holistic_fusion::PitchFactor Class Reference

#include <unaryPitchFactor.h>

Inheritance diagram for holistic_fusion::PitchFactor:

Collaboration diagram for holistic_fusion::PitchFactor:

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

Public Member Functions
	PitchFactor (gtsam::Key j, double pitch, const gtsam::SharedNoiseModel &model)
	~PitchFactor () override=default
gtsam::Vector	evaluateError (const gtsam::Pose3 &robotPose, gtsam::OptionalMatrixType H_Ptr=OptionalNone) const override
	vector of errors

Private Attributes
double	pitch_

Detailed Description

Factor to estimate rotation given robot pitch

Definition at line 27 of file unaryPitchFactor.h.

Member Typedef Documentation

Base

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

Definition at line 29 of file unaryPitchFactor.h.

Constructor & Destructor Documentation

PitchFactor()

holistic_fusion::PitchFactor::PitchFactor ( gtsam::Key j, double pitch, const gtsam::SharedNoiseModel & model )

inline

Constructor of factor that constrains the pitch angle of a Pose3 variable

Parameters

j	key of the unknown pose in the factor graph
pitch	measured pitch angle [rad]
model	of the additive Gaussian noise that is assumed

Definition at line 39 of file unaryPitchFactor.h.

~PitchFactor()

holistic_fusion::PitchFactor::~PitchFactor ( )

overridedefault

Member Function Documentation

evaluateError()

gtsam::Vector holistic_fusion::PitchFactor::evaluateError ( const gtsam::Pose3 & robotPose, gtsam::OptionalMatrixType H_Ptr = OptionalNone ) const

inlineoverride

vector of errors

Evaluate error function

Definition at line 48 of file unaryPitchFactor.h.

Member Data Documentation

pitch_

double holistic_fusion::PitchFactor::pitch_

private

Definition at line 78 of file unaryPitchFactor.h.

---

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

• holistic_fusion/include/holistic_fusion/factors/non_expression/unaryPitchFactor.h