Public Types | Public Member Functions | Private Types | Private Member Functions | Friends | List of all members
rtabmap::Rot3GravityFactor Class Reference

#include <GravityFactor.h>

Inheritance diagram for rtabmap::Rot3GravityFactor:
Inheritance graph
[legend]

Public Types

typedef boost::shared_ptr< Rot3GravityFactorshared_ptr
 shorthand for a smart pointer to a factor More...
 
typedef Rot3GravityFactor This
 Typedef to this class. More...
 

Public Member Functions

Unit3 bRef () const
 
virtual gtsam::NonlinearFactor::shared_ptr clone () const
 
virtual bool equals (const NonlinearFactor &expected, double tol=1e-9) const
 
virtual Vector evaluateError (const Rot3 &nRb, boost::optional< Matrix &> H=boost::none) const
 
Unit3 nZ () const
 
virtual void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
 
 Rot3GravityFactor ()
 
 Rot3GravityFactor (Key key, const Unit3 &nZ, const SharedNoiseModel &model, const Unit3 &bRef=Unit3(0, 0, 1))
 Constructor. More...
 
virtual ~Rot3GravityFactor ()
 
- Public Member Functions inherited from rtabmap::GravityFactor
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)
 

Private Types

typedef NoiseModelFactor1< Rot3 > Base
 

Private Member Functions

template<class ARCHIVE >
void serialize (ARCHIVE &ar, const unsigned int)
 

Friends

class boost::serialization::access
 

Additional Inherited Members

- Protected Attributes inherited from rtabmap::GravityFactor
const Unit3 bRef_
 Position measurement in. More...
 
const Unit3 nZ_
 

Detailed Description

Definition at line 81 of file GravityFactor.h.

Member Typedef Documentation

◆ Base

typedef NoiseModelFactor1<Rot3> rtabmap::Rot3GravityFactor::Base
private

Definition at line 83 of file GravityFactor.h.

◆ shared_ptr

shorthand for a smart pointer to a factor

Definition at line 88 of file GravityFactor.h.

◆ This

Typedef to this class.

Definition at line 91 of file GravityFactor.h.

Constructor & Destructor Documentation

◆ Rot3GravityFactor() [1/2]

rtabmap::Rot3GravityFactor::Rot3GravityFactor ( )
inline

default constructor - only use for serialization

Definition at line 94 of file GravityFactor.h.

◆ ~Rot3GravityFactor()

virtual rtabmap::Rot3GravityFactor::~Rot3GravityFactor ( )
inlinevirtual

Definition at line 97 of file GravityFactor.h.

◆ Rot3GravityFactor() [2/2]

rtabmap::Rot3GravityFactor::Rot3GravityFactor ( Key  key,
const Unit3 &  nZ,
const SharedNoiseModel &  model,
const Unit3 &  bRef = Unit3(0, 0, 1) 
)
inline

Constructor.

Parameters
keyof the Rot3 variable that will be constrained
nZmeasured direction in navigation frame (remove yaw before rotating the gravity vector)
modelGaussian noise model
bRefreference direction in body frame (default Z-axis)

Definition at line 107 of file GravityFactor.h.

Member Function Documentation

◆ bRef()

Unit3 rtabmap::Rot3GravityFactor::bRef ( ) const
inline

Definition at line 133 of file GravityFactor.h.

◆ clone()

virtual gtsam::NonlinearFactor::shared_ptr rtabmap::Rot3GravityFactor::clone ( ) const
inlinevirtual
Returns
a deep copy of this factor

Definition at line 113 of file GravityFactor.h.

◆ equals()

bool rtabmap::Rot3GravityFactor::equals ( const NonlinearFactor &  expected,
double  tol = 1e-9 
) const
virtual

equals

Definition at line 65 of file GravityFactor.cpp.

◆ evaluateError()

virtual Vector rtabmap::Rot3GravityFactor::evaluateError ( const Rot3 &  nRb,
boost::optional< Matrix &>  H = boost::none 
) const
inlinevirtual

vector of errors

Definition at line 126 of file GravityFactor.h.

◆ nZ()

Unit3 rtabmap::Rot3GravityFactor::nZ ( ) const
inline

Definition at line 130 of file GravityFactor.h.

◆ print()

void rtabmap::Rot3GravityFactor::print ( const std::string s,
const KeyFormatter &  keyFormatter = DefaultKeyFormatter 
) const
virtual

print

Definition at line 56 of file GravityFactor.cpp.

◆ serialize()

template<class ARCHIVE >
void rtabmap::Rot3GravityFactor::serialize ( ARCHIVE &  ar,
const unsigned  int 
)
inlineprivate

Definition at line 142 of file GravityFactor.h.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access
friend

Serialization function

Definition at line 140 of file GravityFactor.h.


The documentation for this class was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00