#include <VelocityConstraint.h>

Inheritance diagram for gtsam::VelocityConstraint:

[legend]

Public Types
typedef gtsam::NoiseModelFactor2< PoseRTV, PoseRTV >	Base

Public Types inherited from gtsam::NoiseModelFactorN< PoseRTV, PoseRTV >
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...

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

gtsam::Vector	evaluateError (const PoseRTV &x1, const PoseRTV &x2, OptionalMatrixType H1, OptionalMatrixType H2) const override

void	print (const std::string &s="", const gtsam::KeyFormatter &formatter=gtsam::DefaultKeyFormatter) const override

	VelocityConstraint (Key key1, Key key2, const dynamics::IntegrationMode &mode, double dt, double mu=1000)

	VelocityConstraint (Key key1, Key key2, double dt, double mu=1000)

	VelocityConstraint (Key key1, Key key2, const dynamics::IntegrationMode &mode, double dt, const gtsam::SharedNoiseModel &model)

	VelocityConstraint (Key key1, Key key2, double dt, const gtsam::SharedNoiseModel &model)

	~VelocityConstraint () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< PoseRTV, PoseRTV >
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)

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 ()

Protected Attributes
double	dt_

dynamics::IntegrationMode	integration_mode_
	time difference between frames in seconds 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 Private Member Functions
static gtsam::Vector	evaluateError_ (const PoseRTV &x1, const PoseRTV &x2, double dt, const dynamics::IntegrationMode &mode)

Additional Inherited Members
Protected Types inherited from gtsam::NoiseModelFactorN< PoseRTV, PoseRTV >
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)

Detailed Description

Constraint to enforce dynamics between the velocities and poses, using a prediction based on a numerical integration flag.

NOTE: this approximation is insufficient for large timesteps, but is accurate if timesteps are small.

Definition at line 33 of file VelocityConstraint.h.

Member Typedef Documentation

◆ Base

typedef gtsam::NoiseModelFactor2<PoseRTV,PoseRTV> gtsam::VelocityConstraint::Base

Definition at line 35 of file VelocityConstraint.h.

Constructor & Destructor Documentation

◆ VelocityConstraint() [1/4]

gtsam::VelocityConstraint::VelocityConstraint	(	Key	key1,
		Key	key2,
		const dynamics::IntegrationMode &	mode,
		double	dt,
		double	mu = `1000`
	)

inline

Creates a constraint relating the given variables with fully constrained noise model

Definition at line 50 of file VelocityConstraint.h.

◆ VelocityConstraint() [2/4]

gtsam::VelocityConstraint::VelocityConstraint	(	Key	key1,
		Key	key2,
		double	dt,
		double	mu = `1000`
	)

inline

Creates a constraint relating the given variables with fully constrained noise model Uses the default Trapezoidal integrator

Definition at line 58 of file VelocityConstraint.h.

◆ VelocityConstraint() [3/4]

gtsam::VelocityConstraint::VelocityConstraint	(	Key	key1,
		Key	key2,
		const dynamics::IntegrationMode &	mode,
		double	dt,
		const gtsam::SharedNoiseModel &	model
	)

inline

Creates a constraint relating the given variables with arbitrary noise model

Definition at line 65 of file VelocityConstraint.h.

◆ VelocityConstraint() [4/4]

gtsam::VelocityConstraint::VelocityConstraint	(	Key	key1,
		Key	key2,
		double	dt,
		const gtsam::SharedNoiseModel &	model
	)

inline

Creates a constraint relating the given variables with arbitrary noise model Uses the default Trapezoidal integrator

Definition at line 73 of file VelocityConstraint.h.

◆ ~VelocityConstraint()

gtsam::VelocityConstraint::~VelocityConstraint ( )

inlineoverride

Definition at line 76 of file VelocityConstraint.h.

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::VelocityConstraint::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 79 of file VelocityConstraint.h.

◆ evaluateError()

gtsam::Vector gtsam::VelocityConstraint::evaluateError	(	const PoseRTV &	x1,
		const PoseRTV &	x2,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2
	)		const

inlineoverride

Calculates the error for trapezoidal model given

Definition at line 86 of file VelocityConstraint.h.

◆ evaluateError_()

static gtsam::Vector gtsam::VelocityConstraint::evaluateError_	(	const PoseRTV &	x1,
		const PoseRTV &	x2,
		double	dt,
		const dynamics::IntegrationMode &	mode
	)

inlinestaticprivate

Definition at line 110 of file VelocityConstraint.h.

◆ print()

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

inlineoverridevirtual

Print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 97 of file VelocityConstraint.h.

Member Data Documentation

◆ dt_

double gtsam::VelocityConstraint::dt_

protected

Definition at line 42 of file VelocityConstraint.h.

◆ integration_mode_

dynamics::IntegrationMode gtsam::VelocityConstraint::integration_mode_

protected

time difference between frames in seconds

Numerical integration control

Definition at line 43 of file VelocityConstraint.h.

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

VelocityConstraint.h

Public Types

Public Member Functions

Protected Attributes

Static Private Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ VelocityConstraint() [1/4]

◆ VelocityConstraint() [2/4]

◆ VelocityConstraint() [3/4]

◆ VelocityConstraint() [4/4]

◆ ~VelocityConstraint()

Member Function Documentation

◆ clone()

◆ evaluateError()

◆ evaluateError_()

◆ print()

Member Data Documentation

◆ dt_

◆ integration_mode_