Class FactorTricycleKinematics

Inheritance Relationships

Base Type

  • public FactorBase

Class Documentation

class FactorTricycleKinematics : public FactorBase

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

Public Functions

FactorTricycleKinematics() = default
inline FactorTricycleKinematics(id_t kf_from, id_t kf_to, double deltaTime)

Creates relative pose constraint of KF to as seem from from.

inline std::size_t edge_count() const override
mola::id_t edge_indices(const std::size_t i) const override

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]