#include <GravityFactor.h>
Inheritance diagram for rtabmap::GravityFactor:
Public Member Functions | |
| Vector | attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H=boost::none) const |
| GravityFactor () | |
| GravityFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1)) | |
| Constructor. More... | |
| template<class ARCHIVE > | |
| void | serialize (ARCHIVE &ar, const unsigned int) |
Protected Attributes | |
| const Unit3 | bRef_ |
| Position measurement in. More... | |
| const Unit3 | nZ_ |
Friends | |
| class | boost::serialization::access |
Detailed Description
Definition at line 43 of file GravityFactor.h.
Constructor & Destructor Documentation
◆ GravityFactor() [1/2]
|
inline |
default constructor - only use for serialization
Definition at line 52 of file GravityFactor.h.
◆ GravityFactor() [2/2]
|
inline |
Constructor.
- Parameters
-
nZ measured direction in navigation frame bRef reference direction in body frame (default Z-axis in NED frame, i.e., [0; 0; 1])
Definition at line 60 of file GravityFactor.h.
Member Function Documentation
◆ attitudeError()
| Vector rtabmap::GravityFactor::attitudeError | ( | const Rot3 & | p, |
| OptionalJacobian< 2, 3 > | H = boost::none |
||
| ) | const |
vector of errors
Definition at line 33 of file GravityFactor.cpp.
◆ serialize()
template<class ARCHIVE >
|
inline |
Definition at line 76 of file GravityFactor.h.
Friends And Related Function Documentation
◆ boost::serialization::access
|
friend |
Serialization function
Definition at line 74 of file GravityFactor.h.
Member Data Documentation
◆ bRef_
|
protected |
Position measurement in.
Definition at line 47 of file GravityFactor.h.
◆ nZ_
|
protected |
Definition at line 47 of file GravityFactor.h.
The documentation for this class was generated from the following files: