class mola::FactorAngularVelocityIntegration

Overview

Factor for angular velocity integration model, equivalent to expressions:

gtsam::Expression<gtsam::Point3> deltaWi = dt * bWi; gtsam::Expression<gtsam::Rot3> expmap_(&gtsam::Rot3::Expmap, deltaWi);

gtsam::between( gtsam::compose(Ri, expmap_), Rj ) = Rot_Identity

#include <FactorAngularVelocityIntegration.h>

class FactorAngularVelocityIntegration: public gtsam::ExpressionFactorN< gtsam::Rot3, gtsam::Rot3, gtsam::Point3, gtsam::Rot3 >
{
public:
    // construction

    FactorAngularVelocityIntegration();

    FactorAngularVelocityIntegration(
        gtsam::Key kRi,
        gtsam::Key kbWi,
        gtsam::Key kRj,
        const double dt,
        const gtsam::SharedNoiseModel& model
        );

    // methods

    gtsam::NonlinearFactor::shared_ptr clone() const;
    gtsam::Expression<gtsam::Rot3> expression(const std::array<gtsam::Key, NARY_EXPRESSION_SIZE>& keys) const;

    void print(
        const std::string& s,
        const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter
        ) const;

    bool equals(const gtsam::NonlinearFactor& expected, double tol = 1e-9) const;
};

Construction

FactorAngularVelocityIntegration()

default constructor

Methods

gtsam::NonlinearFactor::shared_ptr clone() const

Returns:

a deep copy of this factor

void print(
    const std::string& s,
    const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter
    ) const

implement functions needed for Testable print

bool equals(const gtsam::NonlinearFactor& expected, double tol = 1e-9) const

equals