Public Types | Public Member Functions | Private Types | Private Member Functions | Friends | List of all members
gtsam::Pose3AttitudeFactor Class Reference

#include <AttitudeFactor.h>

Inheritance diagram for gtsam::Pose3AttitudeFactor:
Inheritance graph
[legend]

Public Types

typedef boost::shared_ptr< Pose3AttitudeFactorshared_ptr
 shorthand for a smart pointer to a factor More...
 
typedef Pose3AttitudeFactor This
 Typedef to this class. More...
 
- Public Types inherited from gtsam::NoiseModelFactor1< Pose3 >
typedef Pose3 X
 
- 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
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 
Vector evaluateError (const Pose3 &nTb, boost::optional< Matrix & > H=boost::none) const override
 
 Pose3AttitudeFactor ()
 
 Pose3AttitudeFactor (Key key, const Unit3 &nZ, const SharedNoiseModel &model, const Unit3 &bRef=Unit3(0, 0, 1))
 Constructor. More...
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
 ~Pose3AttitudeFactor () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor1< Pose3 >
 NoiseModelFactor1 ()
 
 NoiseModelFactor1 (const SharedNoiseModel &noiseModel, Key key1)
 
 ~NoiseModelFactor1 () override
 
Key key () const
 
Vector unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const 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 ()
 
- Public Member Functions inherited from gtsam::AttitudeFactor
Vector attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H=boost::none) const
 
 AttitudeFactor ()
 
 AttitudeFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1))
 Constructor. More...
 
const Unit3bRef () const
 
const Unit3nZ () const
 
template<class ARCHIVE >
void serialize (ARCHIVE &ar, const unsigned int)
 

Private Types

typedef NoiseModelFactor1< Pose3Base
 

Private Member Functions

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

Friends

class boost::serialization::access
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactor1< Pose3 >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor1< Pose3This
 
- 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...
 
- Protected Attributes inherited from gtsam::AttitudeFactor
Unit3 bRef_
 Position measurement in. More...
 
Unit3 nZ_
 

Detailed Description

Definition at line 152 of file AttitudeFactor.h.

Member Typedef Documentation

Definition at line 155 of file AttitudeFactor.h.

shorthand for a smart pointer to a factor

Definition at line 160 of file AttitudeFactor.h.

Typedef to this class.

Definition at line 163 of file AttitudeFactor.h.

Constructor & Destructor Documentation

gtsam::Pose3AttitudeFactor::Pose3AttitudeFactor ( )
inline

default constructor - only use for serialization

Definition at line 166 of file AttitudeFactor.h.

gtsam::Pose3AttitudeFactor::~Pose3AttitudeFactor ( )
inlineoverride

Definition at line 169 of file AttitudeFactor.h.

gtsam::Pose3AttitudeFactor::Pose3AttitudeFactor ( Key  key,
const Unit3 nZ,
const SharedNoiseModel model,
const Unit3 bRef = Unit3(0, 0, 1) 
)
inline

Constructor.

Parameters
keyof the Pose3 variable that will be constrained
nZmeasured direction in navigation frame
modelGaussian noise model
bRefreference direction in body frame (default Z-axis)

Definition at line 179 of file AttitudeFactor.h.

Member Function Documentation

gtsam::NonlinearFactor::shared_ptr gtsam::Pose3AttitudeFactor::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 185 of file AttitudeFactor.h.

bool gtsam::Pose3AttitudeFactor::equals ( const NonlinearFactor expected,
double  tol = 1e-9 
) const
overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

Definition at line 70 of file AttitudeFactor.cpp.

Vector gtsam::Pose3AttitudeFactor::evaluateError ( const Pose3 nTb,
boost::optional< Matrix & >  H = boost::none 
) const
inlineoverridevirtual

vector of errors

Implements gtsam::NoiseModelFactor1< Pose3 >.

Definition at line 198 of file AttitudeFactor.h.

void gtsam::Pose3AttitudeFactor::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
overridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 61 of file AttitudeFactor.cpp.

template<class ARCHIVE >
void gtsam::Pose3AttitudeFactor::serialize ( ARCHIVE &  ar,
const unsigned  int 
)
inlineprivate

Definition at line 214 of file AttitudeFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access
friend

Serialization function

Definition at line 212 of file AttitudeFactor.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:23