class mola::FactorConstVelKinematics

Overview

Abstract representation of a constant-velocity kinematic motion model factor between two key frames.

#include <FactorConstVelKinematics.h>

class FactorConstVelKinematics: public mola::FactorBase
{
public:
    // fields

    id_t from_kf_ = INVALID_ID;
    id_t to_kf_ = INVALID_ID;
    double deltaTime_ = .0;
    id_t from_kf = INVALID_ID;
    id_t to_kf = INVALID_ID;
    double deltaTime = .0;

    // construction

    FactorConstVelKinematics(id_t kf_from, id_t kf_to, double deltaTime);
    FactorConstVelKinematics();
    FactorConstVelKinematics(id_t kf_from, id_t kf_to, double delta_time);

    // methods

    virtual std::size_t edge_count() const;
    virtual mola::id_t edge_indices(const std::size_t i) const;
};

Inherited Members

public:
    // fields

    mola::fid_t my_id_ {mola::INVALID_FID};
    mola::Robust robust_type_ {mola::Robust::REGULAR_L2};
    double robust_param_ {1.0};

    // methods

    virtual std::size_t edge_count() const = 0;
    virtual mola::id_t edge_indices(const std::size_t i) const = 0;

Fields

double deltaTime_ = .0

Elapsed time between “from_kf” and “to_kf” [seconds]

double deltaTime = .0

Elapsed time between “from_kf” and “to_kf” [seconds]

Construction

FactorConstVelKinematics(id_t kf_from, id_t kf_to, double deltaTime)

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

FactorConstVelKinematics(id_t kf_from, id_t kf_to, double delta_time)

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

Methods

virtual std::size_t edge_count() const

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

Access entity indices involved in this factor