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gtsam::CombinedImuFactor Class Reference

#include <CombinedImuFactor.h>

Inheritance diagram for gtsam::CombinedImuFactor:
Inheritance graph
[legend]

Public Types

typedef boost::shared_ptr< CombinedImuFactorshared_ptr
 
- Public Types inherited from gtsam::NoiseModelFactor6< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
typedef Pose3 X1
 
typedef Vector3 X2
 
typedef Pose3 X3
 
typedef Vector3 X4
 
typedef imuBias::ConstantBias X5
 
typedef imuBias::ConstantBias X6
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator const_iterator
 Const iterator over keys. More...
 
typedef KeyVector::iterator iterator
 Iterator over keys. More...
 

Public Member Functions

gtsam::NonlinearFactor::shared_ptr clone () const override
 
 CombinedImuFactor ()
 
 CombinedImuFactor (Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const PreintegratedCombinedMeasurements &preintegratedMeasurements)
 
Vector evaluateError (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, const imuBias::ConstantBias &bias_j, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none, boost::optional< Matrix & > H5=boost::none, boost::optional< Matrix & > H6=boost::none) const override
 vector of errors More...
 
const PreintegratedCombinedMeasurementspreintegratedMeasurements () const
 
 ~CombinedImuFactor () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor6< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Key key6 () const
 
 NoiseModelFactor6 ()
 
 NoiseModelFactor6 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6)
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 
 ~NoiseModelFactor6 () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
double error (const Values &c) const override
 
boost::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () const
 access to the noise model More...
 
 NoiseModelFactor ()
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
Vector unweightedWhitenedError (const Values &c) const
 
double weight (const Values &c) const
 
Vector whitenedError (const Values &c) const
 
 ~NoiseModelFactor () override
 
- Public Member Functions inherited from gtsam::NonlinearFactor
 NonlinearFactor ()
 
template<typename CONTAINER >
 NonlinearFactor (const CONTAINER &keys)
 
virtual ~NonlinearFactor ()
 
virtual bool active (const Values &) const
 
shared_ptr rekey (const std::map< Key, Key > &rekey_mapping) const
 
shared_ptr rekey (const KeyVector &new_keys) const
 
- Public Member Functions inherited from gtsam::Factor
virtual ~Factor ()=default
 Default destructor. More...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 
virtual void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys More...
 
Key front () const
 First key. More...
 
Key back () const
 Last key. More...
 
const_iterator find (Key key) const
 find More...
 
const KeyVectorkeys () const
 Access the factor's involved variable keys. More...
 
const_iterator begin () const
 
const_iterator end () const
 
size_t size () const
 

Private Types

typedef NoiseModelFactor6< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBiasBase
 
typedef CombinedImuFactor This
 

Private Member Functions

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

Private Attributes

PreintegratedCombinedMeasurements _PIM_
 

Friends

class boost::serialization::access
 

Testable

implement functions needed for Testable

GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const CombinedImuFactor &)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print More...
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 equals More...
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor6< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor6< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBiasThis
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- Protected Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor (const SharedNoiseModel &noiseModel)
 
- Protected Member Functions inherited from gtsam::Factor
 Factor ()
 
template<typename CONTAINER >
 Factor (const CONTAINER &keys)
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 
bool equals (const This &other, double tol=1e-9) const
 check equality More...
 
- Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor FromKeys (const CONTAINER &keys)
 
template<typename ITERATOR >
static Factor FromIterators (ITERATOR first, ITERATOR last)
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Detailed Description

Definition at line 254 of file CombinedImuFactor.h.

Member Typedef Documentation

Definition at line 262 of file CombinedImuFactor.h.

Shorthand for a smart pointer to a factor

Definition at line 272 of file CombinedImuFactor.h.

Definition at line 260 of file CombinedImuFactor.h.

Constructor & Destructor Documentation

gtsam::CombinedImuFactor::CombinedImuFactor ( )
inline

Default constructor - only use for serialization

Definition at line 276 of file CombinedImuFactor.h.

gtsam::CombinedImuFactor::CombinedImuFactor ( Key  pose_i,
Key  vel_i,
Key  pose_j,
Key  vel_j,
Key  bias_i,
Key  bias_j,
const PreintegratedCombinedMeasurements preintegratedMeasurements 
)

Constructor

Parameters
pose_iPrevious pose key
vel_iPrevious velocity key
pose_jCurrent pose key
vel_jCurrent velocity key
bias_iPrevious bias key
bias_jCurrent bias key
PreintegratedCombinedMeasurementsCombined IMU measurements

Definition at line 154 of file CombinedImuFactor.cpp.

gtsam::CombinedImuFactor::~CombinedImuFactor ( )
inlineoverride

Definition at line 292 of file CombinedImuFactor.h.

Member Function Documentation

gtsam::NonlinearFactor::shared_ptr gtsam::CombinedImuFactor::clone ( ) const
overridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 162 of file CombinedImuFactor.cpp.

bool gtsam::CombinedImuFactor::equals ( const NonlinearFactor expected,
double  tol = 1e-9 
) const
overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 180 of file CombinedImuFactor.cpp.

Vector gtsam::CombinedImuFactor::evaluateError ( const Pose3 pose_i,
const Vector3 vel_i,
const Pose3 pose_j,
const Vector3 vel_j,
const imuBias::ConstantBias bias_i,
const imuBias::ConstantBias bias_j,
boost::optional< Matrix & >  H1 = boost::none,
boost::optional< Matrix & >  H2 = boost::none,
boost::optional< Matrix & >  H3 = boost::none,
boost::optional< Matrix & >  H4 = boost::none,
boost::optional< Matrix & >  H5 = boost::none,
boost::optional< Matrix & >  H6 = boost::none 
) const
overridevirtual

vector of errors

implement functions needed to derive from Factor

Implements gtsam::NoiseModelFactor6< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >.

Definition at line 186 of file CombinedImuFactor.cpp.

const PreintegratedCombinedMeasurements& gtsam::CombinedImuFactor::preintegratedMeasurements ( ) const
inline

Access the preintegrated measurements.

Definition at line 313 of file CombinedImuFactor.h.

void gtsam::CombinedImuFactor::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 168 of file CombinedImuFactor.cpp.

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

Definition at line 332 of file CombinedImuFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access
friend

Serialization function

Definition at line 330 of file CombinedImuFactor.h.

GTSAM_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const CombinedImuFactor f 
)
friend

Definition at line 251 of file CombinedImuFactor.cpp.

Member Data Documentation

PreintegratedCombinedMeasurements gtsam::CombinedImuFactor::_PIM_
private

Definition at line 264 of file CombinedImuFactor.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:05