Class FactorTricycleKinematics
Defined in File FactorTricycleKinematics.h
Inheritance Relationships
Base Type
public FactorBase
Class Documentation
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class FactorTricycleKinematics : public FactorBase
Abstract representation of a constant-velocity tricycle kinematic motion model factor between two key frames.
Public Functions
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FactorTricycleKinematics() = default
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inline FactorTricycleKinematics(id_t kf_from, id_t kf_to, double deltaTime)
Creates relative pose constraint of KF
to
as seem fromfrom
.
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inline std::size_t edge_count() const override
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mola::id_t edge_indices(const std::size_t i) const override
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FactorTricycleKinematics() = default