#include <VelocityConstraint.h>

Inheritance diagram for gtsam::VelocityConstraint:

[legend]

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)

Detailed Description

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.

Member Typedef Documentation

typedef gtsam::NoiseModelFactor2<PoseRTV,PoseRTV> gtsam::VelocityConstraint::Base

Definition at line 35 of file VelocityConstraint.h.

Constructor & Destructor Documentation

gtsam::VelocityConstraint::VelocityConstraint	(	Key	key1,
		Key	key2,
		const dynamics::IntegrationMode &	mode,
		double	dt,
		double	mu = `1000`
	)

inline

Creates a constraint relating the given variables with fully constrained noise model

Definition at line 47 of file VelocityConstraint.h.

gtsam::VelocityConstraint::VelocityConstraint	(	Key	key1,
		Key	key2,
		double	dt,
		double	mu = `1000`
	)

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.

gtsam::VelocityConstraint::VelocityConstraint	(	Key	key1,
		Key	key2,
		const dynamics::IntegrationMode &	mode,
		double	dt,
		const gtsam::SharedNoiseModel &	model
	)

inline

Creates a constraint relating the given variables with arbitrary noise model

Definition at line 62 of file VelocityConstraint.h.

gtsam::VelocityConstraint::VelocityConstraint	(	Key	key1,
		Key	key2,
		double	dt,
		const gtsam::SharedNoiseModel &	model
	)

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.

gtsam::VelocityConstraint::~VelocityConstraint ( )

inlineoverride

Definition at line 73 of file VelocityConstraint.h.

Member Function Documentation

gtsam::NonlinearFactor::shared_ptr gtsam::VelocityConstraint::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 76 of file VelocityConstraint.h.

gtsam::Vector gtsam::VelocityConstraint::evaluateError	(	const PoseRTV &	x1,
		const PoseRTV &	x2,
		boost::optional< gtsam::Matrix & >	H1 = `boost::none`,
		boost::optional< gtsam::Matrix & >	H2 = `boost::none`
	)		const

inlineoverride

Calculates the error for trapezoidal model given

Definition at line 83 of file VelocityConstraint.h.

static gtsam::Vector gtsam::VelocityConstraint::evaluateError_	(	const PoseRTV &	x1,
		const PoseRTV &	x2,
		double	dt,
		const dynamics::IntegrationMode &	mode
	)

inlinestaticprivate

Definition at line 106 of file VelocityConstraint.h.

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

inlineoverridevirtual

Print

Reimplemented from gtsam::NoiseModelFactor.

Definition at line 93 of file VelocityConstraint.h.

Member Data Documentation

double gtsam::VelocityConstraint::dt_

protected

Definition at line 39 of file VelocityConstraint.h.

dynamics::IntegrationMode gtsam::VelocityConstraint::integration_mode_

protected

time difference between frames in seconds

Numerical integration control

Definition at line 40 of file VelocityConstraint.h.

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

VelocityConstraint.h

Public Types

Public Member Functions

Protected Attributes

Static Private Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation