Class FactorRelativePose3

Inheritance Relationships

Base Type

Class Documentation

class FactorRelativePose3 : public mola::FactorBase

Public Functions

FactorRelativePose3() = default
inline FactorRelativePose3(id_t kf_from, id_t kf_to, const mrpt::math::TPose3D &rel_pose)

Creates relative pose constraint of KF to as seem from from.

inline virtual std::size_t edge_count() const override

Number of entities involved in this factor: 1 for unary factors, 2 for binary, etc.

virtual mola::id_t edge_indices(const std::size_t i) const override

Access entity indices involved in this factor

Public Members

id_t from_kf_ = {INVALID_ID}
id_t to_kf_ = {INVALID_ID}
mrpt::math::TPose3D rel_pose_
std::optional<mrpt::math::CMatrixDouble66> noise_model_

If provided, it models the covariance of the observation. Order of variables is: rotx roty rotz tx ty tz

double noise_model_diag_xyz_ = {0.01}

Standard deviation of the measurement, in X Y Z. Ignored if noise_model_ is provided.

double noise_model_diag_rot_ = {mrpt::DEG2RAD(0.5)}

Standard deviation of the measurement, in each rotation angle. Ignored if noise_model_ is provided.