Public Types | Public Member Functions | Static Public Member Functions | Private Types | Private Member Functions | Private Attributes | Friends | List of all members
gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS > Class Template Reference

#include <InertialNavFactor_GlobalVelocity.h>

Inheritance diagram for gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >:
Inheritance graph
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Public Types

typedef boost::shared_ptr< InertialNavFactor_GlobalVelocityshared_ptr
 
- Public Types inherited from gtsam::NoiseModelFactor5< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY >
typedef POSE X1
 
typedef VELOCITY X2
 
typedef IMUBIAS X3
 
typedef POSE X4
 
typedef VELOCITY X5
 
- 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

bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 
Vector evaluateError (const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, const POSE &Pose2, const VELOCITY &Vel2, 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) const override
 
POSE evaluatePoseError (const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, const POSE &Pose2, const VELOCITY &Vel2) const
 
VELOCITY evaluateVelocityError (const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, const POSE &Pose2, const VELOCITY &Vel2) const
 
 InertialNavFactor_GlobalVelocity ()
 
 InertialNavFactor_GlobalVelocity (const Key &Pose1, const Key &Vel1, const Key &IMUBias1, const Key &Pose2, const Key &Vel2, const Vector &measurement_acc, const Vector &measurement_gyro, const double measurement_dt, const Vector world_g, const Vector world_rho, const Vector &world_omega_earth, const noiseModel::Gaussian::shared_ptr &model_continuous, boost::optional< POSE > body_P_sensor=boost::none)
 
void predict (const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1, POSE &Pose2, VELOCITY &Vel2) const
 
POSE predictPose (const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1) const
 
VELOCITY predictVelocity (const POSE &Pose1, const VELOCITY &Vel1, const IMUBIAS &Bias1) const
 
void print (const std::string &s="InertialNavFactor_GlobalVelocity", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
 ~InertialNavFactor_GlobalVelocity () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor5< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY >
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
 NoiseModelFactor5 ()
 
 NoiseModelFactor5 (const SharedNoiseModel &noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5)
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override
 
 ~NoiseModelFactor5 () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () 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)
 
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
 
virtual shared_ptr clone () 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 ()
 

Static Public Member Functions

static noiseModel::Gaussian::shared_ptr calc_descrete_noise_model (const noiseModel::Gaussian::shared_ptr &model, double delta_t)
 
static void Calc_g_rho_omega_earth_ENU (const Vector &Pos_ENU, const Vector &Vel_ENU, const Vector &LatLonHeight_IC, const Vector &Pos_ENU_Initial, Vector &g_ENU, Vector &rho_ENU, Vector &omega_earth_ENU)
 
static void Calc_g_rho_omega_earth_NED (const Vector &Pos_NED, const Vector &Vel_NED, const Vector &LatLonHeight_IC, const Vector &Pos_NED_Initial, Vector &g_NED, Vector &rho_NED, Vector &omega_earth_NED)
 
static noiseModel::Gaussian::shared_ptr CalcEquivalentNoiseCov (const noiseModel::Gaussian::shared_ptr &gaussian_acc, const noiseModel::Gaussian::shared_ptr &gaussian_gyro, const noiseModel::Gaussian::shared_ptr &gaussian_process)
 

Private Types

typedef NoiseModelFactor5< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > Base
 
typedef InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS > This
 

Private Member Functions

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

Private Attributes

boost::optional< POSE > body_P_sensor_
 
double dt_
 
Vector measurement_acc_
 
Vector measurement_gyro_
 
Vector world_g_
 
Vector world_omega_earth_
 
Vector world_rho_
 

Friends

class boost::serialization::access
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor5< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor5< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY > 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

template<class POSE, class VELOCITY, class IMUBIAS>
class gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >

Definition at line 79 of file InertialNavFactor_GlobalVelocity.h.

Member Typedef Documentation

template<class POSE, class VELOCITY, class IMUBIAS>
typedef NoiseModelFactor5<POSE, VELOCITY, IMUBIAS, POSE, VELOCITY> gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::Base
private

Definition at line 84 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
typedef boost::shared_ptr<InertialNavFactor_GlobalVelocity> gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::shared_ptr

Definition at line 99 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
typedef InertialNavFactor_GlobalVelocity<POSE, VELOCITY, IMUBIAS> gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::This
private

Definition at line 83 of file InertialNavFactor_GlobalVelocity.h.

