Class FactorConstVelKinematics

Defined in File FactorConstVelKinematics.h

Inheritance Relationships

Base Type

public mola::FactorBase (Class FactorBase)

Class Documentation

class FactorConstVelKinematics : public mola::FactorBase 

Abstract representation of a constant-velocity kinematic motion model factor between two key frames.

Public Functions

FactorConstVelKinematics() = default

inline FactorConstVelKinematics(id_t kf_from, id_t kf_to, double deltaTime): Creates relative pose constraint of KF to as seem from from.

inline virtual std::size_t edge_count() const override: Number of entities involved in this factor: 1 for unary factors, 2 for binary, etc.

virtual mola::id_t edge_indices(const std::size_t i) const override: Access entity indices involved in this factor

Public Members

id_t from_kf_ = INVALID_ID 

id_t to_kf_ = INVALID_ID 

double deltaTime_ = .0: Elapsed time between “from_kf” and “to_kf” [seconds]