#include <GmsfUnaryExpressionLocalVelocity3.h>

Inheritance diagram for holistic_fusion::GmsfUnaryExpressionLocalVelocity3:

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Collaboration diagram for holistic_fusion::GmsfUnaryExpressionLocalVelocity3:

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Public Member Functions
	GmsfUnaryExpressionLocalVelocity3 (const std::shared_ptr< UnaryMeasurementXD< Eigen::Vector3d, 3 > > &velocityUnaryMeasurementPtr, const std::string &imuFrameName, const Eigen::Isometry3d &T_I_sensorFrame, const std::shared_ptr< holistic_fusion::ImuBuffer > imuBufferPtr)
	GmsfUnaryExpressionLocalVelocity3 (const std::shared_ptr< UnaryMeasurementXD< Eigen::Vector3d, 3 > > &velocityUnaryMeasurementPtr, const std::string &imuFrameName, const Eigen::Isometry3d &T_I_sensorFrame, const Eigen::Vector3d &angularVelocity)
	~GmsfUnaryExpressionLocalVelocity3 ()=default
const gtsam::Vector	getNoiseDensity () const override
const gtsam::Point3	getGtsamMeasurementValue () const override
Public Member Functions inherited from holistic_fusion::GmsfUnaryExpressionLocal< gtsam::Point3, 'd'>
	GmsfUnaryExpressionLocal (const std::shared_ptr< UnaryMeasurement > &baseUnaryAbsoluteMeasurementPtr, const std::string &imuFrameName, const Eigen::Isometry3d &T_I_sensorFrame)
	~GmsfUnaryExpressionLocal ()=default
Public Member Functions inherited from holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Local, 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
void	generateImuStateInWorldFrameAtKey (const gtsam::Key &closestGeneralKey) override
void	transformImuStateToSensorFrameState () final
void	applyExtrinsicCalibrationCorrection (const gtsam::Point3_ &exp_correction) 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::GmsfUnaryExpressionLocal< gtsam::Point3, 'd'>
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::Local, 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< UnaryMeasurementXD< Eigen::Vector3d, 3 > >	velocityUnaryMeasurementPtr_
gtsam::Point3	angularVelocity_
bool	foundImuMeasurementFlag_ = false
gtsam::Expression< gtsam::Point3 >	exp_sensorFrame_v_fixedFrame_sensorFrame_
gtsam::Expression< gtsam::Rot3 >	exp_R_fixedFrame_I_
gtsam::Expression< gtsam::Point3 >	exp_I_w_W_I_

Additional Inherited Members
Public Types inherited from holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Local, CALIBRATION_CHAR >
using	template_type
Protected Attributes inherited from holistic_fusion::GmsfUnaryExpression< gtsam::Point3, UnaryExpressionType::Local, 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 24 of file GmsfUnaryExpressionLocalVelocity3.h.

Constructor & Destructor Documentation

◆ GmsfUnaryExpressionLocalVelocity3() [1/2]

holistic_fusion::GmsfUnaryExpressionLocalVelocity3::GmsfUnaryExpressionLocalVelocity3	(	const std::shared_ptr< UnaryMeasurementXD< Eigen::Vector3d, 3 > > &	velocityUnaryMeasurementPtr,
		const std::string &	imuFrameName,
		const Eigen::Isometry3d &	T_I_sensorFrame,
		const std::shared_ptr< holistic_fusion::ImuBuffer >	imuBufferPtr )

inline

Definition at line 27 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ GmsfUnaryExpressionLocalVelocity3() [2/2]

holistic_fusion::GmsfUnaryExpressionLocalVelocity3::GmsfUnaryExpressionLocalVelocity3	(	const std::shared_ptr< UnaryMeasurementXD< Eigen::Vector3d, 3 > > &	velocityUnaryMeasurementPtr,
		const std::string &	imuFrameName,
		const Eigen::Isometry3d &	T_I_sensorFrame,
		const Eigen::Vector3d &	angularVelocity )

inline

Definition at line 53 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ ~GmsfUnaryExpressionLocalVelocity3()

holistic_fusion::GmsfUnaryExpressionLocalVelocity3::~GmsfUnaryExpressionLocalVelocity3 ( )

default

Member Function Documentation

◆ applyExtrinsicCalibrationCorrection()

void holistic_fusion::GmsfUnaryExpressionLocalVelocity3::applyExtrinsicCalibrationCorrection ( const gtsam::Point3_ & exp_correction )

