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Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion
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holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR > Class Template Referenceabstract

#include <GmsfUnaryExpressionLandmark.h>

Inheritance diagram for holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >:
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Collaboration diagram for holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >:
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Public Member Functions

 GmsfUnaryExpressionLandmark (const std::shared_ptr< UnaryMeasurementLandmark > &gmsfUnaryLandmarkMeasurementPtr, const std::string &imuFrameName, const Eigen::Isometry3d &T_I_sensorFrame, const long landmarkCreationCounter)
 ~GmsfUnaryExpressionLandmark ()=default
Public Member Functions inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Landmark, CALIBRATION_CHAR >
 GmsfUnaryExpression (const std::shared_ptr< UnaryMeasurement > &gmsfBaseUnaryMeasurementPtr, const std::string &imuFrameName, const Eigen::Isometry3d &T_I_sensorFrame)
 ~GmsfUnaryExpression ()=default
gtsam::Expression< GTSAM_MEASUREMENT_TYPE > createAndReturnExpression (const gtsam::Key &closestGeneralKey, DynamicDictionaryContainer &gtsamDynamicExpressionKeys, const gtsam::NavState &W_imuPropagatedState, const bool optimizeReferenceFramePosesWrtWorldFlag, const bool centerMeasurementsAtKeyframePositionBeforeAlignmentFlag, const bool optimizeExtrinsicSensorToSensorCorrectedOffsetFlag)
virtual const gtsam::Vector getNoiseDensity () const=0
virtual const GTSAM_MEASUREMENT_TYPE getGtsamMeasurementValue () const=0
virtual const std::shared_ptr< UnaryMeasurement > & getGmsfBaseUnaryMeasurementPtr ()
double getTimestamp () const
const gtsam::Values & getNewOnlineGraphStateValues () const
const gtsam::Values & getNewOfflineGraphStateValues () const
const std::vector< gtsam::PriorFactor< gtsam::Pose3 > > & getNewOnlinePosePriorFactors () const
const std::vector< gtsam::PriorFactor< GTSAM_MEASUREMENT_TYPE > > & getNewOnlineDynamicPriorFactors () const
const std::vector< gtsam::BetweenFactor< gtsam::Pose3 > > & getNewOnlineAndOfflinePoseBetweenFactors () const
const Eigen::Isometry3d & getT_I_sensorFrameInit () const

Protected Member Functions

void generateImuStateInWorldFrameAtKey (const gtsam::Key &closestGeneralKey) final
void transformImuStateFromWorldToReferenceFrame (DynamicDictionaryContainer &gtsamDynamicExpressionKeys, const gtsam::NavState &W_currentPropagatedState, const bool centerMeasurementsAtKeyframePositionBeforeAlignmentFlag) final
void transformLandmarkInWorldToImuFrame (DynamicDictionaryContainer &gtsamDynamicExpressionKeys, const gtsam::NavState &W_currentPropagatedState) final
virtual gtsam::Point3 computeW_t_W_L_initial (const gtsam::NavState &W_currentPropagatedState)=0
Protected Member Functions inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Landmark, CALIBRATION_CHAR >
virtual void transformImuStateToSensorFrameState ()=0
virtual void transformSensorFrameStateToSensorFrameCorrectedState (DynamicDictionaryContainer &gtsamDynamicExpressionKeys)
virtual void applyExtrinsicCalibrationCorrection (const gtsam::Expression< GTSAM_MEASUREMENT_TYPE > &exp_C_sensorFrame_sensorFrameCorrected)=0
virtual gtsam::Pose3 convertToPose3 (const GTSAM_MEASUREMENT_TYPE &measurement)=0
virtual GTSAM_MEASUREMENT_TYPE convertFromPose3 (const gtsam::Pose3 &pose)=0
virtual const gtsam::Expression< GTSAM_MEASUREMENT_TYPE > getGtsamExpression () const=0

