rtabmap::Pose3GravityFactor Class Reference

#include <GravityFactor.h>

Inheritance diagram for rtabmap::Pose3GravityFactor:

Public Types
typedef boost::shared_ptr< Pose3GravityFactor >	shared_ptr
	shorthand for a smart pointer to a factor More...
typedef Pose3GravityFactor	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 Pose3 &nTb, boost::optional< Matrix & > H=boost::none) const
Unit3	nZ () const
	Pose3GravityFactor ()
	Pose3GravityFactor (Key key, const Unit3 &nZ, const SharedNoiseModel &model, const Unit3 &bRef=Unit3(0, 0, 1))
	Constructor. More...
virtual void	print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const
virtual	~Pose3GravityFactor ()
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< Pose3 >	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 177 of file GravityFactor.h.

Member Typedef Documentation

Base

typedef NoiseModelFactor1<Pose3> rtabmap::Pose3GravityFactor::Base

private

Definition at line 180 of file GravityFactor.h.

shared_ptr

typedef boost::shared_ptr<Pose3GravityFactor> rtabmap::Pose3GravityFactor::shared_ptr

shorthand for a smart pointer to a factor

Definition at line 188 of file GravityFactor.h.

This

typedef Pose3GravityFactor rtabmap::Pose3GravityFactor::This

Typedef to this class.

Definition at line 191 of file GravityFactor.h.

Constructor & Destructor Documentation

Pose3GravityFactor() [1/2]

rtabmap::Pose3GravityFactor::Pose3GravityFactor ( )

inline

default constructor - only use for serialization

Definition at line 194 of file GravityFactor.h.

~Pose3GravityFactor()

virtual rtabmap::Pose3GravityFactor::~Pose3GravityFactor ( )

inlinevirtual

Definition at line 197 of file GravityFactor.h.

Pose3GravityFactor() [2/2]

rtabmap::Pose3GravityFactor::Pose3GravityFactor ( Key  key, const Unit3 &  nZ, const SharedNoiseModel &  model, const Unit3 &  bRef = Unit3(0, 0, 1)  )

inline

Constructor.

Parameters

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.

Member Function Documentation

bRef()

Unit3 rtabmap::Pose3GravityFactor::bRef ( ) const

inline

Definition at line 247 of file GravityFactor.h.

clone()

virtual gtsam::NonlinearFactor::shared_ptr rtabmap::Pose3GravityFactor::clone ( ) const

inlinevirtual

Returns

a deep copy of this factor

Definition at line 213 of file GravityFactor.h.

equals()

bool rtabmap::Pose3GravityFactor::equals ( const NonlinearFactor &  expected, double  tol = 1e-9  ) const

virtual

equals

Definition at line 82 of file GravityFactor.cpp.

evaluateError()

virtual Vector rtabmap::Pose3GravityFactor::evaluateError ( const Pose3 &  nTb, boost::optional< Matrix & >  H = boost::none  ) const

inlinevirtual

vector of errors

Definition at line 230 of file GravityFactor.h.

nZ()

Unit3 rtabmap::Pose3GravityFactor::nZ ( ) const

inline

Definition at line 244 of file GravityFactor.h.

print()

void rtabmap::Pose3GravityFactor::print ( const std::string &  s, const KeyFormatter &  keyFormatter = DefaultKeyFormatter  ) const

virtual

print

Definition at line 73 of file GravityFactor.cpp.

serialize()

template<class ARCHIVE >

void rtabmap::Pose3GravityFactor::serialize ( ARCHIVE &  ar, const unsigned int    )

inlineprivate

Definition at line 256 of file GravityFactor.h.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Serialization function

Definition at line 254 of file GravityFactor.h.

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

• GravityFactor.h
• GravityFactor.cpp