My Project: holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE > Class Template Reference

My Project 1.0

Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion

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#include <DynamicFactorGraphStateKey.h>

Collaboration diagram for holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >:

Collaboration graph

[legend]

Public Member Functions
	DynamicFactorGraphStateKey (const gtsam::Key &key, const double time, const int numberStepsOptimized, const GTSAM_TRANSFORM_TYPE &approximateTransformationBeforeOptimization, DynamicVariableType variableType, const std::string &frame1, const std::string &frame2)
	DynamicFactorGraphStateKey ()=default
	~DynamicFactorGraphStateKey ()=default
const gtsam::Key	key () const
int	getNumberStepsOptimized () const
double	getTime () const
GTSAM_TRANSFORM_TYPE	getApproximateTransformationBeforeOptimization () const
Eigen::Vector3d	getReferenceFrameKeyframePosition () const
double	getVariableCreationTime () const
double	computeVariableAge (const double currentTime) const
double	computeKeyframeAge (const double currentTime) const
const std::string &	getFrame1 () const
const std::string &	getFrame2 () const
const DynamicVariableTypeEnum &	getVariableTypeEnum () const
bool	isVariableActive () const
const GTSAM_TRANSFORM_TYPE &	getTransformationAfterOptimization () const
const gtsam::Matrix66 &	getCovarianceAfterOptimization () const
void	setTimeStamp (const double time)
	Members.
void	resetNumberStepsOptimized ()
void	setVariableCreationTime (const double variableCreationTime)
void	activateVariable ()
	Status.
void	deactivateVariable ()
void	incrementNumberStepsOptimized ()
	Optimization.
void	setApproximateTransformationBeforeOptimization (const gtsam::Pose3 &approximateTransformationBeforeOptimization)
void	updateLatestEstimate (const GTSAM_TRANSFORM_TYPE &transformationAfterOptimization, const gtsam::Matrix66 &covarianceAfterOptimization)

Private Attributes
gtsam::Key	key_ = -1
double	time_ = 0.0
DynamicVariableType	variableType_ = DynamicVariableType::Global(0.0)
bool	isVariableActive_ = true
int	numberStepsOptimized_ = 0
GTSAM_TRANSFORM_TYPE	approximateTransformationBeforeOptimization_
GTSAM_TRANSFORM_TYPE	transformationAfterOptimization_
gtsam::Matrix66	covarianceAfterOptimization_
std::string	frame1_ = ""
std::string	frame2_ = ""

Detailed Description

template<class GTSAM_TRANSFORM_TYPE>
class holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >

Definition at line 21 of file DynamicFactorGraphStateKey.h.

Constructor & Destructor Documentation

◆ DynamicFactorGraphStateKey() [1/2]

template<class GTSAM_TRANSFORM_TYPE>

holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::DynamicFactorGraphStateKey	(	const gtsam::Key &	key,
		const double	time,
		const int	numberStepsOptimized,
		const GTSAM_TRANSFORM_TYPE &	approximateTransformationBeforeOptimization,
		DynamicVariableType	variableType,
		const std::string &	frame1,
		const std::string &	frame2 )

inline

Definition at line 24 of file DynamicFactorGraphStateKey.h.

◆ DynamicFactorGraphStateKey() [2/2]

template<class GTSAM_TRANSFORM_TYPE>

holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::DynamicFactorGraphStateKey ( )

default

◆ ~DynamicFactorGraphStateKey()

template<class GTSAM_TRANSFORM_TYPE>

holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::~DynamicFactorGraphStateKey ( )

default

Member Function Documentation

◆ activateVariable()

template<class GTSAM_TRANSFORM_TYPE>

void holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::activateVariable ( )

inline

Status.

Definition at line 67 of file DynamicFactorGraphStateKey.h.

◆ computeKeyframeAge()

template<class GTSAM_TRANSFORM_TYPE>

double holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::computeKeyframeAge ( const double currentTime ) const

inline

Definition at line 52 of file DynamicFactorGraphStateKey.h.

◆ computeVariableAge()

template<class GTSAM_TRANSFORM_TYPE>

double holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::computeVariableAge ( const double currentTime ) const

inline

Definition at line 51 of file DynamicFactorGraphStateKey.h.

◆ deactivateVariable()

template<class GTSAM_TRANSFORM_TYPE>

void holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::deactivateVariable ( )

inline

Definition at line 71 of file DynamicFactorGraphStateKey.h.

◆ getApproximateTransformationBeforeOptimization()

template<class GTSAM_TRANSFORM_TYPE>

GTSAM_TRANSFORM_TYPE holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::getApproximateTransformationBeforeOptimization ( ) const

inlinenodiscard

Definition at line 46 of file DynamicFactorGraphStateKey.h.

◆ getCovarianceAfterOptimization()

template<class GTSAM_TRANSFORM_TYPE>

const gtsam::Matrix66 & holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::getCovarianceAfterOptimization ( ) const

inlinenodiscard

Definition at line 58 of file DynamicFactorGraphStateKey.h.

◆ getFrame1()

template<class GTSAM_TRANSFORM_TYPE>

const std::string & holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::getFrame1 ( ) const

inlinenodiscard

Definition at line 53 of file DynamicFactorGraphStateKey.h.

◆ getFrame2()

template<class GTSAM_TRANSFORM_TYPE>

const std::string & holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::getFrame2 ( ) const

inlinenodiscard

Definition at line 54 of file DynamicFactorGraphStateKey.h.

◆ getNumberStepsOptimized()

template<class GTSAM_TRANSFORM_TYPE>

int holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::getNumberStepsOptimized ( ) const

inline

Definition at line 44 of file DynamicFactorGraphStateKey.h.

