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

#include <GmsfUnaryExpressionAbsolut.h>

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

 GmsfUnaryExpressionAbsolut (const std::shared_ptr< UnaryMeasurementAbsolute > &gmsfUnaryAbsoluteMeasurementPtr, const std::string &imuFrameName, const Eigen::Isometry3d &T_I_sensorFrame, const double createReferenceAlignmentKeyframeEveryNSeconds)
 ~GmsfUnaryExpressionAbsolut ()=default
Public Member Functions inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Absolute, 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 transformImuStateFromWorldToReferenceFrame (DynamicDictionaryContainer &gtsamDynamicExpressionKeys, const gtsam::NavState &W_currentPropagatedState, const bool centerMeasurementsAtKeyframePositionBeforeAlignmentFlag) final
void transformLandmarkInWorldToImuFrame (DynamicDictionaryContainer &gtsamDynamicExpressionKeys, const gtsam::NavState &W_currentPropagatedState) final
virtual gtsam::Pose3 computeT_W_fixedFrame_initial (const gtsam::NavState &W_currentPropagatedState)=0
virtual bool measuresPosition () const =0
virtual const Eigen::Vector3d getMeasurementPosition ()=0
virtual void setMeasurementPosition (const Eigen::Vector3d &position)=0
virtual void transformStateToReferenceFrameMeasurement (const gtsam::Pose3_ &exp_T_W_fixedFrame)=0
Protected Member Functions inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Absolute, CALIBRATION_CHAR >
virtual void generateImuStateInWorldFrameAtKey (const gtsam::Key &closestGeneralKey)=0
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

Private Attributes

std::shared_ptr< UnaryMeasurementAbsolute > gmsfUnaryAbsoluteMeasurementPtr_
const double createReferenceAlignmentKeyframeEveryNSeconds_

Additional Inherited Members

Public Types inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Absolute, CALIBRATION_CHAR >
using template_type
Protected Attributes inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Absolute, 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_

Detailed Description

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

Definition at line 27 of file GmsfUnaryExpressionAbsolut.h.

Constructor & Destructor Documentation

◆ GmsfUnaryExpressionAbsolut()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
holistic_fusion::GmsfUnaryExpressionAbsolut< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::GmsfUnaryExpressionAbsolut ( const std::shared_ptr< UnaryMeasurementAbsolute > & gmsfUnaryAbsoluteMeasurementPtr,
const std::string & imuFrameName,
const Eigen::Isometry3d & T_I_sensorFrame,
const double createReferenceAlignmentKeyframeEveryNSeconds )
inline

Definition at line 30 of file GmsfUnaryExpressionAbsolut.h.

◆ ~GmsfUnaryExpressionAbsolut()

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

Member Function Documentation

◆ computeT_W_fixedFrame_initial()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
virtual gtsam::Pose3 holistic_fusion::GmsfUnaryExpressionAbsolut< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::computeT_W_fixedFrame_initial ( const gtsam::NavState & W_currentPropagatedState)
protectedpure virtual

Implemented in holistic_fusion::GmsfUnaryExpressionAbsoluteHeading, holistic_fusion::GmsfUnaryExpressionAbsolutePose3, and holistic_fusion::GmsfUnaryExpressionAbsolutePosition3.

◆ getMeasurementPosition()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
virtual const Eigen::Vector3d holistic_fusion::GmsfUnaryExpressionAbsolut< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::getMeasurementPosition ( )
protectedpure virtual

Implemented in holistic_fusion::GmsfUnaryExpressionAbsoluteHeading, holistic_fusion::GmsfUnaryExpressionAbsolutePose3, and holistic_fusion::GmsfUnaryExpressionAbsolutePosition3.

◆ measuresPosition()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
virtual bool holistic_fusion::GmsfUnaryExpressionAbsolut< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::measuresPosition ( ) const
protectedpure virtual

Implemented in holistic_fusion::GmsfUnaryExpressionAbsoluteHeading, holistic_fusion::GmsfUnaryExpressionAbsolutePose3, and holistic_fusion::GmsfUnaryExpressionAbsolutePosition3.

◆ setMeasurementPosition()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
virtual void holistic_fusion::GmsfUnaryExpressionAbsolut< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::setMeasurementPosition ( const Eigen::Vector3d & position)
protectedpure virtual

Implemented in holistic_fusion::GmsfUnaryExpressionAbsoluteHeading, holistic_fusion::GmsfUnaryExpressionAbsolutePose3, and holistic_fusion::GmsfUnaryExpressionAbsolutePosition3.

◆ transformImuStateFromWorldToReferenceFrame()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
void holistic_fusion::GmsfUnaryExpressionAbsolut< 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::Absolute, CALIBRATION_CHAR >.

Definition at line 44 of file GmsfUnaryExpressionAbsolut.h.

◆ transformLandmarkInWorldToImuFrame()

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

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

Definition at line 273 of file GmsfUnaryExpressionAbsolut.h.

◆ transformStateToReferenceFrameMeasurement()

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
virtual void holistic_fusion::GmsfUnaryExpressionAbsolut< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::transformStateToReferenceFrameMeasurement ( const gtsam::Pose3_ & exp_T_W_fixedFrame)
protectedpure virtual

Implemented in holistic_fusion::GmsfUnaryExpressionAbsoluteHeading, holistic_fusion::GmsfUnaryExpressionAbsolutePose3, and holistic_fusion::GmsfUnaryExpressionAbsolutePosition3.

Member Data Documentation

◆ createReferenceAlignmentKeyframeEveryNSeconds_

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
const double holistic_fusion::GmsfUnaryExpressionAbsolut< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::createReferenceAlignmentKeyframeEveryNSeconds_
private

Definition at line 294 of file GmsfUnaryExpressionAbsolut.h.

◆ gmsfUnaryAbsoluteMeasurementPtr_

template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
std::shared_ptr<UnaryMeasurementAbsolute> holistic_fusion::GmsfUnaryExpressionAbsolut< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >::gmsfUnaryAbsoluteMeasurementPtr_
private

Definition at line 292 of file GmsfUnaryExpressionAbsolut.h.

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