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46 using Base::evaluateError;
72 return std::static_pointer_cast<gtsam::NonlinearFactor>(
95 static std::pair<Pose3, Vector3> EstimateState(
double t1,
const Point3& NED1,
96 double t2,
const Point3& NED2,
double timestamp);
100 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
101 friend class boost::serialization::access;
103 template<
class ARCHIVE>
104 void serialize(ARCHIVE & ar,
const unsigned int ) {
107 & boost::serialization::make_nvp(
"NoiseModelFactor1",
108 boost::serialization::base_object<Base>(*
this));
109 ar & BOOST_SERIALIZATION_NVP(nT_);
129 using Base::evaluateError;
149 return std::static_pointer_cast<gtsam::NonlinearFactor>(
169 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
170 friend class boost::serialization::access;
172 template<
class ARCHIVE>
173 void serialize(ARCHIVE & ar,
const unsigned int ) {
176 & boost::serialization::make_nvp(
"NoiseModelFactor1",
177 boost::serialization::base_object<Base>(*
this));
178 ar & BOOST_SERIALIZATION_NVP(nT_);
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std::shared_ptr< This > shared_ptr
const Point3 & measurementIn() const
GPSFactor This
Typedef to this class.
NoiseModelFactorN< NavState > Base
Array< double, 1, 3 > e(1./3., 0.5, 2.)
std::shared_ptr< GPSFactor > shared_ptr
shorthand for a smart pointer to a factor
Point3 nT_
Position measurement in cartesian coordinates.
GPSFactor(Key key, const Point3 &gpsIn, const SharedNoiseModel &model)
Constructor from a measurement in a Cartesian frame. Use GeographicLib to convert from geographic (la...
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
GPSFactor2()
default constructor - only use for serialization
gtsam::NonlinearFactor::shared_ptr clone() const override
std::shared_ptr< GPSFactor2 > shared_ptr
shorthand for a smart pointer to a factor
void print(const Matrix &A, const string &s, ostream &stream)
Point3 nT_
Position measurement in cartesian coordinates.
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Navigation state composing of attitude, position, and velocity.
noiseModel::Base::shared_ptr SharedNoiseModel
NoiseModelFactorN< Pose3 > Base
noiseModel::Diagonal::shared_ptr model
const gtsam::Symbol key('X', 0)
Non-linear factor base classes.
gtsam::NonlinearFactor::shared_ptr clone() const override
GPSFactor2(Key key, const Point3 &gpsIn, const SharedNoiseModel &model)
Constructor from a measurement in a Cartesian frame.
Matrix * OptionalMatrixType
std::uint64_t Key
Integer nonlinear key type.
const Point3 & measurementIn() const
GPSFactor2 This
Typedef to this class.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:40