#include <GPSFactor.h>

Inheritance diagram for gtsam::GPSFactor:

[legend]

Public Types
typedef std::shared_ptr< GPSFactor >	shared_ptr
	shorthand for a smart pointer to a factor More...

typedef GPSFactor	This
	Typedef to this class. More...

Public Types inherited from gtsam::NoiseModelFactorN< Pose3 >
using	ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type

Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< This >	shared_ptr

Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator	const_iterator
	Const iterator over keys. More...

typedef KeyVector::iterator	iterator
	Iterator over keys. More...

Public Member Functions
gtsam::NonlinearFactor::shared_ptr	clone () const override

bool	equals (const NonlinearFactor &expected, double tol=1e-9) const override
	equals More...

Vector	evaluateError (const Pose3 &p, OptionalMatrixType H) const override
	vector of errors More...

	GPSFactor ()

	GPSFactor (Key key, const Point3 &gpsIn, const SharedNoiseModel &model)
	Constructor from a measurement in a Cartesian frame. Use GeographicLib to convert from geographic (latitude and longitude) coordinates. More...

const Point3 &	measurementIn () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print More...

	~GPSFactor () override

Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3 >
Key	key () const

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

	~NoiseModelFactorN () override

	NoiseModelFactorN ()
	Default Constructor for I/O. More...

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)

	NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

virtual Vector	evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0

Vector	evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const

Vector	evaluateError (const ValueTypes &... x) const

AreAllMatrixRefs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

AreAllMatrixPtrs< Vector, OptionalJacArgs... >	evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const

Key	key1 () const

Key	key2 () const

Key	key3 () const

Key	key4 () const

Key	key5 () const

Key	key6 () const

Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr	cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const

size_t	dim () const override

bool	equals (const NonlinearFactor &f, double tol=1e-9) const override

double	error (const Values &c) const override

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const SharedNoiseModel &	noiseModel () const
	access to the noise model More...

	NoiseModelFactor ()

template<typename CONTAINER >
	NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override

Vector	unweightedWhitenedError (const Values &c) const

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

double	weight (const Values &c) const

Vector	whitenedError (const Values &c) const

	~NoiseModelFactor () override

Public Member Functions inherited from gtsam::NonlinearFactor
	NonlinearFactor ()

template<typename CONTAINER >
	NonlinearFactor (const CONTAINER &keys)

double	error (const HybridValues &c) const override

virtual bool	active (const Values &) const

virtual shared_ptr	rekey (const std::map< Key, Key > &rekey_mapping) const

virtual shared_ptr	rekey (const KeyVector &new_keys) const

virtual bool	sendable () const

Public Member Functions inherited from gtsam::Factor
virtual	~Factor ()=default
	Default destructor. More...

bool	empty () const
	Whether the factor is empty (involves zero variables). More...

Key	front () const
	First key. More...

Key	back () const
	Last key. More...

const_iterator	find (Key key) const
	find More...

const KeyVector &	keys () const
	Access the factor's involved variable keys. More...

const_iterator	begin () const

const_iterator	end () const

size_t	size () const

virtual void	printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
	print only keys More...

bool	equals (const This &other, double tol=1e-9) const
	check equality More...

KeyVector &	keys ()

iterator	begin ()

iterator	end ()

Static Public Member Functions
static std::pair< Pose3, Vector3 >	EstimateState (double t1, const Point3 &NED1, double t2, const Point3 &NED2, double timestamp)

Private Types
typedef NoiseModelFactorN< Pose3 >	Base

Private Attributes
Point3	nT_
	Position measurement in cartesian coordinates. More...

Additional Inherited Members
Static Public Attributes inherited from gtsam::NoiseModelFactorN< Pose3 >
constexpr static auto	N
	N is the number of variables (N-way factor) More...

Protected Types inherited from gtsam::NoiseModelFactorN< Pose3 >
using	Base = NoiseModelFactor

using	KeyType = Key

using	MatrixTypeT = Matrix

using	OptionalMatrixTypeT = Matrix *

using	This = NoiseModelFactorN< ValueTypes... >

using	IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type

using	IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type

using	ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type

using	IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >

using	AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix & >::value), Ret >

using	IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix * >

using	IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >

using	AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value\|\|IsNullpointer< Args >::value)), Ret >

Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor	Base

typedef NoiseModelFactor	This

Protected Types inherited from gtsam::NonlinearFactor
typedef Factor	Base

typedef NonlinearFactor	This

Protected Member Functions inherited from gtsam::NoiseModelFactor
	NoiseModelFactor (const SharedNoiseModel &noiseModel)

Protected Member Functions inherited from gtsam::Factor
	Factor ()

template<typename CONTAINER >
	Factor (const CONTAINER &keys)

template<typename ITERATOR >
	Factor (ITERATOR first, ITERATOR last)

Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor	FromKeys (const CONTAINER &keys)

template<typename ITERATOR >
static Factor	FromIterators (ITERATOR first, ITERATOR last)

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

Protected Attributes inherited from gtsam::Factor
KeyVector	keys_
	The keys involved in this factor. More...

Detailed Description

Prior on position in a Cartesian frame. Possibilities include: ENU: East-North-Up navigation frame at some local origin NED: North-East-Down navigation frame at some local origin ECEF: Earth-centered Earth-fixed, origin at Earth's center See Farrell08book or e.g. http://www.dirsig.org/docs/new/coordinates.html

Definition at line 35 of file GPSFactor.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<Pose3> gtsam::GPSFactor::Base

private

Definition at line 39 of file GPSFactor.h.

◆ shared_ptr

typedef std::shared_ptr<GPSFactor> gtsam::GPSFactor::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 49 of file GPSFactor.h.

◆ This

typedef GPSFactor gtsam::GPSFactor::This

Typedef to this class.

Definition at line 52 of file GPSFactor.h.

Constructor & Destructor Documentation

◆ GPSFactor() [1/2]

gtsam::GPSFactor::GPSFactor ( )

inline

default constructor - only use for serialization

Definition at line 55 of file GPSFactor.h.

◆ ~GPSFactor()

gtsam::GPSFactor::~GPSFactor ( )

inlineoverride

Definition at line 57 of file GPSFactor.h.

◆ GPSFactor() [2/2]

gtsam::GPSFactor::GPSFactor	(	Key	key,
		const Point3 &	gpsIn,
		const SharedNoiseModel &	model
	)

inline

Constructor from a measurement in a Cartesian frame. Use GeographicLib to convert from geographic (latitude and longitude) coordinates.

Parameters

key	of the Pose3 variable that will be constrained
gpsIn	measurement already in correct coordinates
model	Gaussian noise model

Definition at line 66 of file GPSFactor.h.

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::GPSFactor::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 71 of file GPSFactor.h.

◆ equals()

bool gtsam::GPSFactor::equals	(	const NonlinearFactor &	expected,
		double	tol = `1e-9`
	)		const

overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 34 of file GPSFactor.cpp.

◆ EstimateState()

pair< Pose3, Vector3 > gtsam::GPSFactor::EstimateState	(	double	t1,
		const Point3 &	NED1,
		double	t2,
		const Point3 &	NED2,
		double	timestamp
	)

static

Convenience function to estimate state at time t, given two GPS readings (in local NED Cartesian frame) bracketing t Assumes roll is zero, calculates yaw and pitch from NED1->NED2 vector.

Definition at line 46 of file GPSFactor.cpp.

◆ evaluateError()

Vector gtsam::GPSFactor::evaluateError	(	const Pose3 &	p,
		OptionalMatrixType	H
	)		const

override

vector of errors

Definition at line 40 of file GPSFactor.cpp.

◆ measurementIn()

const Point3& gtsam::GPSFactor::measurementIn ( ) const

inline

Definition at line 86 of file GPSFactor.h.

◆ print()

void gtsam::GPSFactor::print	(	const std::string &	s = `""`,
		const KeyFormatter &	keyFormatter = `DefaultKeyFormatter`
	)		const

overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 26 of file GPSFactor.cpp.

Member Data Documentation

◆ nT_

Point3 gtsam::GPSFactor::nT_

private

Position measurement in cartesian coordinates.

Definition at line 41 of file GPSFactor.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ GPSFactor() [1/2]

◆ ~GPSFactor()

◆ GPSFactor() [2/2]

Member Function Documentation

◆ clone()

◆ equals()

◆ EstimateState()

◆ evaluateError()

◆ measurementIn()

◆ print()

Member Data Documentation

◆ nT_