#include <SimpleHelicopter.h>
Inheritance diagram for gtsam::DiscreteEulerPoincareHelicopter:
Public Member Functions | |
| return a deep copy of this factor gtsam::NonlinearFactor::shared_ptr | clone () const override |
| DiscreteEulerPoincareHelicopter (Key xiKey1, Key xiKey_1, Key gKey, double h, const Matrix &Inertia, const Vector &Fu, double m, double mu=1000.0) | |
| Vector | evaluateError (const Vector6 &xik, const Vector6 &xik_1, const Pose3 &gk, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const override |
| ~DiscreteEulerPoincareHelicopter () override | |
 Public Member Functions inherited from gtsam::NoiseModelFactor3< Vector6, Vector6, Pose3 > | |
| Key | key1 () const |
| Key | key2 () const |
| Key | key3 () const |
| NoiseModelFactor3 () | |
| NoiseModelFactor3 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3) | |
| Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
| ~NoiseModelFactor3 () 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< 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 | |
| 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... | |
| 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 NoiseModelFactor3< Vector6, Vector6, Pose3 > | Base |
| mass. For gravity external force f_ext, which has a fixed formula in this case. More... | |
Private Member Functions | |
| F (.) is actually a function of the shape variables | |
| F is the 6xc Control matrix, where c is the number of control variables uk, which directly change the vehicle pose (e.g., gas/brake/speed) More... | |
Private Attributes | |
| Vector | Fu_ |
| Inertia tensors Inertia = [ J 0; 0 M ]. More... | |
| double | h_ |
| Matrix | Inertia_ |
| time step More... | |
| which do not change the but affect the vehicle s e g steering wheel Fu_ encodes everything we need to know about the vehicle s dynamics double | m_ |
| which do not change the | pose |
| which do not change the but affect the vehicle s | shape |
Additional Inherited Members | |
| Public Types inherited from gtsam::NoiseModelFactor3< Vector6, Vector6, Pose3 > | |
| typedef Vector6 | X1 |
| typedef Vector6 | X2 |
| typedef Pose3 | X3 |
| Public Types inherited from gtsam::NoiseModelFactor | |
| typedef boost::shared_ptr< This > | shared_ptr |
| Public Types inherited from gtsam::NonlinearFactor | |
| typedef boost::shared_ptr< This > | shared_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... | |
| Protected Types inherited from gtsam::NoiseModelFactor3< Vector6, Vector6, Pose3 > | |
| typedef NoiseModelFactor | Base |
| typedef NoiseModelFactor3< Vector6, Vector6, Pose3 > | This |
| 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
Implement the Discrete Euler-Poincare' equation:
Definition at line 76 of file SimpleHelicopter.h.
Member Typedef Documentation
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private |
mass. For gravity external force f_ext, which has a fixed formula in this case.
Definition at line 89 of file SimpleHelicopter.h.
Constructor & Destructor Documentation
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inline |
Definition at line 92 of file SimpleHelicopter.h.
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inlineoverride |
Definition at line 98 of file SimpleHelicopter.h.
Member Function Documentation
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inlineoverridevirtual |
Creates a shared_ptr clone of the factor - needs to be specialized to allow for subclasses
By default, throws exception if subclass does not implement the function.
Reimplemented from gtsam::NonlinearFactor.
Definition at line 101 of file SimpleHelicopter.h.
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inlineoverridevirtual |
DEP, with optional derivatives pk - pk_1 - h_*Fu_ - h_*f_ext = 0 where pk = CT_TLN(h*xi_k)*Inertia*xi_k pk_1 = CT_TLN(-h*xi_k_1)*Inertia*xi_k_1
Implements gtsam::NoiseModelFactor3< Vector6, Vector6, Pose3 >.
Definition at line 110 of file SimpleHelicopter.h.
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private |
F is the 6xc Control matrix, where c is the number of control variables uk, which directly change the vehicle pose (e.g., gas/brake/speed)
Member Data Documentation
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private |
Inertia tensors Inertia = [ J 0; 0 M ].
Definition at line 80 of file SimpleHelicopter.h.
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private |
Definition at line 78 of file SimpleHelicopter.h.
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private |
time step
Definition at line 79 of file SimpleHelicopter.h.
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private |
Definition at line 81 of file SimpleHelicopter.h.
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private |
Definition at line 81 of file SimpleHelicopter.h.
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private |
Definition at line 81 of file SimpleHelicopter.h.
The documentation for this class was generated from the following file: