#include <DynamicsPriors.h>
Inheritance diagram for gtsam::VelocityPrior:
Public Types | |
| typedef gtsam::PartialPriorFactor< PoseRTV > | Base |
 Public Types inherited from gtsam::PartialPriorFactor< PoseRTV > | |
| typedef PoseRTV | T |
| Public Types inherited from gtsam::NoiseModelFactorN< PoseRTV > | |
| 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 | |
| VelocityPrior (Key key, const gtsam::Vector &vel, const gtsam::SharedNoiseModel &model) | |
| Public Member Functions inherited from gtsam::PartialPriorFactor< PoseRTV > | |
| gtsam::NonlinearFactor::shared_ptr | clone () const override |
| bool | equals (const NonlinearFactor &expected, double tol=1e-9) const override |
| Vector | evaluateError (const T &p, OptionalMatrixType H) const override |
| const std::vector< size_t > & | indices () const |
| PartialPriorFactor () | |
| PartialPriorFactor (Key key, const std::vector< size_t > &indices, const Vector &prior, const SharedNoiseModel &model) | |
| PartialPriorFactor (Key key, size_t idx, double prior, const SharedNoiseModel &model) | |
| void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| const Vector & | prior () const |
| ~PartialPriorFactor () override | |
| Public Member Functions inherited from gtsam::NoiseModelFactorN< PoseRTV > | |
| 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 |
| 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) | |
| 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 | clone () 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 () |
Additional Inherited Members | |
| Static Public Attributes inherited from gtsam::NoiseModelFactorN< PoseRTV > | |
| constexpr static auto | N |
| N is the number of variables (N-way factor) More... | |
| Protected Types inherited from gtsam::PartialPriorFactor< PoseRTV > | |
| typedef NoiseModelFactorN< PoseRTV > | Base |
| typedef PartialPriorFactor< PoseRTV > | This |
| Protected Types inherited from gtsam::NoiseModelFactorN< PoseRTV > | |
| 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::PartialPriorFactor< PoseRTV > | |
| PartialPriorFactor (Key key, const SharedNoiseModel &model) | |
| 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::PartialPriorFactor< PoseRTV > | |
| std::vector< size_t > | indices_ |
| Indices of the measured tangent space parameters. More... | |
| Vector | prior_ |
| Measurement on tangent space parameters, in compressed form. More... | |
| 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
Constrains the full velocity of a state to a particular value Useful for enforcing a stationary state Dim: 3
Definition at line 60 of file DynamicsPriors.h.
Member Typedef Documentation
◆ Base
Definition at line 61 of file DynamicsPriors.h.
Constructor & Destructor Documentation
◆ VelocityPrior()
|
inline |
Definition at line 63 of file DynamicsPriors.h.
The documentation for this struct was generated from the following file: