#include <VelocityConstraint.h>
Public Types | |
typedef gtsam::NoiseModelFactor2< PoseRTV, PoseRTV > | Base |
Public Types inherited from gtsam::NoiseModelFactor2< PoseRTV, PoseRTV > | |
typedef PoseRTV | X1 |
typedef PoseRTV | X2 |
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... | |
Public Member Functions | |
gtsam::NonlinearFactor::shared_ptr | clone () const override |
gtsam::Vector | evaluateError (const PoseRTV &x1, const PoseRTV &x2, boost::optional< gtsam::Matrix & > H1=boost::none, boost::optional< gtsam::Matrix & > H2=boost::none) const override |
void | print (const std::string &s="", const gtsam::KeyFormatter &formatter=gtsam::DefaultKeyFormatter) const override |
VelocityConstraint (Key key1, Key key2, const dynamics::IntegrationMode &mode, double dt, double mu=1000) | |
VelocityConstraint (Key key1, Key key2, double dt, double mu=1000) | |
VelocityConstraint (Key key1, Key key2, const dynamics::IntegrationMode &mode, double dt, const gtsam::SharedNoiseModel &model) | |
VelocityConstraint (Key key1, Key key2, double dt, const gtsam::SharedNoiseModel &model) | |
~VelocityConstraint () override | |
Public Member Functions inherited from gtsam::NoiseModelFactor2< PoseRTV, PoseRTV > | |
virtual Vector | evaluateError (const X1 &, const X2 &, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const =0 |
Key | key1 () const |
Key | key2 () const |
NoiseModelFactor2 () | |
NoiseModelFactor2 (const SharedNoiseModel &noiseModel, Key j1, Key j2) | |
Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
~NoiseModelFactor2 () 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) | |
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 KeyVector & | keys () 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... | |
KeyVector & | keys () |
iterator | begin () |
iterator | end () |
Protected Attributes | |
double | dt_ |
dynamics::IntegrationMode | integration_mode_ |
time difference between frames in seconds More... | |
Protected Attributes inherited from gtsam::NoiseModelFactor | |
SharedNoiseModel | noiseModel_ |
Protected Attributes inherited from gtsam::Factor | |
KeyVector | keys_ |
The keys involved in this factor. More... | |
Static Private Member Functions | |
static gtsam::Vector | evaluateError_ (const PoseRTV &x1, const PoseRTV &x2, double dt, const dynamics::IntegrationMode &mode) |
Additional Inherited Members | |
Protected Types inherited from gtsam::NoiseModelFactor2< PoseRTV, PoseRTV > | |
typedef NoiseModelFactor | Base |
typedef NoiseModelFactor2< PoseRTV, PoseRTV > | 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) |
Constraint to enforce dynamics between the velocities and poses, using a prediction based on a numerical integration flag.
NOTE: this approximation is insufficient for large timesteps, but is accurate if timesteps are small.
Definition at line 33 of file VelocityConstraint.h.
Definition at line 35 of file VelocityConstraint.h.
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inline |
Creates a constraint relating the given variables with fully constrained noise model
Definition at line 47 of file VelocityConstraint.h.
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inline |
Creates a constraint relating the given variables with fully constrained noise model Uses the default Trapezoidal integrator
Definition at line 55 of file VelocityConstraint.h.
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inline |
Creates a constraint relating the given variables with arbitrary noise model
Definition at line 62 of file VelocityConstraint.h.
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inline |
Creates a constraint relating the given variables with arbitrary noise model Uses the default Trapezoidal integrator
Definition at line 70 of file VelocityConstraint.h.
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inlineoverride |
Definition at line 73 of file VelocityConstraint.h.
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inlineoverridevirtual |
Reimplemented from gtsam::NonlinearFactor.
Definition at line 76 of file VelocityConstraint.h.
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inlineoverride |
Calculates the error for trapezoidal model given
Definition at line 83 of file VelocityConstraint.h.
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inlinestaticprivate |
Definition at line 106 of file VelocityConstraint.h.
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inlineoverridevirtual |
Reimplemented from gtsam::NoiseModelFactor.
Definition at line 93 of file VelocityConstraint.h.
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protected |
Definition at line 39 of file VelocityConstraint.h.
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protected |
time difference between frames in seconds
Numerical integration control
Definition at line 40 of file VelocityConstraint.h.