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Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion
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holistic_fusion::GmsfUnaryExpressionAbsolutePosition3 Class Referencefinal

#include <GmsfUnaryExpressionAbsolutePosition3.h>

Inheritance diagram for holistic_fusion::GmsfUnaryExpressionAbsolutePosition3:
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Public Member Functions

 GmsfUnaryExpressionAbsolutePosition3 (const std::shared_ptr< UnaryMeasurementXDAbsolute< Eigen::Vector3d, 3 > > &positionUnaryMeasurementPtr, const std::string &imuFrameName, const Eigen::Isometry3d &T_I_sensorFrame, const double createReferenceAlignmentKeyframeEveryNSeconds)
 ~GmsfUnaryExpressionAbsolutePosition3 ()=default
const gtsam::Vector getNoiseDensity () const override
const gtsam::Point3 getGtsamMeasurementValue () const override
Public Member Functions inherited from holistic_fusion::GmsfUnaryExpressionAbsolut< gtsam::Point3, 'd'>
 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::Point3, 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::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) final
gtsam::Pose3 computeT_W_fixedFrame_initial (const gtsam::NavState &W_currentPropagatedState) final
bool measuresPosition () const final
const Eigen::Vector3d getMeasurementPosition () final
void setMeasurementPosition (const Eigen::Vector3d &position) final
void transformStateToReferenceFrameMeasurement (const gtsam::Pose3_ &exp_T_W_fixedFrame) override
void transformImuStateToSensorFrameState () final
void applyExtrinsicCalibrationCorrection (const gtsam::Point3_ &exp_sensorFrame_t_sensorFrame_correctSensorFrame) final
gtsam::Pose3 convertToPose3 (const gtsam::Point3 &measurement) final
gtsam::Point3 convertFromPose3 (const gtsam::Pose3 &measurement) final
const gtsam::Expression< gtsam::Point3 > getGtsamExpression () const override
Protected Member Functions inherited from holistic_fusion::GmsfUnaryExpressionAbsolut< 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::Absolute, 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< UnaryMeasurementXDAbsolute< Eigen::Vector3d, 3 > > positionUnaryMeasurementPtr_
gtsam::Expression< gtsam::Point3 > exp_fixedFrame_t_fixedFrame_sensorFrame_
gtsam::Expression< gtsam::Rot3 > exp_R_fixedFrame_I_

Additional Inherited Members

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

Detailed Description

Definition at line 22 of file GmsfUnaryExpressionAbsolutePosition3.h.

Constructor & Destructor Documentation

◆ GmsfUnaryExpressionAbsolutePosition3()

holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::GmsfUnaryExpressionAbsolutePosition3 ( const std::shared_ptr< UnaryMeasurementXDAbsolute< Eigen::Vector3d, 3 > > & positionUnaryMeasurementPtr,
const std::string & imuFrameName,
const Eigen::Isometry3d & T_I_sensorFrame,
const double createReferenceAlignmentKeyframeEveryNSeconds )
inline

Definition at line 25 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ ~GmsfUnaryExpressionAbsolutePosition3()

holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::~GmsfUnaryExpressionAbsolutePosition3 ( )
default

Member Function Documentation

◆ applyExtrinsicCalibrationCorrection()

void holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::applyExtrinsicCalibrationCorrection ( const gtsam::Point3_ & exp_sensorFrame_t_sensorFrame_correctSensorFrame)
inlinefinalprotected

Definition at line 101 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ computeT_W_fixedFrame_initial()

gtsam::Pose3 holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::computeT_W_fixedFrame_initial ( const gtsam::NavState & W_currentPropagatedState)
inlinefinalprotectedvirtual

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

Definition at line 61 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ convertFromPose3()

gtsam::Point3 holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::convertFromPose3 ( const gtsam::Pose3 & measurement)
inlinefinalprotectedvirtual

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

Definition at line 112 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ convertToPose3()

gtsam::Pose3 holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::convertToPose3 ( const gtsam::Point3 & measurement)
inlinefinalprotectedvirtual

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

Definition at line 110 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ generateImuStateInWorldFrameAtKey()

void holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::generateImuStateInWorldFrameAtKey ( const gtsam::Key & closestGeneralKey)
inlinefinalprotectedvirtual

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

Definition at line 49 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ getGtsamExpression()

const gtsam::Expression< gtsam::Point3 > holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::getGtsamExpression ( ) const
inlinenodiscardoverrideprotectedvirtual

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

Definition at line 115 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ getGtsamMeasurementValue()

const gtsam::Point3 holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::getGtsamMeasurementValue ( ) const
inlinenodiscardoverridevirtual

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

Definition at line 43 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ getMeasurementPosition()

const Eigen::Vector3d holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::getMeasurementPosition ( )
inlinefinalprotectedvirtual

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

Definition at line 70 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ getNoiseDensity()

const gtsam::Vector holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::getNoiseDensity ( ) const
inlinenodiscardoverridevirtual

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

Definition at line 38 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ measuresPosition()

bool holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::measuresPosition ( ) const
inlinefinalprotectedvirtual

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

Definition at line 68 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ setMeasurementPosition()

void holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::setMeasurementPosition ( const Eigen::Vector3d & position)
inlinefinalprotectedvirtual

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

Definition at line 75 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ transformImuStateToSensorFrameState()

void holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::transformImuStateToSensorFrameState ( )
inlinefinalprotectedvirtual

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

Definition at line 90 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ transformStateToReferenceFrameMeasurement()

void holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::transformStateToReferenceFrameMeasurement ( const gtsam::Pose3_ & exp_T_W_fixedFrame)
inlineoverrideprotectedvirtual

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

Definition at line 80 of file GmsfUnaryExpressionAbsolutePosition3.h.

Member Data Documentation

◆ exp_fixedFrame_t_fixedFrame_sensorFrame_

gtsam::Expression<gtsam::Point3> holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::exp_fixedFrame_t_fixedFrame_sensorFrame_
private

Definition at line 124 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ exp_R_fixedFrame_I_

gtsam::Expression<gtsam::Rot3> holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::exp_R_fixedFrame_I_
private

Definition at line 125 of file GmsfUnaryExpressionAbsolutePosition3.h.

◆ positionUnaryMeasurementPtr_

std::shared_ptr<UnaryMeasurementXDAbsolute<Eigen::Vector3d, 3> > holistic_fusion::GmsfUnaryExpressionAbsolutePosition3::positionUnaryMeasurementPtr_
private

Definition at line 121 of file GmsfUnaryExpressionAbsolutePosition3.h.

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