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Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion
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holistic_fusion::GmsfUnaryExpressionLandmarkPosition3 Class Referencefinal

#include <GmsfUnaryExpressionLandmarkPosition3.h>

Inheritance diagram for holistic_fusion::GmsfUnaryExpressionLandmarkPosition3:
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Collaboration diagram for holistic_fusion::GmsfUnaryExpressionLandmarkPosition3:
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Public Member Functions

 GmsfUnaryExpressionLandmarkPosition3 (const std::shared_ptr< UnaryMeasurementXDLandmark< Eigen::Vector3d, 3 > > &positionXDLandmarkMeasurementPtr, const std::string &imuFrameName, const Eigen::Isometry3d &T_I_sensorFrame, const int landmarkCreationCounter)
 ~GmsfUnaryExpressionLandmarkPosition3 ()=default
const gtsam::Vector getNoiseDensity () const override
const gtsam::Point3 getGtsamMeasurementValue () const override
Public Member Functions inherited from holistic_fusion::GmsfUnaryExpressionLandmark< gtsam::Point3, 'd'>
 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::Point3, 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::Point3 > createAndReturnExpression (const gtsam::Key &closestGeneralKey, DynamicDictionaryContainer &gtsamDynamicExpressionKeys, const gtsam::NavState &W_imuPropagatedState, const bool optimizeReferenceFramePosesWrtWorldFlag, const bool centerMeasurementsAtKeyframePositionBeforeAlignmentFlag, const bool optimizeExtrinsicSensorToSensorCorrectedOffsetFlag)
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::Point3 > > & getNewOnlineDynamicPriorFactors () const
const std::vector< gtsam::BetweenFactor< gtsam::Pose3 > > & getNewOnlineAndOfflinePoseBetweenFactors () const
const Eigen::Isometry3d & getT_I_sensorFrameInit () const

Protected Member Functions

virtual gtsam::Point3 computeW_t_W_L_initial (const gtsam::NavState &W_currentPropagatedState) final
void transformImuStateToSensorFrameState () final
void applyExtrinsicCalibrationCorrection (const gtsam::Point3_ &) final
gtsam::Pose3 convertToPose3 (const gtsam::Point3 &measurement) final
gtsam::Point3 convertFromPose3 (const gtsam::Pose3 &pose) final
const gtsam::Expression< gtsam::Point3 > getGtsamExpression () const override
Protected Member Functions inherited from holistic_fusion::GmsfUnaryExpressionLandmark< gtsam::Point3, 'd'>
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
Protected Member Functions inherited from holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Landmark, CALIBRATION_CHAR >
virtual void transformSensorFrameStateToSensorFrameCorrectedState (DynamicDictionaryContainer &gtsamDynamicExpressionKeys)
virtual void applyExtrinsicCalibrationCorrection (const gtsam::Expression< gtsam::Point3 > &exp_C_sensorFrame_sensorFrameCorrected)=0

Private Attributes

std::shared_ptr< UnaryMeasurementXDLandmark< Eigen::Vector3d, 3 > > positionXDLandmarkMeasurementPtr_

Additional Inherited Members

Public Types inherited from holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Landmark, CALIBRATION_CHAR >
using template_type
Protected Attributes inherited from holistic_fusion::GmsfUnaryExpressionLandmark< gtsam::Point3, 'd'>
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::Point3, 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::Point3 > > newOnlineDynamicPriorFactors_
std::vector< gtsam::BetweenFactor< gtsam::Pose3 > > newOnlineAndOfflinePoseBetweenFactors_

Detailed Description

Definition at line 23 of file GmsfUnaryExpressionLandmarkPosition3.h.

Constructor & Destructor Documentation

◆ GmsfUnaryExpressionLandmarkPosition3()

holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::GmsfUnaryExpressionLandmarkPosition3 ( const std::shared_ptr< UnaryMeasurementXDLandmark< Eigen::Vector3d, 3 > > & positionXDLandmarkMeasurementPtr,
const std::string & imuFrameName,
const Eigen::Isometry3d & T_I_sensorFrame,
const int landmarkCreationCounter )
inline

Definition at line 26 of file GmsfUnaryExpressionLandmarkPosition3.h.

◆ ~GmsfUnaryExpressionLandmarkPosition3()

holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::~GmsfUnaryExpressionLandmarkPosition3 ( )
default

Member Function Documentation

◆ applyExtrinsicCalibrationCorrection()

void holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::applyExtrinsicCalibrationCorrection ( const gtsam::Point3_ & )
inlinefinalprotected

Definition at line 68 of file GmsfUnaryExpressionLandmarkPosition3.h.

◆ computeW_t_W_L_initial()

virtual gtsam::Point3 holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::computeW_t_W_L_initial ( const gtsam::NavState & W_currentPropagatedState)
inlinefinalprotectedvirtual

Implements holistic_fusion::GmsfUnaryExpressionLandmark< gtsam::Point3, 'd'>.

Definition at line 47 of file GmsfUnaryExpressionLandmarkPosition3.h.

◆ convertFromPose3()

gtsam::Point3 holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::convertFromPose3 ( const gtsam::Pose3 & pose)
inlinefinalprotectedvirtual

Implements holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Landmark, CALIBRATION_CHAR >.

Definition at line 76 of file GmsfUnaryExpressionLandmarkPosition3.h.

◆ convertToPose3()

gtsam::Pose3 holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::convertToPose3 ( const gtsam::Point3 & measurement)
inlinefinalprotectedvirtual

Implements holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Landmark, CALIBRATION_CHAR >.

Definition at line 74 of file GmsfUnaryExpressionLandmarkPosition3.h.

◆ getGtsamExpression()

const gtsam::Expression< gtsam::Point3 > holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::getGtsamExpression ( ) const
inlinenodiscardoverrideprotectedvirtual

Implements holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Landmark, CALIBRATION_CHAR >.

Definition at line 79 of file GmsfUnaryExpressionLandmarkPosition3.h.

◆ getGtsamMeasurementValue()

const gtsam::Point3 holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::getGtsamMeasurementValue ( ) const
inlinenodiscardoverridevirtual

Implements holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Landmark, CALIBRATION_CHAR >.

Definition at line 41 of file GmsfUnaryExpressionLandmarkPosition3.h.

◆ getNoiseDensity()

const gtsam::Vector holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::getNoiseDensity ( ) const
inlinenodiscardoverridevirtual

Implements holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Landmark, CALIBRATION_CHAR >.

Definition at line 36 of file GmsfUnaryExpressionLandmarkPosition3.h.

◆ transformImuStateToSensorFrameState()

void holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::transformImuStateToSensorFrameState ( )
inlinefinalprotectedvirtual

Implements holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Landmark, CALIBRATION_CHAR >.

Definition at line 58 of file GmsfUnaryExpressionLandmarkPosition3.h.

Member Data Documentation

◆ positionXDLandmarkMeasurementPtr_

std::shared_ptr<UnaryMeasurementXDLandmark<Eigen::Vector3d, 3> > holistic_fusion::GmsfUnaryExpressionLandmarkPosition3::positionXDLandmarkMeasurementPtr_
private

Definition at line 85 of file GmsfUnaryExpressionLandmarkPosition3.h.

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