#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 &nZ, const Unit3 &bRef=Unit3(0, 0, 1)) | |
| Constructor. More... | |
| const Unit3 & | bRef () const |
| const Unit3 & | nZ () const |
Protected Attributes | |
| Unit3 | bRef_ |
| Position measurement in. More... | |
| Unit3 | nZ_ |
Detailed Description
Base class for prior on attitude Example:
- measurement is direction of gravity in body frame bF
- reference is direction of gravity in navigation frame nG This factor will give zero error if nRb * bF == nG
Definition at line 34 of file AttitudeFactor.h.
Constructor & Destructor Documentation
◆ AttitudeFactor() [1/2]
|
inline |
default constructor - only use for serialization
Definition at line 43 of file AttitudeFactor.h.
◆ AttitudeFactor() [2/2]
|
inline |
Constructor.
- Parameters
-
nZ measured direction in navigation frame bRef reference direction in body frame (default Z-axis in NED frame, i.e., [0; 0; 1])
Definition at line 51 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.
◆ bRef()
|
inline |
Definition at line 62 of file AttitudeFactor.h.
◆ nZ()
|
inline |
Definition at line 59 of file AttitudeFactor.h.
Member Data Documentation
◆ bRef_
|
protected |
Position measurement in.
Definition at line 38 of file AttitudeFactor.h.
◆ nZ_
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protected |
Definition at line 38 of file AttitudeFactor.h.
The documentation for this class was generated from the following files: