Public Member Functions | Protected Attributes | Friends | List of all members
rtabmap::GravityFactor Class Reference

#include <GravityFactor.h>

Inheritance diagram for rtabmap::GravityFactor:
Inheritance graph
[legend]

Public Member Functions

Vector attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H=boost::none) const
 
 GravityFactor ()
 
 GravityFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1))
 Constructor. More...
 
template<class ARCHIVE >
void serialize (ARCHIVE &ar, const unsigned int)
 

Protected Attributes

const Unit3 bRef_
 Position measurement in. More...
 
const Unit3 nZ_
 

Friends

class boost::serialization::access
 

Detailed Description

Definition at line 43 of file GravityFactor.h.

Constructor & Destructor Documentation

◆ GravityFactor() [1/2]

rtabmap::GravityFactor::GravityFactor ( )
inline

default constructor - only use for serialization

Definition at line 52 of file GravityFactor.h.

◆ GravityFactor() [2/2]

rtabmap::GravityFactor::GravityFactor ( const Unit3 &  nZ,
const Unit3 &  bRef = Unit3(0, 0, 1) 
)
inline

Constructor.

Parameters
nZmeasured direction in navigation frame
bRefreference direction in body frame (default Z-axis in NED frame, i.e., [0; 0; 1])

Definition at line 60 of file GravityFactor.h.

Member Function Documentation

◆ attitudeError()

Vector rtabmap::GravityFactor::attitudeError ( const Rot3 &  p,
OptionalJacobian< 2, 3 >  H = boost::none 
) const

vector of errors

Definition at line 33 of file GravityFactor.cpp.

◆ serialize()

template<class ARCHIVE >
void rtabmap::GravityFactor::serialize ( ARCHIVE &  ar,
const unsigned  int 
)
inline

Definition at line 71 of file GravityFactor.h.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access
friend

Serialization function

Definition at line 69 of file GravityFactor.h.

Member Data Documentation

◆ bRef_

const Unit3 rtabmap::GravityFactor::bRef_
protected

Position measurement in.

Definition at line 47 of file GravityFactor.h.

◆ nZ_

const Unit3 rtabmap::GravityFactor::nZ_
protected

Definition at line 47 of file GravityFactor.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00