◆ getReferenceFrameKeyframePosition()

template<class GTSAM_TRANSFORM_TYPE>

Eigen::Vector3d holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::getReferenceFrameKeyframePosition ( ) const

inlinenodiscard

Definition at line 49 of file DynamicFactorGraphStateKey.h.

◆ getTime()

template<class GTSAM_TRANSFORM_TYPE>

double holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::getTime ( ) const

inline

Definition at line 45 of file DynamicFactorGraphStateKey.h.

◆ getTransformationAfterOptimization()

template<class GTSAM_TRANSFORM_TYPE>

const GTSAM_TRANSFORM_TYPE & holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::getTransformationAfterOptimization ( ) const

inlinenodiscard

Definition at line 57 of file DynamicFactorGraphStateKey.h.

◆ getVariableCreationTime()

template<class GTSAM_TRANSFORM_TYPE>

double holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::getVariableCreationTime ( ) const

inlinenodiscard

Definition at line 50 of file DynamicFactorGraphStateKey.h.

◆ getVariableTypeEnum()

template<class GTSAM_TRANSFORM_TYPE>

const DynamicVariableTypeEnum & holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::getVariableTypeEnum ( ) const

inlinenodiscard

Definition at line 55 of file DynamicFactorGraphStateKey.h.

◆ incrementNumberStepsOptimized()

template<class GTSAM_TRANSFORM_TYPE>

void holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::incrementNumberStepsOptimized ( )

inline

Optimization.

Definition at line 77 of file DynamicFactorGraphStateKey.h.

◆ isVariableActive()

template<class GTSAM_TRANSFORM_TYPE>

bool holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::isVariableActive ( ) const

inlinenodiscard

Definition at line 56 of file DynamicFactorGraphStateKey.h.

◆ key()

template<class GTSAM_TRANSFORM_TYPE>

const gtsam::Key holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::key ( ) const

inline

Definition at line 43 of file DynamicFactorGraphStateKey.h.

◆ resetNumberStepsOptimized()

template<class GTSAM_TRANSFORM_TYPE>

void holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::resetNumberStepsOptimized ( )

inline

Definition at line 63 of file DynamicFactorGraphStateKey.h.

◆ setApproximateTransformationBeforeOptimization()

template<class GTSAM_TRANSFORM_TYPE>

void holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::setApproximateTransformationBeforeOptimization ( const gtsam::Pose3 & approximateTransformationBeforeOptimization )

inline

Definition at line 79 of file DynamicFactorGraphStateKey.h.

◆ setTimeStamp()

template<class GTSAM_TRANSFORM_TYPE>

void holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::setTimeStamp ( const double time )

inline

Members.

Definition at line 62 of file DynamicFactorGraphStateKey.h.

◆ setVariableCreationTime()

template<class GTSAM_TRANSFORM_TYPE>

void holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::setVariableCreationTime ( const double variableCreationTime )

inline

Definition at line 64 of file DynamicFactorGraphStateKey.h.

◆ updateLatestEstimate()

template<class GTSAM_TRANSFORM_TYPE>

void holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::updateLatestEstimate	(	const GTSAM_TRANSFORM_TYPE &	transformationAfterOptimization,
		const gtsam::Matrix66 &	covarianceAfterOptimization )

inline

Definition at line 83 of file DynamicFactorGraphStateKey.h.

Member Data Documentation

◆ approximateTransformationBeforeOptimization_

template<class GTSAM_TRANSFORM_TYPE>

GTSAM_TRANSFORM_TYPE holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::approximateTransformationBeforeOptimization_

private

Definition at line 100 of file DynamicFactorGraphStateKey.h.

◆ covarianceAfterOptimization_

template<class GTSAM_TRANSFORM_TYPE>

gtsam::Matrix66 holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::covarianceAfterOptimization_

private

Definition at line 102 of file DynamicFactorGraphStateKey.h.

◆ frame1_

template<class GTSAM_TRANSFORM_TYPE>

std::string holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::frame1_ = ""

private

Definition at line 105 of file DynamicFactorGraphStateKey.h.

◆ frame2_

template<class GTSAM_TRANSFORM_TYPE>

std::string holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::frame2_ = ""

private

Definition at line 106 of file DynamicFactorGraphStateKey.h.

◆ isVariableActive_

template<class GTSAM_TRANSFORM_TYPE>

bool holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::isVariableActive_ = true

private

Definition at line 96 of file DynamicFactorGraphStateKey.h.

◆ key_

template<class GTSAM_TRANSFORM_TYPE>

gtsam::Key holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::key_ = -1

private

Definition at line 91 of file DynamicFactorGraphStateKey.h.

◆ numberStepsOptimized_

template<class GTSAM_TRANSFORM_TYPE>

int holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::numberStepsOptimized_ = 0

private

Definition at line 99 of file DynamicFactorGraphStateKey.h.

◆ time_

template<class GTSAM_TRANSFORM_TYPE>

double holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::time_ = 0.0

private

Definition at line 92 of file DynamicFactorGraphStateKey.h.

◆ transformationAfterOptimization_

template<class GTSAM_TRANSFORM_TYPE>

GTSAM_TRANSFORM_TYPE holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::transformationAfterOptimization_

private

Definition at line 101 of file DynamicFactorGraphStateKey.h.

◆ variableType_

template<class GTSAM_TRANSFORM_TYPE>

DynamicVariableType holistic_fusion::DynamicFactorGraphStateKey< GTSAM_TRANSFORM_TYPE >::variableType_ = DynamicVariableType::Global(0.0)

private

Definition at line 95 of file DynamicFactorGraphStateKey.h.

The documentation for this class was generated from the following file:

holistic_fusion/include/holistic_fusion/core/DynamicFactorGraphStateKey.h