BarometricFactor.cpp
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
19 #include "BarometricFactor.h"
20 
21 using namespace std;
22 
23 namespace gtsam {
24 
25 //***************************************************************************
26 void BarometricFactor::print(const string& s,
27  const KeyFormatter& keyFormatter) const {
28  cout << (s.empty() ? "" : s + " ") << "Barometric Factor on "
29  << keyFormatter(key<1>()) << "Barometric Bias on "
30  << keyFormatter(key<2>()) << "\n";
31 
32  cout << " Baro measurement: " << nT_ << "\n";
33  noiseModel_->print(" noise model: ");
34 }
35 
36 //***************************************************************************
37 bool BarometricFactor::equals(const NonlinearFactor& expected,
38  double tol) const {
39  const This* e = dynamic_cast<const This*>(&expected);
40  return e != nullptr && Base::equals(*e, tol) &&
41  traits<double>::Equals(nT_, e->nT_, tol);
42 }
43 
44 //***************************************************************************
45 Vector BarometricFactor::evaluateError(const Pose3& p, const double& bias,
47  OptionalMatrixType H2) const {
48  Matrix tH;
49  Vector ret = (Vector(1) << (p.translation(tH).z() + bias - nT_)).finished();
50  if (H) (*H) = tH.block<1, 6>(2, 0);
51  if (H2) (*H2) = (Matrix(1, 1) << 1.0).finished();
52  return ret;
53 }
54 
55 } // namespace gtsam
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Definition: gnuplot_common_settings.hh:74
Eigen::internal::print
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e
Array< double, 1, 3 > e(1./3., 0.5, 2.)
BarometricFactor.h
Header file for Barometric factor.
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Definition: level1_cplx_impl.h:44
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Definition: base/Matrix.h:39
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Definition: Factor.h:70
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Definition: Vector.h:39
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Definition: gtsam/3rdparty/ceres/eigen.h:42
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std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
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Definition: Pose3.h:37
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gtsam::NonlinearFactor
Definition: NonlinearFactor.h:69
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Definition: gtsam/3rdparty/ceres/eigen.h:38


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