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gtsam::NonlinearFactor::shared_ptr | clone () const override |
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| DiscreteEulerPoincareHelicopter (Key xiKey1, Key xiKey_1, Key gKey, double h, const Matrix &Inertia, const Vector &Fu, double m, double mu=1000.0) |
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Vector | evaluateError (const Vector6 &xik, const Vector6 &xik_1, const Pose3 &gk, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override |
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| ~DiscreteEulerPoincareHelicopter () override |
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Key | key () const |
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virtual Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0 |
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Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
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| ~NoiseModelFactorN () override |
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| NoiseModelFactorN () |
| Default Constructor for I/O. More...
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| NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys) |
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| NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys) |
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Vector | unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override |
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virtual Vector | evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0 |
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Vector | evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const |
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Vector | evaluateError (const ValueTypes &... x) const |
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AreAllMatrixRefs< Vector, OptionalJacArgs... > | evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const |
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AreAllMatrixPtrs< Vector, OptionalJacArgs... > | evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const |
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Key | key1 () const |
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Key | key2 () const |
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Key | key3 () const |
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Key | key4 () const |
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Key | key5 () const |
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Key | key6 () const |
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shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
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size_t | dim () const override |
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bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
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double | error (const Values &c) const override |
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std::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
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const SharedNoiseModel & | noiseModel () const |
| access to the noise model More...
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| NoiseModelFactor () |
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template<typename CONTAINER > |
| NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) |
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void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
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Vector | unweightedWhitenedError (const Values &c) const |
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Vector | unwhitenedError (const Values &x, std::vector< Matrix > &H) const |
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double | weight (const Values &c) const |
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Vector | whitenedError (const Values &c) const |
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| ~NoiseModelFactor () override |
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| NonlinearFactor () |
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template<typename CONTAINER > |
| NonlinearFactor (const CONTAINER &keys) |
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double | error (const HybridValues &c) const override |
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virtual bool | active (const Values &) const |
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virtual shared_ptr | rekey (const std::map< Key, Key > &rekey_mapping) const |
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virtual shared_ptr | rekey (const KeyVector &new_keys) const |
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virtual bool | sendable () const |
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virtual | ~Factor ()=default |
| Default destructor. More...
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bool | empty () const |
| Whether the factor is empty (involves zero variables). More...
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Key | front () const |
| First key. More...
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Key | back () const |
| Last key. More...
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const_iterator | find (Key key) const |
| find More...
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const KeyVector & | keys () const |
| Access the factor's involved variable keys. More...
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const_iterator | begin () const |
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const_iterator | end () const |
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size_t | size () const |
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virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print only keys More...
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bool | equals (const This &other, double tol=1e-9) const |
| check equality More...
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KeyVector & | keys () |
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iterator | begin () |
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iterator | end () |
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using | ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type |
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typedef std::shared_ptr< This > | shared_ptr |
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typedef std::shared_ptr< This > | shared_ptr |
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typedef KeyVector::const_iterator | const_iterator |
| Const iterator over keys. More...
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typedef KeyVector::iterator | iterator |
| Iterator over keys. More...
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constexpr static auto | N |
| N is the number of variables (N-way factor) More...
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using | Base = NoiseModelFactor |
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using | KeyType = Key |
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using | MatrixTypeT = Matrix |
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using | OptionalMatrixTypeT = Matrix * |
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using | This = NoiseModelFactorN< ValueTypes... > |
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using | IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type |
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using | IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type |
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using | ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type |
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using | IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key > |
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using | AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret > |
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using | IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * > |
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using | IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t > |
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using | AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value||IsNullpointer< Args >::value)), Ret > |
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typedef NonlinearFactor | Base |
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typedef NoiseModelFactor | This |
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typedef Factor | Base |
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typedef NonlinearFactor | This |
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| NoiseModelFactor (const SharedNoiseModel &noiseModel) |
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| Factor () |
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template<typename CONTAINER > |
| Factor (const CONTAINER &keys) |
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template<typename ITERATOR > |
| Factor (ITERATOR first, ITERATOR last) |
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template<typename CONTAINER > |
static Factor | FromKeys (const CONTAINER &keys) |
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template<typename ITERATOR > |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
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SharedNoiseModel | noiseModel_ |
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KeyVector | keys_ |
| The keys involved in this factor. More...
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Implement the Discrete Euler-Poincare' equation:
Definition at line 79 of file SimpleHelicopter.h.
double gtsam::DiscreteEulerPoincareHelicopter::m_ |
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private |
F is the 6xc Control matrix, where c is the number of control variables uk, which directly change the vehicle pose (e.g., gas/brake/speed) F(.) is actually a function of the shape variables, which do not change the pose, but affect the vehicle's shape, e.g. steering wheel. Fu_ encodes everything we need to know about the vehicle's dynamics.
Definition at line 86 of file SimpleHelicopter.h.