#include <GravityFactor.h>
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Unit3 | bRef () const |
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virtual gtsam::NonlinearFactor::shared_ptr | clone () const |
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virtual bool | equals (const NonlinearFactor &expected, double tol=1e-9) const |
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virtual Vector | evaluateError (const Pose3 &nTb, boost::optional< Matrix & > H=boost::none) const |
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Unit3 | nZ () const |
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| Pose3GravityFactor () |
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| Pose3GravityFactor (Key key, const Unit3 &nZ, const SharedNoiseModel &model, const Unit3 &bRef=Unit3(0, 0, 1)) |
| Constructor. More...
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virtual void | print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const |
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virtual | ~Pose3GravityFactor () |
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Vector | attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H=boost::none) const |
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| GravityFactor () |
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| GravityFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1)) |
| Constructor. More...
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template<class ARCHIVE > |
void | serialize (ARCHIVE &ar, const unsigned int) |
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template<class ARCHIVE > |
void | serialize (ARCHIVE &ar, const unsigned int) |
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Definition at line 177 of file GravityFactor.h.
◆ Base
◆ shared_ptr
◆ This
◆ Pose3GravityFactor() [1/2]
rtabmap::Pose3GravityFactor::Pose3GravityFactor |
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inline |
default constructor - only use for serialization
Definition at line 194 of file GravityFactor.h.
◆ ~Pose3GravityFactor()
virtual rtabmap::Pose3GravityFactor::~Pose3GravityFactor |
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inlinevirtual |
◆ Pose3GravityFactor() [2/2]
Constructor.
- Parameters
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key | of the Pose3 variable that will be constrained |
nZ | measured direction in navigation frame (remove yaw before rotating the gravity vector) |
model | Gaussian noise model |
bRef | reference direction in body frame (default Z-axis) |
Definition at line 207 of file GravityFactor.h.
◆ bRef()
Unit3 rtabmap::Pose3GravityFactor::bRef |
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const |
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inline |
◆ clone()
◆ equals()
bool rtabmap::Pose3GravityFactor::equals |
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const NonlinearFactor & |
expected, |
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double |
tol = 1e-9 |
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virtual |
◆ evaluateError()
virtual Vector rtabmap::Pose3GravityFactor::evaluateError |
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const Pose3 & |
nTb, |
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boost::optional< Matrix & > |
H = boost::none |
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inlinevirtual |
◆ nZ()
Unit3 rtabmap::Pose3GravityFactor::nZ |
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const |
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inline |
◆ print()
◆ serialize()
template<class ARCHIVE >
void rtabmap::Pose3GravityFactor::serialize |
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ARCHIVE & |
ar, |
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const unsigned int |
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inlineprivate |
◆ boost::serialization::access
friend class boost::serialization::access |
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friend |
The documentation for this class was generated from the following files: