Public Types | Public Member Functions | List of all members
gtsam::VelocityPrior Struct Reference

#include <DynamicsPriors.h>

Inheritance diagram for gtsam::VelocityPrior:
Inheritance graph
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Public Types

typedef gtsam::PartialPriorFactor< PoseRTVBase
 
- Public Types inherited from gtsam::PartialPriorFactor< PoseRTV >
typedef PoseRTV T
 
- Public Types inherited from gtsam::NoiseModelFactor1< PoseRTV >
typedef PoseRTV 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

 VelocityPrior (Key key, const gtsam::Vector &vel, const gtsam::SharedNoiseModel &model)
 
- Public Member Functions inherited from gtsam::PartialPriorFactor< PoseRTV >
gtsam::NonlinearFactor::shared_ptr clone () const override
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 
Vector evaluateError (const T &p, boost::optional< Matrix & > H=boost::none) const override
 
const std::vector< size_t > & indices () const
 
 PartialPriorFactor (Key key, size_t idx, double prior, const SharedNoiseModel &model)
 
 PartialPriorFactor (Key key, const std::vector< size_t > &indices, const Vector &prior, const SharedNoiseModel &model)
 
void print (const std::string &s, const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
const Vectorprior () const
 
 ~PartialPriorFactor () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactor1< PoseRTV >
 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
 
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
 
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 ()
 

Additional Inherited Members

- Protected Types inherited from gtsam::PartialPriorFactor< PoseRTV >
typedef NoiseModelFactor1< PoseRTVBase
 
typedef PartialPriorFactor< PoseRTVThis
 
- Protected Types inherited from gtsam::NoiseModelFactor1< PoseRTV >
typedef NoiseModelFactor Base
 
typedef NoiseModelFactor1< PoseRTVThis
 
- 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::PartialPriorFactor< PoseRTV >
 PartialPriorFactor ()
 
 PartialPriorFactor (Key key, const SharedNoiseModel &model)
 
- 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::PartialPriorFactor< PoseRTV >
std::vector< size_tindices_
 Indices of the measured tangent space parameters. More...
 
Vector prior_
 Measurement on tangent space parameters, in compressed form. More...
 
- 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

Constrains the full velocity of a state to a particular value Useful for enforcing a stationary state Dim: 3

Definition at line 58 of file DynamicsPriors.h.

Member Typedef Documentation

Definition at line 59 of file DynamicsPriors.h.

Constructor & Destructor Documentation

gtsam::VelocityPrior::VelocityPrior ( Key  key,
const gtsam::Vector vel,
const gtsam::SharedNoiseModel model 
)
inline

Definition at line 61 of file DynamicsPriors.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:37