Public Types | Public Member Functions | Private Types | Private Attributes | List of all members
gtsam::ImuFactor Class Reference

#include <ImuFactor.h>

Inheritance diagram for gtsam::ImuFactor:
Inheritance graph
[legend]

Public Types

typedef std::shared_ptr< ImuFactorshared_ptr
 
- Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
using ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< Thisshared_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
 
Vector evaluateError (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3, OptionalMatrixType H4, OptionalMatrixType H5) const override
 vector of errors More...
 
 ImuFactor ()
 
 ImuFactor (Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedImuMeasurements &preintegratedMeasurements)
 
const PreintegratedImuMeasurementspreintegratedMeasurements () const
 
 ~ImuFactor () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
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< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () 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 KeyVectorkeys () 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...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Types

typedef NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBiasBase
 
typedef ImuFactor This
 

Private Attributes

PreintegratedImuMeasurements _PIM_
 

Testable

void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print More...
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 
GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const ImuFactor &)
 

Additional Inherited Members

- Static Public Attributes inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
constexpr static auto N
 N is the number of variables (N-way factor) More...
 
- Protected Types inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias >
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

ImuFactor is a 5-ways factor involving previous state (pose and velocity of the vehicle at previous time step), current state (pose and velocity at current time step), and the bias estimate. Following the preintegration scheme proposed in [2], the ImuFactor includes many IMU measurements, which are "summarized" using the PreintegratedIMUMeasurements class. Note that this factor does not model "temporal consistency" of the biases (which are usually slowly varying quantities), which is up to the caller. See also CombinedImuFactor for a class that does this for you.

Definition at line 169 of file ImuFactor.h.

Member Typedef Documentation

◆ Base

Definition at line 175 of file ImuFactor.h.

◆ shared_ptr

typedef std::shared_ptr<ImuFactor> gtsam::ImuFactor::shared_ptr

Shorthand for a smart pointer to a factor

Definition at line 188 of file ImuFactor.h.

◆ This

Definition at line 173 of file ImuFactor.h.

Constructor & Destructor Documentation

◆ ImuFactor() [1/2]

gtsam::ImuFactor::ImuFactor ( )
inline

Default constructor - only use for serialization

Definition at line 192 of file ImuFactor.h.

◆ ImuFactor() [2/2]

gtsam::ImuFactor::ImuFactor ( Key  pose_i,
Key  vel_i,
Key  pose_j,
Key  vel_j,
Key  bias,
const PreintegratedImuMeasurements preintegratedMeasurements 
)

Constructor

Parameters
pose_iPrevious pose key
vel_iPrevious velocity key
pose_jCurrent pose key
vel_jCurrent velocity key
biasPrevious bias key
preintegratedMeasurementsThe preintegreated measurements since the last pose.

Definition at line 116 of file ImuFactor.cpp.

◆ ~ImuFactor()

gtsam::ImuFactor::~ImuFactor ( )
inlineoverride

Definition at line 207 of file ImuFactor.h.

Member Function Documentation

◆ clone()

NonlinearFactor::shared_ptr gtsam::ImuFactor::clone ( ) const
overridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 123 of file ImuFactor.cpp.

◆ equals()

bool gtsam::ImuFactor::equals ( const NonlinearFactor f,
double  tol = 1e-9 
) const
overridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 145 of file ImuFactor.cpp.

◆ evaluateError()

Vector gtsam::ImuFactor::evaluateError ( const Pose3 pose_i,
const Vector3 vel_i,
const Pose3 pose_j,
const Vector3 vel_j,
const imuBias::ConstantBias bias_i,
OptionalMatrixType  H1,
OptionalMatrixType  H2,
OptionalMatrixType  H3,
OptionalMatrixType  H4,
OptionalMatrixType  H5 
) const
override

vector of errors

implement functions needed to derive from Factor

Definition at line 153 of file ImuFactor.cpp.

◆ preintegratedMeasurements()

const PreintegratedImuMeasurements& gtsam::ImuFactor::preintegratedMeasurements ( ) const
inline

Access the preintegrated measurements.

Definition at line 223 of file ImuFactor.h.

◆ print()

void gtsam::ImuFactor::print ( const std::string &  s = "",
const KeyFormatter formatter = DefaultKeyFormatter 
) const
overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 136 of file ImuFactor.cpp.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const ImuFactor f 
)
friend

Definition at line 129 of file ImuFactor.cpp.

Member Data Documentation

◆ _PIM_

PreintegratedImuMeasurements gtsam::ImuFactor::_PIM_
private

Definition at line 177 of file ImuFactor.h.


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


gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:23:54