gtsam::AttitudeFactor Class Reference

Base class for an attitude factor that constrains the rotation between body and navigation frames. More...

#include <AttitudeFactor.h>

Inheritance diagram for gtsam::AttitudeFactor:

Public Member Functions
Vector	attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H={}) const
	AttitudeFactor ()
	AttitudeFactor (const Unit3 &nRef, const Unit3 &bMeasured=Unit3(0, 0, 1))
	Constructor. More...
const Unit3 &	bMeasured () const
const Unit3 &	nRef () const

Protected Attributes
Unit3	bMeasured_
	Position measurement in. More...
Unit3	nRef_

Detailed Description

Base class for an attitude factor that constrains the rotation between body and navigation frames.

This factor enforces that when the measured direction in the body frame (e.g., from an IMU accelerometer) is rotated into the navigation frame using the rotation variable, it should align with a known reference direction in the navigation frame (e.g., gravity vector).

Mathematically, the error is zero when: nRb * bMeasured == nRef

This is useful for incorporating absolute orientation measurements into the factor graph.

Definition at line 45 of file AttitudeFactor.h.

Constructor & Destructor Documentation

AttitudeFactor() [1/2]

gtsam::AttitudeFactor::AttitudeFactor ( )

inline

default constructor - only use for serialization

Definition at line 51 of file AttitudeFactor.h.

AttitudeFactor() [2/2]

gtsam::AttitudeFactor::AttitudeFactor ( const Unit3 &  nRef, const Unit3 &  bMeasured = Unit3(0, 0, 1)  )

inline

Constructor.

Parameters

nRef	Reference direction in the navigation frame (e.g., gravity).
bMeasured	Measured direction in the body frame (e.g., from IMU accelerometer). Default is Unit3(0, 0, 1).

Definition at line 59 of file AttitudeFactor.h.

Member Function Documentation

attitudeError()

Vector gtsam::AttitudeFactor::attitudeError	(	const Rot3 &	p,
		OptionalJacobian< 2, 3 >	H = {}
	)		const

vector of errors

Definition at line 26 of file AttitudeFactor.cpp.

bMeasured()

const Unit3& gtsam::AttitudeFactor::bMeasured ( ) const

inline

Definition at line 66 of file AttitudeFactor.h.

nRef()

const Unit3& gtsam::AttitudeFactor::nRef ( ) const

inline

Definition at line 65 of file AttitudeFactor.h.

Member Data Documentation

bMeasured_

Unit3 gtsam::AttitudeFactor::bMeasured_

protected

Position measurement in.

Definition at line 47 of file AttitudeFactor.h.

nRef_

Unit3 gtsam::AttitudeFactor::nRef_

protected

Definition at line 47 of file AttitudeFactor.h.

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

• AttitudeFactor.h
• AttitudeFactor.cpp