inlinefinalprotected

Definition at line 122 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ convertFromPose3()

gtsam::Point3 holistic_fusion::GmsfUnaryExpressionLocalVelocity3::convertFromPose3 ( const gtsam::Pose3 & pose )

inlinefinalprotectedvirtual

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

Definition at line 130 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ convertToPose3()

gtsam::Pose3 holistic_fusion::GmsfUnaryExpressionLocalVelocity3::convertToPose3 ( const gtsam::Point3 & measurement )

inlinefinalprotectedvirtual

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

Definition at line 128 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ generateImuStateInWorldFrameAtKey()

void holistic_fusion::GmsfUnaryExpressionLocalVelocity3::generateImuStateInWorldFrameAtKey ( const gtsam::Key & closestGeneralKey )

inlineoverrideprotectedvirtual

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

Definition at line 79 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ getGtsamExpression()

const gtsam::Expression< gtsam::Point3 > holistic_fusion::GmsfUnaryExpressionLocalVelocity3::getGtsamExpression ( ) const

inlinenodiscardoverrideprotectedvirtual

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

Definition at line 133 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ getGtsamMeasurementValue()

const gtsam::Point3 holistic_fusion::GmsfUnaryExpressionLocalVelocity3::getGtsamMeasurementValue ( ) const

inlinenodiscardoverridevirtual

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

Definition at line 73 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ getNoiseDensity()

const gtsam::Vector holistic_fusion::GmsfUnaryExpressionLocalVelocity3::getNoiseDensity ( ) const

inlinenodiscardoverridevirtual

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

Definition at line 68 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ transformImuStateToSensorFrameState()

void holistic_fusion::GmsfUnaryExpressionLocalVelocity3::transformImuStateToSensorFrameState ( )

inlinefinalprotectedvirtual

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

Definition at line 105 of file GmsfUnaryExpressionLocalVelocity3.h.

Member Data Documentation

◆ angularVelocity_

gtsam::Point3 holistic_fusion::GmsfUnaryExpressionLocalVelocity3::angularVelocity_

private

Definition at line 142 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ exp_I_w_W_I_

gtsam::Expression<gtsam::Point3> holistic_fusion::GmsfUnaryExpressionLocalVelocity3::exp_I_w_W_I_

private

Definition at line 148 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ exp_R_fixedFrame_I_

gtsam::Expression<gtsam::Rot3> holistic_fusion::GmsfUnaryExpressionLocalVelocity3::exp_R_fixedFrame_I_

private

Definition at line 147 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ exp_sensorFrame_v_fixedFrame_sensorFrame_

gtsam::Expression<gtsam::Point3> holistic_fusion::GmsfUnaryExpressionLocalVelocity3::exp_sensorFrame_v_fixedFrame_sensorFrame_

private

Definition at line 146 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ foundImuMeasurementFlag_

bool holistic_fusion::GmsfUnaryExpressionLocalVelocity3::foundImuMeasurementFlag_ = false

private

Definition at line 143 of file GmsfUnaryExpressionLocalVelocity3.h.

◆ velocityUnaryMeasurementPtr_

std::shared_ptr<UnaryMeasurementXD<Eigen::Vector3d, 3> > holistic_fusion::GmsfUnaryExpressionLocalVelocity3::velocityUnaryMeasurementPtr_

private

Definition at line 139 of file GmsfUnaryExpressionLocalVelocity3.h.

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

holistic_fusion/include/holistic_fusion/factors/gmsf_expression/GmsfUnaryExpressionLocalVelocity3.h

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GmsfUnaryExpressionLocalVelocity3() [1/2]

◆ GmsfUnaryExpressionLocalVelocity3() [2/2]

◆ ~GmsfUnaryExpressionLocalVelocity3()

Member Function Documentation

◆ applyExtrinsicCalibrationCorrection()

◆ convertFromPose3()

◆ convertToPose3()

◆ generateImuStateInWorldFrameAtKey()

◆ getGtsamExpression()

◆ getGtsamMeasurementValue()

◆ getNoiseDensity()

◆ transformImuStateToSensorFrameState()

Member Data Documentation

◆ angularVelocity_

◆ exp_I_w_W_I_

◆ exp_R_fixedFrame_I_

◆ exp_sensorFrame_v_fixedFrame_sensorFrame_

◆ foundImuMeasurementFlag_

◆ velocityUnaryMeasurementPtr_