class mola::ConstVelocityFactorSE3¶
Overview¶
Factor for constant velocity model in SE(3) between pairs Pose3+Velocity3 More…
#include <ConstVelocityFactorSE3.h> class ConstVelocityFactorSE3: public gtsam::NoiseModelFactor4< gtsam::Pose3, gtsam::Velocity3, gtsam::Pose3, gtsam::Velocity3 > { public: // typedefs typedef boost::shared_ptr<ConstVelocityFactorSE3> shared_ptr; // construction ConstVelocityFactorSE3(); ConstVelocityFactorSE3( gtsam::Key pose1, gtsam::Key vel1, gtsam::Key pose2, gtsam::Key vel2, const double deltaTime, const gtsam::SharedNoiseModel& model ); // methods virtual gtsam::NonlinearFactor::shared_ptr clone() const; virtual void print( const std::string& s, const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter ) const; virtual bool equals(const gtsam::NonlinearFactor& expected, double tol = 1e-9) const; gtsam::Vector evaluateError( const gtsam::Pose3& p1, const gtsam::Velocity3& v1, const gtsam::Pose3& p2, const gtsam::Velocity3& v2, boost::optional<gtsam::Matrix&> H1 = boost::none, boost::optional<gtsam::Matrix&> H2 = boost::none, boost::optional<gtsam::Matrix&> H3 = boost::none, boost::optional<gtsam::Matrix&> H4 = boost::none ) const; std::size_t size() const; };
Detailed Documentation¶
Factor for constant velocity model in SE(3) between pairs Pose3+Velocity3
Construction¶
ConstVelocityFactorSE3()
default constructor - only use for serialization
ConstVelocityFactorSE3( gtsam::Key pose1, gtsam::Key vel1, gtsam::Key pose2, gtsam::Key vel2, const double deltaTime, const gtsam::SharedNoiseModel& model )
Constructor.
Methods¶
virtual gtsam::NonlinearFactor::shared_ptr clone() const
Returns:
a deep copy of this factor
virtual void print( const std::string& s, const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter ) const
implement functions needed for Testable print
virtual bool equals(const gtsam::NonlinearFactor& expected, double tol = 1e-9) const
equals
gtsam::Vector evaluateError( const gtsam::Pose3& p1, const gtsam::Velocity3& v1, const gtsam::Pose3& p2, const gtsam::Velocity3& v2, boost::optional<gtsam::Matrix&> H1 = boost::none, boost::optional<gtsam::Matrix&> H2 = boost::none, boost::optional<gtsam::Matrix&> H3 = boost::none, boost::optional<gtsam::Matrix&> H4 = boost::none ) const
implement functions needed to derive from Factor vector of errors
std::size_t size() const
number of variables attached to this factor