Public Member Functions | Private Types | Private Member Functions | Private Attributes | Friends | List of all members
gtsam::ImuFactor2 Class Reference

#include <ImuFactor.h>

Inheritance diagram for gtsam::ImuFactor2:
Inheritance graph
[legend]

Public Member Functions

gtsam::NonlinearFactor::shared_ptr clone () const override
 
Vector evaluateError (const NavState &state_i, const NavState &state_j, const imuBias::ConstantBias &bias_i, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none) const override
 vector of errors More...
 
 ImuFactor2 ()
 
 ImuFactor2 (Key state_i, Key state_j, Key bias, const PreintegratedImuMeasurements &preintegratedMeasurements)
 
const PreintegratedImuMeasurementspreintegratedMeasurements () const
 
 ~ImuFactor2 () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor3< NavState, NavState, imuBias::ConstantBias >
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< 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...
 
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
 
virtual void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys More...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Private Types

typedef NoiseModelFactor3< NavState, NavState, imuBias::ConstantBiasBase
 
typedef ImuFactor2 This
 

Private Member Functions

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

Private Attributes

PreintegratedImuMeasurements _PIM_
 

Friends

class boost::serialization::access
 

Testable

GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const ImuFactor2 &)
 
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
 

Additional Inherited Members

- Public Types inherited from gtsam::NoiseModelFactor3< NavState, NavState, imuBias::ConstantBias >
typedef NavState X1
 
typedef NavState X2
 
typedef imuBias::ConstantBias X3
 
- 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...
 
- Protected Types inherited from gtsam::NoiseModelFactor3< NavState, NavState, imuBias::ConstantBias >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor3< NavState, NavState, 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 257 of file ImuFactor.h.

Member Typedef Documentation

Definition at line 261 of file ImuFactor.h.

Definition at line 260 of file ImuFactor.h.

Constructor & Destructor Documentation

gtsam::ImuFactor2::ImuFactor2 ( )
inline

Default constructor - only use for serialization

Definition at line 268 of file ImuFactor.h.

gtsam::ImuFactor2::ImuFactor2 ( Key  state_i,
Key  state_j,
Key  bias,
const PreintegratedImuMeasurements preintegratedMeasurements 
)

Constructor

Parameters
state_iPrevious state key
state_jCurrent state key
biasPrevious bias key

Definition at line 208 of file ImuFactor.cpp.

gtsam::ImuFactor2::~ImuFactor2 ( )
inlineoverride

Definition at line 279 of file ImuFactor.h.

Member Function Documentation

NonlinearFactor::shared_ptr gtsam::ImuFactor2::clone ( ) const
overridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 215 of file ImuFactor.cpp.

bool gtsam::ImuFactor2::equals ( const NonlinearFactor f,
double  tol = 1e-9 
) const
overridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 237 of file ImuFactor.cpp.

Vector gtsam::ImuFactor2::evaluateError ( const NavState state_i,
const NavState state_j,
const imuBias::ConstantBias bias_i,
boost::optional< Matrix & >  H1 = boost::none,
boost::optional< Matrix & >  H2 = boost::none,
boost::optional< Matrix & >  H3 = boost::none 
) const
overridevirtual

vector of errors

implement functions needed to derive from Factor

Implements gtsam::NoiseModelFactor3< NavState, NavState, imuBias::ConstantBias >.

Definition at line 245 of file ImuFactor.cpp.

const PreintegratedImuMeasurements& gtsam::ImuFactor2::preintegratedMeasurements ( ) const
inline

Access the preintegrated measurements.

Definition at line 295 of file ImuFactor.h.

void gtsam::ImuFactor2::print ( const std::string &  s = "",
const KeyFormatter formatter = DefaultKeyFormatter 
) const
overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 228 of file ImuFactor.cpp.

template<class ARCHIVE >
void gtsam::ImuFactor2::serialize ( ARCHIVE &  ar,
const unsigned  int 
)
inlineprivate

Definition at line 313 of file ImuFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access
friend

Serialization function

Definition at line 311 of file ImuFactor.h.

GTSAM_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const ImuFactor2 f 
)
friend

Definition at line 221 of file ImuFactor.cpp.

Member Data Documentation

PreintegratedImuMeasurements gtsam::ImuFactor2::_PIM_
private

Definition at line 263 of file ImuFactor.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:12