#include <CombinedImuFactor.h>
Public Types | |
typedef boost::shared_ptr< CombinedImuFactor > | shared_ptr |
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typedef Pose3 | X1 |
typedef Vector3 | X2 |
typedef Pose3 | X3 |
typedef Vector3 | X4 |
typedef imuBias::ConstantBias | X5 |
typedef imuBias::ConstantBias | X6 |
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typedef boost::shared_ptr< This > | shared_ptr |
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typedef boost::shared_ptr< This > | shared_ptr |
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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 PreintegratedCombinedMeasurements & | preintegratedMeasurements () const |
~CombinedImuFactor () override | |
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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 | |
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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< GaussianFactor > | linearize (const Values &x) const override |
const SharedNoiseModel & | noiseModel () 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 | |
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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 |
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virtual | ~Factor ()=default |
Default destructor. More... | |
KeyVector & | keys () |
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 KeyVector & | keys () 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::ConstantBias > | Base |
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 | |
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typedef NoiseModelFactor | Base |
typedef NoiseModelFactor6< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias > | This |
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typedef NonlinearFactor | Base |
typedef NoiseModelFactor | This |
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typedef Factor | Base |
typedef NonlinearFactor | This |
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NoiseModelFactor (const SharedNoiseModel &noiseModel) | |
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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... | |
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template<typename CONTAINER > | |
static Factor | FromKeys (const CONTAINER &keys) |
template<typename ITERATOR > | |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
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SharedNoiseModel | noiseModel_ |
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KeyVector | keys_ |
The keys involved in this factor. More... | |
Definition at line 254 of file CombinedImuFactor.h.
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private |
Definition at line 262 of file CombinedImuFactor.h.
typedef boost::shared_ptr<CombinedImuFactor> gtsam::CombinedImuFactor::shared_ptr |
Shorthand for a smart pointer to a factor
Definition at line 272 of file CombinedImuFactor.h.
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private |
Definition at line 260 of file CombinedImuFactor.h.
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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 | ||
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Constructor
pose_i | Previous pose key |
vel_i | Previous velocity key |
pose_j | Current pose key |
vel_j | Current velocity key |
bias_i | Previous bias key |
bias_j | Current bias key |
PreintegratedCombinedMeasurements | Combined IMU measurements |
Definition at line 154 of file CombinedImuFactor.cpp.
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inlineoverride |
Definition at line 292 of file CombinedImuFactor.h.
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overridevirtual |
Reimplemented from gtsam::NonlinearFactor.
Definition at line 162 of file CombinedImuFactor.cpp.
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overridevirtual |
equals
Reimplemented from gtsam::NonlinearFactor.
Definition at line 180 of file CombinedImuFactor.cpp.
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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.
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inline |
Access the preintegrated measurements.
Definition at line 313 of file CombinedImuFactor.h.
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overridevirtual |
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inlineprivate |
Definition at line 332 of file CombinedImuFactor.h.
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friend |
Serialization function
Definition at line 330 of file CombinedImuFactor.h.
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friend |
Definition at line 251 of file CombinedImuFactor.cpp.
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private |
Definition at line 264 of file CombinedImuFactor.h.