#include <unaryYawFactor.h>

Inheritance diagram for holistic_fusion::YawFactor:

Collaboration diagram for holistic_fusion::YawFactor:

Public Types
using	Base = gtsam::NoiseModelFactorN<gtsam::Pose3>

Public Member Functions
	YawFactor (gtsam::Key j, double yaw_W_S, const gtsam::SharedNoiseModel &model, const gtsam::Rot3 &R_I_S=gtsam::Rot3())
	~YawFactor () override=default
gtsam::Vector	evaluateError (const gtsam::Pose3 &T_W_I, gtsam::OptionalMatrixType H_Ptr=OptionalNone) const override
	vector of errors

Private Attributes
double	yaw_W_S_
gtsam::Rot3	R_I_S_

Detailed Description

Factor constraining the world yaw of a measurement frame S that is rigidly attached to the IMU frame I. The yaw is evaluated on S, so the constraint holds for any IMU mounting orientation.

Definition at line 29 of file unaryYawFactor.h.

Member Typedef Documentation

◆ Base

using holistic_fusion::YawFactor::Base = gtsam::NoiseModelFactorN<gtsam::Pose3>

Definition at line 31 of file unaryYawFactor.h.

Constructor & Destructor Documentation

◆ YawFactor()

holistic_fusion::YawFactor::YawFactor	(	gtsam::Key	j,
		double	yaw_W_S,
		const gtsam::SharedNoiseModel &	model,
		const gtsam::Rot3 &	R_I_S = gtsam::Rot3() )

inline

Constructor of factor that constrains the yaw angle of frame S, given the pose T_W_I of the IMU frame

Parameters

j	key of the unknown IMU pose T_W_I in the factor graph
yaw_W_S	measured yaw angle of frame S in the world frame [rad]
model	of the additive Gaussian noise that is assumed
R_I_S	rotation of frame S expressed in the IMU frame, identity if S is the IMU frame

Definition at line 42 of file unaryYawFactor.h.

◆ ~YawFactor()

holistic_fusion::YawFactor::~YawFactor ( )

overridedefault

Member Function Documentation

◆ evaluateError()

gtsam::Vector holistic_fusion::YawFactor::evaluateError	(	const gtsam::Pose3 &	T_W_I,
		gtsam::OptionalMatrixType	H_Ptr = OptionalNone ) const

inlineoverride

vector of errors

Evaluate error function

Definition at line 52 of file unaryYawFactor.h.

Member Data Documentation

◆ R_I_S_

gtsam::Rot3 holistic_fusion::YawFactor::R_I_S_

private

Definition at line 86 of file unaryYawFactor.h.

◆ yaw_W_S_

double holistic_fusion::YawFactor::yaw_W_S_