#include <Pendulum.h>

Inheritance diagram for gtsam::PendulumFactorPk:

[legend]

Public Types
typedef std::shared_ptr< PendulumFactorPk >	shared_ptr

Public Types inherited from gtsam::NoiseModelFactorN< double, double, double >
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

Vector	evaluateError (const double &pk, const double &qk, const double &qk1, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override

	PendulumFactorPk (Key pKey, Key qKey, Key qKey1, double h, double m=1.0, double r=1.0, double g=9.81, double alpha=0.0, double mu=1000.0)
	Constructor. More...

Public Member Functions inherited from gtsam::NoiseModelFactorN< double, double, double >
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 ()

Protected Types
typedef NoiseModelFactorN< double, double, double >	Base

Protected Types inherited from gtsam::NoiseModelFactorN< double, double, double >
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
	PendulumFactorPk ()

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)

Protected Attributes
double	alpha_
	gravity More...

double	g_
	length More...

double	h_

double	m_
	time step More...

double	r_
	mass More...

Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel	noiseModel_

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

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

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)

Detailed Description

This class implements the first position-momentum update rule $p_k = -D_1 L_d(q_k,q_{k+1},h) = \frac{1}{h}mr^{2}\left(q_{k+1}-q_{k}\right)+mgrh(1-\alpha)\,\sin\left((1-\alpha)q_{k}+\alpha q_{k+1}\right)$ $= (1/h)mr^2 (q_{k+1}-q_k) + mgrh(1-alpha) sin ((1-alpha)q_k+\alpha q_{k+1})$

Definition at line 120 of file Pendulum.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactorN<double, double, double> gtsam::PendulumFactorPk::Base

protected

Definition at line 124 of file Pendulum.h.

◆ shared_ptr

typedef std::shared_ptr<PendulumFactorPk > gtsam::PendulumFactorPk::shared_ptr

Definition at line 140 of file Pendulum.h.

Constructor & Destructor Documentation

◆ PendulumFactorPk() [1/2]

gtsam::PendulumFactorPk::PendulumFactorPk ( )

inlineprotected

default constructor to allow for serialization

Definition at line 127 of file Pendulum.h.

◆ PendulumFactorPk() [2/2]

gtsam::PendulumFactorPk::PendulumFactorPk	(	Key	pKey,
		Key	qKey,
		Key	qKey1,
		double	h,
		double	m = `1.0`,
		double	r = `1.0`,
		double	g = `9.81`,
		double	alpha = `0.0`,
		double	mu = `1000.0`
	)

inline

Constructor.

Definition at line 143 of file Pendulum.h.

Member Function Documentation

◆ clone()

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

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 149 of file Pendulum.h.

◆ evaluateError()

Vector gtsam::PendulumFactorPk::evaluateError	(	const double &	pk,
		const double &	qk,
		const double &	qk1,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3
	)		const

inlineoverride

1/h mr^2 (qk1-qk)+mgrh (1-a) sin((1-a)pk + a*pk1) - pk = 0, with optional derivatives

Definition at line 154 of file Pendulum.h.

Member Data Documentation

◆ alpha_

double gtsam::PendulumFactorPk::alpha_

protected

gravity

Definition at line 133 of file Pendulum.h.

◆ g_

double gtsam::PendulumFactorPk::g_

protected

length

Definition at line 132 of file Pendulum.h.

◆ h_

double gtsam::PendulumFactorPk::h_

protected

Definition at line 129 of file Pendulum.h.

◆ m_

double gtsam::PendulumFactorPk::m_

protected

time step

Definition at line 130 of file Pendulum.h.

◆ r_

double gtsam::PendulumFactorPk::r_

protected

mass

Definition at line 131 of file Pendulum.h.

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

Pendulum.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

Constructor & Destructor Documentation

◆ PendulumFactorPk() [1/2]

◆ PendulumFactorPk() [2/2]

Member Function Documentation

◆ clone()

◆ evaluateError()

Member Data Documentation

◆ alpha_

◆ g_

◆ h_

◆ m_

◆ r_