Protected Attributes

const std::string & landmarkName_
const long landmarkCreationCounter_
gtsam::Pose3_ exp_T_W_I_
gtsam::Point3_ exp_sensorFrame_t_sensorFrame_landmark_
Protected Attributes inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Landmark, CALIBRATION_CHAR >
const std::shared_ptr< UnaryMeasurement > gmsfBaseUnaryMeasurementPtr_
const std::string imuFrame_
Eigen::Isometry3d T_I_sensorFrameInit_
gtsam::Values newOnlineStateValues_
gtsam::Values newOfflineStateValues_
std::vector< gtsam::PriorFactor< gtsam::Pose3 > > newOnlinePosePriorFactors_
std::vector< gtsam::PriorFactor< GTSAM_MEASUREMENT_TYPE > > newOnlineDynamicPriorFactors_
std::vector< gtsam::BetweenFactor< gtsam::Pose3 > > newOnlineAndOfflinePoseBetweenFactors_

Private Attributes

std::shared_ptr< UnaryMeasurementLandmark > gmsfUnaryLandmarkMeasurementPtr_

Additional Inherited Members

Public Types inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Landmark, CALIBRATION_CHAR >
using template_type

Detailed Description

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
class holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >

Definition at line 24 of file GmsfUnaryExpressionLandmark.h.

Constructor & Destructor Documentation

◆ GmsfUnaryExpressionLandmark()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::GmsfUnaryExpressionLandmark ( const std::shared_ptr< UnaryMeasurementLandmark > & gmsfUnaryLandmarkMeasurementPtr,
const std::string & imuFrameName,
const Eigen::Isometry3d & T_I_sensorFrame,
const long landmarkCreationCounter )
inline

Definition at line 27 of file GmsfUnaryExpressionLandmark.h.

◆ ~GmsfUnaryExpressionLandmark()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::~GmsfUnaryExpressionLandmark ( )
default

Member Function Documentation

◆ computeW_t_W_L_initial()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
virtual gtsam::Point3 holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::computeW_t_W_L_initial ( const gtsam::NavState & W_currentPropagatedState)
protectedpure virtual

Implemented in holistic_fusion::GmsfUnaryExpressionLandmarkPosition3.

◆ generateImuStateInWorldFrameAtKey()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
void holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::generateImuStateInWorldFrameAtKey ( const gtsam::Key & closestGeneralKey)
inlinefinalprotectedvirtual

Implements holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Landmark, CALIBRATION_CHAR >.

Definition at line 43 of file GmsfUnaryExpressionLandmark.h.

◆ transformImuStateFromWorldToReferenceFrame()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
void holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::transformImuStateFromWorldToReferenceFrame ( DynamicDictionaryContainer & gtsamDynamicExpressionKeys,
const gtsam::NavState & W_currentPropagatedState,
const bool centerMeasurementsAtKeyframePositionBeforeAlignmentFlag )
inlinefinalprotectedvirtual

Implements holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Landmark, CALIBRATION_CHAR >.

Definition at line 49 of file GmsfUnaryExpressionLandmark.h.

◆ transformLandmarkInWorldToImuFrame()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
void holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::transformLandmarkInWorldToImuFrame ( DynamicDictionaryContainer & gtsamDynamicExpressionKeys,
const gtsam::NavState & W_currentPropagatedState )
inlinefinalprotectedvirtual

Implements holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Landmark, CALIBRATION_CHAR >.

Definition at line 57 of file GmsfUnaryExpressionLandmark.h.

Member Data Documentation

◆ exp_sensorFrame_t_sensorFrame_landmark_

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
gtsam::Point3_ holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::exp_sensorFrame_t_sensorFrame_landmark_
protected

Definition at line 108 of file GmsfUnaryExpressionLandmark.h.

◆ exp_T_W_I_

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
gtsam::Pose3_ holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::exp_T_W_I_
protected

Definition at line 107 of file GmsfUnaryExpressionLandmark.h.

◆ gmsfUnaryLandmarkMeasurementPtr_

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
std::shared_ptr<UnaryMeasurementLandmark> holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::gmsfUnaryLandmarkMeasurementPtr_
private

Definition at line 112 of file GmsfUnaryExpressionLandmark.h.

◆ landmarkCreationCounter_

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
const long holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::landmarkCreationCounter_
protected

Definition at line 104 of file GmsfUnaryExpressionLandmark.h.

◆ landmarkName_

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
const std::string& holistic_fusion::GmsfUnaryExpressionLandmark< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::landmarkName_
protected

Definition at line 103 of file GmsfUnaryExpressionLandmark.h.

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