Constructor & Destructor Documentation

template<class POSE, class VELOCITY, class IMUBIAS>
gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::InertialNavFactor_GlobalVelocity ( )
inline

default constructor - only use for serialization

Definition at line 102 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::InertialNavFactor_GlobalVelocity ( const Key Pose1,
const Key Vel1,
const Key IMUBias1,
const Key Pose2,
const Key Vel2,
const Vector measurement_acc,
const Vector measurement_gyro,
const double  measurement_dt,
const Vector  world_g,
const Vector  world_rho,
const Vector world_omega_earth,
const noiseModel::Gaussian::shared_ptr model_continuous,
boost::optional< POSE >  body_P_sensor = boost::none 
)
inline

Constructor

Definition at line 105 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::~InertialNavFactor_GlobalVelocity ( )
inlineoverride

Definition at line 112 of file InertialNavFactor_GlobalVelocity.h.

Member Function Documentation

template<class POSE, class VELOCITY, class IMUBIAS>
static noiseModel::Gaussian::shared_ptr gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::calc_descrete_noise_model ( const noiseModel::Gaussian::shared_ptr model,
double  delta_t 
)
inlinestatic

Definition at line 376 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
static void gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::Calc_g_rho_omega_earth_ENU ( const Vector Pos_ENU,
const Vector Vel_ENU,
const Vector LatLonHeight_IC,
const Vector Pos_ENU_Initial,
Vector g_ENU,
Vector rho_ENU,
Vector omega_earth_ENU 
)
inlinestatic

Definition at line 321 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
static void gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::Calc_g_rho_omega_earth_NED ( const Vector Pos_NED,
const Vector Vel_NED,
const Vector LatLonHeight_IC,
const Vector Pos_NED_Initial,
Vector g_NED,
Vector rho_NED,
Vector omega_earth_NED 
)
inlinestatic

Definition at line 291 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
static noiseModel::Gaussian::shared_ptr gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::CalcEquivalentNoiseCov ( const noiseModel::Gaussian::shared_ptr gaussian_acc,
const noiseModel::Gaussian::shared_ptr gaussian_gyro,
const noiseModel::Gaussian::shared_ptr gaussian_process 
)
inlinestatic

Definition at line 278 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
bool gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::equals ( const NonlinearFactor expected,
double  tol = 1e-9 
) const
inlineoverridevirtual

equals

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 136 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
Vector gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::evaluateError ( const POSE &  Pose1,
const VELOCITY &  Vel1,
const IMUBIAS &  Bias1,
const POSE &  Pose2,
const VELOCITY &  Vel2,
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 
) const
inlineoverridevirtual

implement functions needed to derive from Factor

Implements gtsam::NoiseModelFactor5< POSE, VELOCITY, IMUBIAS, POSE, VELOCITY >.

Definition at line 227 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
POSE gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::evaluatePoseError ( const POSE &  Pose1,
const VELOCITY &  Vel1,
const IMUBIAS &  Bias1,
const POSE &  Pose2,
const VELOCITY &  Vel2 
) const
inline

Definition at line 210 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
VELOCITY gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::evaluateVelocityError ( const POSE &  Pose1,
const VELOCITY &  Vel1,
const IMUBIAS &  Bias1,
const POSE &  Pose2,
const VELOCITY &  Vel2 
) const
inline

Definition at line 218 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
void gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::predict ( const POSE &  Pose1,
const VELOCITY &  Vel1,
const IMUBIAS &  Bias1,
POSE &  Pose2,
VELOCITY &  Vel2 
) const
inline

Definition at line 205 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
POSE gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::predictPose ( const POSE &  Pose1,
const VELOCITY &  Vel1,
const IMUBIAS &  Bias1 
) const
inline

Definition at line 148 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
VELOCITY gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::predictVelocity ( const POSE &  Pose1,
const VELOCITY &  Vel1,
const IMUBIAS &  Bias1 
) const
inline

Definition at line 175 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
void gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::print ( const std::string &  s = "InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

implement functions needed for Testable print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 117 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
template<class ARCHIVE >
void gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::serialize ( ARCHIVE &  ar,
const unsigned  int 
)
inlineprivate

Definition at line 389 of file InertialNavFactor_GlobalVelocity.h.

Friends And Related Function Documentation

template<class POSE, class VELOCITY, class IMUBIAS>
friend class boost::serialization::access
friend

Serialization function

Definition at line 387 of file InertialNavFactor_GlobalVelocity.h.

Member Data Documentation

template<class POSE, class VELOCITY, class IMUBIAS>
boost::optional<POSE> gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::body_P_sensor_
private

Definition at line 94 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
double gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::dt_
private

Definition at line 88 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
Vector gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::measurement_acc_
private

Definition at line 86 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
Vector gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::measurement_gyro_
private

Definition at line 87 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
Vector gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::world_g_
private

Definition at line 90 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
Vector gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::world_omega_earth_
private

Definition at line 92 of file InertialNavFactor_GlobalVelocity.h.

template<class POSE, class VELOCITY, class IMUBIAS>
Vector gtsam::InertialNavFactor_GlobalVelocity< POSE, VELOCITY, IMUBIAS >::world_rho_
private

Definition at line 91 of file InertialNavFactor_GlobalVelocity.h.


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


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