gtsam::Switching Struct Reference

#include <Switching.h>

Public Member Functions
void	addModeChain (HybridNonlinearFactorGraph *fg, std::string discrete_transition_prob="1/2 3/2")
	Add "mode chain" to HybridNonlinearFactorGraph from M(0) to M(K-2). E.g. if K=4, we want M0, M1 and M2. More...
void	addModeChain (HybridGaussianFactorGraph *fg, std::string discrete_transition_prob="1/2 3/2")
	Add "mode chain" to HybridGaussianFactorGraph from M(0) to M(K-2). E.g. if K=4, we want M0, M1 and M2. More...
	Switching (size_t K, double between_sigma=1.0, double prior_sigma=0.1, std::vector< double > measurements={}, std::string discrete_transition_prob="1/2 3/2")
	Create with given number of time steps. More...

Static Public Member Functions
static std::vector< MotionModel::shared_ptr >	motionModels (size_t k, double sigma=1.0)

Public Attributes
size_t	K
Values	linearizationPoint
HybridGaussianFactorGraph	linearizedFactorGraph
DiscreteKeys	modes
HybridNonlinearFactorGraph	nonlinearFactorGraph

Detailed Description

Definition at line 120 of file Switching.h.

Constructor & Destructor Documentation

Switching()

gtsam::Switching::Switching ( size_t  K, double  between_sigma = 1.0, double  prior_sigma = 0.1, std::vector< double >  measurements = {}, std::string  discrete_transition_prob = "1/2 3/2"  )

inline

Create with given number of time steps.

Parameters

K	The total number of timesteps.
between_sigma	The stddev between poses.
prior_sigma	The stddev on priors (also used for measurements).
measurements	Vector of measurements for each timestep.

Definition at line 135 of file Switching.h.

Member Function Documentation

addModeChain() [1/2]

void gtsam::Switching::addModeChain ( HybridNonlinearFactorGraph *  fg, std::string  discrete_transition_prob = "1/2 3/2"  )

inline

Add "mode chain" to HybridNonlinearFactorGraph from M(0) to M(K-2). E.g. if K=4, we want M0, M1 and M2.

Parameters

fg	The nonlinear factor graph to which the mode chain is added.

Definition at line 207 of file Switching.h.

addModeChain() [2/2]

void gtsam::Switching::addModeChain ( HybridGaussianFactorGraph *  fg, std::string  discrete_transition_prob = "1/2 3/2"  )

inline

Add "mode chain" to HybridGaussianFactorGraph from M(0) to M(K-2). E.g. if K=4, we want M0, M1 and M2.

Parameters

fg	The gaussian factor graph to which the mode chain is added.

Definition at line 223 of file Switching.h.

motionModels()

static std::vector<MotionModel::shared_ptr> gtsam::Switching::motionModels ( size_t  k, double  sigma = 1.0  )

inlinestatic

Definition at line 191 of file Switching.h.

Member Data Documentation

K

size_t gtsam::Switching::K

Definition at line 121 of file Switching.h.

linearizationPoint

Values gtsam::Switching::linearizationPoint

Definition at line 125 of file Switching.h.

linearizedFactorGraph

HybridGaussianFactorGraph gtsam::Switching::linearizedFactorGraph

Definition at line 124 of file Switching.h.

modes

DiscreteKeys gtsam::Switching::modes

Definition at line 122 of file Switching.h.

nonlinearFactorGraph

HybridNonlinearFactorGraph gtsam::Switching::nonlinearFactorGraph

Definition at line 123 of file Switching.h.

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

• Switching.h