearize (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 SharedNoiseModel &	noiseModel () 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 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 ()

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< 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::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< int >	dims_
	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

eventExpression	expression yielding an event
sensorExpression	expression yielding a sensor location
toaMeasurement	time of arrival at sensor
model	noise model
speed	optional 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

eventExpression	expression yielding an event
sensor	a known sensor location
toaMeasurement	time of arrival at sensor
model	noise model
toa	optional 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:

TOAFactor.h

Public Member Functions

Static Public Member Functions

Private Types

Additional Inherited Members