gtsam::Switching Struct Reference

ϕ(X(0)) .. ϕ(X(k),X(k+1)) .. ϕ(X(k);z_k) .. ϕ(M(0)) .. ϕ(M(K-3),M(K-2)) More...

#include <Switching.h>

Public Member Functions
HybridNonlinearFactorGraph	createModeChain (std::string transitionProbabilityTable="1/2 3/2")
	Add "mode chain" to HybridNonlinearFactorGraph from M(0) to M(K-2). E.g. if K=4, we want M0, M1 and M2. More...
HybridGaussianFactorGraph	linearizedFactorGraph () const
	Get the full linear factor graph. More...
HybridNonlinearFactorGraph	nonlinearFactorGraph () const
	Get all the nonlinear factors. More...
	Switching (size_t K, double between_sigma=1.0, double prior_sigma=0.1, std::vector< double > measurements={}, std::string transitionProbabilityTable="1/2 3/2")
	Create with given number of time steps. More...

Static Public Member Functions
static std::vector< NoiseModelFactor::shared_ptr >	motionModels (size_t k, double sigma=1.0)

Public Attributes
HybridNonlinearFactorGraph	binaryFactors
size_t	K
HybridGaussianFactorGraph	linearBinaryFactors
Values	linearizationPoint
HybridGaussianFactorGraph	linearUnaryFactors
HybridNonlinearFactorGraph	modeChain
DiscreteKeys	modes
HybridNonlinearFactorGraph	unaryFactors

Detailed Description

ϕ(X(0)) .. ϕ(X(k),X(k+1)) .. ϕ(X(k);z_k) .. ϕ(M(0)) .. ϕ(M(K-3),M(K-2))

Definition at line 124 of file Switching.h.

Constructor & Destructor Documentation

Switching()

gtsam::Switching::Switching ( size_t  K, double  between_sigma = 1.0, double  prior_sigma = 0.1, std::vector< double >  measurements = {}, std::string  transitionProbabilityTable = "1/2 3/2"  )

inline

Create with given number of time steps.

Parameters

K	The total number of timesteps.
between_sigma	The stddev between poses.
prior_sigma	The stddev on priors (also used for measurements).
measurements	Vector of measurements for each timestep.

Definition at line 140 of file Switching.h.

Member Function Documentation

createModeChain()

HybridNonlinearFactorGraph gtsam::Switching::createModeChain ( std::string  transitionProbabilityTable = "1/2 3/2" )

inline

Add "mode chain" to HybridNonlinearFactorGraph from M(0) to M(K-2). E.g. if K=4, we want M0, M1 and M2.

Parameters

fg	The factor graph to which the mode chain is added.

Definition at line 207 of file Switching.h.

linearizedFactorGraph()

HybridGaussianFactorGraph gtsam::Switching::linearizedFactorGraph ( ) const

inline

Get the full linear factor graph.

Definition at line 220 of file Switching.h.

motionModels()

static std::vector<NoiseModelFactor::shared_ptr> gtsam::Switching::motionModels ( size_t  k, double  sigma = 1.0  )

inlinestatic

Definition at line 191 of file Switching.h.

nonlinearFactorGraph()

HybridNonlinearFactorGraph gtsam::Switching::nonlinearFactorGraph ( ) const

inline

Get all the nonlinear factors.

Definition at line 229 of file Switching.h.

Member Data Documentation

binaryFactors

HybridNonlinearFactorGraph gtsam::Switching::binaryFactors

Definition at line 128 of file Switching.h.

K

size_t gtsam::Switching::K

Definition at line 126 of file Switching.h.

linearBinaryFactors

HybridGaussianFactorGraph gtsam::Switching::linearBinaryFactors

Definition at line 129 of file Switching.h.

linearizationPoint

Values gtsam::Switching::linearizationPoint

Definition at line 130 of file Switching.h.

linearUnaryFactors

HybridGaussianFactorGraph gtsam::Switching::linearUnaryFactors

Definition at line 129 of file Switching.h.

modeChain

HybridNonlinearFactorGraph gtsam::Switching::modeChain

Definition at line 128 of file Switching.h.

modes

DiscreteKeys gtsam::Switching::modes

Definition at line 127 of file Switching.h.

unaryFactors

HybridNonlinearFactorGraph gtsam::Switching::unaryFactors

Definition at line 128 of file Switching.h.

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

• Switching.h