Go to the documentation of this file.
31 using namespace gtsam;
61 nZ_(nZ), bRef_(bRef) {
66 #
if GTSAM_VERSION_NUMERIC >= 40300
73 #if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_NUMERIC < 40300
74 friend class boost::serialization::access;
75 template<
class ARCHIVE>
77 ar & boost::serialization::make_nvp(
"nZ_",
const_cast<Unit3&
>(nZ_));
78 ar & boost::serialization::make_nvp(
"bRef_",
const_cast<Unit3&
>(bRef_));
89 typedef NoiseModelFactor1<Rot3>
Base;
94 #if GTSAM_VERSION_NUMERIC >= 40300
95 typedef std::shared_ptr<Rot3GravityFactor>
shared_ptr;
124 #if GTSAM_VERSION_NUMERIC >= 40300
125 return std::static_pointer_cast<gtsam::NonlinearFactor>(
127 return boost::static_pointer_cast<gtsam::NonlinearFactor>(
141 #
if GTSAM_VERSION_NUMERIC >= 40300
144 boost::optional<Matrix&>
H = boost::none)
const {
146 return attitudeError(
nRb,
H);
156 #if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_NUMERIC < 40300
158 friend class boost::serialization::access;
159 template<
class ARCHIVE>
161 ar & boost::serialization::make_nvp(
"NoiseModelFactor1",
162 boost::serialization::base_object<Base>(*
this));
163 ar & boost::serialization::make_nvp(
"GravityFactor",
164 boost::serialization::base_object<GravityFactor>(*
this));
180 typedef NoiseModelFactor1<Pose3>
Base;
185 #if GTSAM_VERSION_NUMERIC >= 40300
186 typedef std::shared_ptr<Pose3GravityFactor>
shared_ptr;
214 #if GTSAM_VERSION_NUMERIC >= 40300
215 return std::static_pointer_cast<gtsam::NonlinearFactor>(
217 return boost::static_pointer_cast<gtsam::NonlinearFactor>(
231 #
if GTSAM_VERSION_NUMERIC >= 40300
234 boost::optional<Matrix&>
H = boost::none)
const {
239 *
H = Matrix::Zero(2,6);
240 H->block<2,3>(0,0) = H23;
252 #if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_NUMERIC < 40300
254 friend class boost::serialization::access;
255 template<
class ARCHIVE>
257 ar & boost::serialization::make_nvp(
"NoiseModelFactor1",
258 boost::serialization::base_object<Base>(*
this));
259 ar & boost::serialization::make_nvp(
"GravityFactor",
260 boost::serialization::base_object<GravityFactor>(*
this));
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std::shared_ptr< This > shared_ptr
virtual ~Pose3GravityFactor()
NoiseModelFactor1< Pose3 > Base
void serialize(ARCHIVE &ar, const unsigned int)
virtual Vector evaluateError(const Rot3 &nRb, boost::optional< Matrix & > H=boost::none) const
NoiseModelFactor1< Rot3 > Base
KeyFormatter DefaultKeyFormatter
Rot3GravityFactor(Key key, const Unit3 &nZ, const SharedNoiseModel &model, const Unit3 &bRef=Unit3(0, 0, 1))
Constructor.
Rot3GravityFactor This
Typedef to this class.
GTSAM_EXPORT void print(const Errors &e, const std::string &s="Errors")
virtual gtsam::NonlinearFactor::shared_ptr clone() const
#define NoiseModelFactor1
std::function< std::string(Key)> KeyFormatter
virtual Vector evaluateError(const Pose3 &nTb, boost::optional< Matrix & > H=boost::none) const
virtual gtsam::NonlinearFactor::shared_ptr clone() const
noiseModel::Base::shared_ptr SharedNoiseModel
#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW
virtual ~Rot3GravityFactor()
void serialize(ARCHIVE &ar, const unsigned int)
boost::shared_ptr< Rot3GravityFactor > shared_ptr
shorthand for a smart pointer to a factor
const gtsam::Symbol key( 'X', 0)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
const Rot3 & rotation(OptionalJacobian< 3, 6 > Hself={}) const
void serialize(ARCHIVE &ar, const unsigned int)
const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1))
boost::shared_ptr< Pose3GravityFactor > shared_ptr
shorthand for a smart pointer to a factor
GravityFactor(const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1))
Constructor.
Pose3GravityFactor(Key key, const Unit3 &nZ, const SharedNoiseModel &model, const Unit3 &bRef=Unit3(0, 0, 1))
Constructor.
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:11