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holistic_fusion::GmsfUnaryExpressionLocal< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR > Class Template Reference
#include <GmsfUnaryExpressionLocal.h>
Inheritance diagram for holistic_fusion::GmsfUnaryExpressionLocal< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >:
Collaboration diagram for holistic_fusion::GmsfUnaryExpressionLocal< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >:
Public Member Functions | |
| 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_MEASUREMENT_TYPE, 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_MEASUREMENT_TYPE > | createAndReturnExpression (const gtsam::Key &closestGeneralKey, DynamicDictionaryContainer >samDynamicExpressionKeys, const gtsam::NavState &W_imuPropagatedState, const bool optimizeReferenceFramePosesWrtWorldFlag, const bool centerMeasurementsAtKeyframePositionBeforeAlignmentFlag, const bool optimizeExtrinsicSensorToSensorCorrectedOffsetFlag) |
| virtual const gtsam::Vector | getNoiseDensity () const=0 |
| virtual const GTSAM_MEASUREMENT_TYPE | getGtsamMeasurementValue () const=0 |
| 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_MEASUREMENT_TYPE > > & | getNewOnlineDynamicPriorFactors () const |
| const std::vector< gtsam::BetweenFactor< gtsam::Pose3 > > & | getNewOnlineAndOfflinePoseBetweenFactors () const |
| const Eigen::Isometry3d & | getT_I_sensorFrameInit () const |
Protected Member Functions | |
| void | transformImuStateFromWorldToReferenceFrame (DynamicDictionaryContainer >samDynamicExpressionKeys, const gtsam::NavState &W_currentPropagatedState, const bool centerMeasurementsAtKeyframePositionBeforeAlignmentFlag) final |
| void | transformLandmarkInWorldToImuFrame (DynamicDictionaryContainer >samDynamicExpressionKeys, const gtsam::NavState &W_currentPropagatedState) final |
| Protected Member Functions inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Local, CALIBRATION_CHAR > | |
| virtual void | generateImuStateInWorldFrameAtKey (const gtsam::Key &closestGeneralKey)=0 |
| virtual void | transformImuStateToSensorFrameState ()=0 |
| virtual void | transformSensorFrameStateToSensorFrameCorrectedState (DynamicDictionaryContainer >samDynamicExpressionKeys) |
| virtual void | applyExtrinsicCalibrationCorrection (const gtsam::Expression< GTSAM_MEASUREMENT_TYPE > &exp_C_sensorFrame_sensorFrameCorrected)=0 |
| virtual gtsam::Pose3 | convertToPose3 (const GTSAM_MEASUREMENT_TYPE &measurement)=0 |
| virtual GTSAM_MEASUREMENT_TYPE | convertFromPose3 (const gtsam::Pose3 &pose)=0 |
| virtual const gtsam::Expression< GTSAM_MEASUREMENT_TYPE > | getGtsamExpression () const=0 |
Additional Inherited Members | |
| Public Types inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Local, CALIBRATION_CHAR > | |
| using | template_type |
| Protected Attributes inherited from holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, 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_MEASUREMENT_TYPE > > | newOnlineDynamicPriorFactors_ |
| std::vector< gtsam::BetweenFactor< gtsam::Pose3 > > | newOnlineAndOfflinePoseBetweenFactors_ |
Detailed Description
template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
class holistic_fusion::GmsfUnaryExpressionLocal< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >
class holistic_fusion::GmsfUnaryExpressionLocal< GTSAM_MEASUREMENT_TYPE, CALIBRATION_CHAR >
Definition at line 21 of file GmsfUnaryExpressionLocal.h.
Constructor & Destructor Documentation
◆ GmsfUnaryExpressionLocal()
template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
|
inline |
Definition at line 24 of file GmsfUnaryExpressionLocal.h.
◆ ~GmsfUnaryExpressionLocal()
template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
|
default |
Member Function Documentation
◆ transformImuStateFromWorldToReferenceFrame()
template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
|
inlinefinalprotectedvirtual |
Implements holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Local, CALIBRATION_CHAR >.
Definition at line 35 of file GmsfUnaryExpressionLocal.h.
◆ transformLandmarkInWorldToImuFrame()
template<class GTSAM_MEASUREMENT_TYPE, char CALIBRATION_CHAR>
|
inlinefinalprotectedvirtual |
Implements holistic_fusion::GmsfUnaryExpression< GTSAM_MEASUREMENT_TYPE, UnaryExpressionType::Local, CALIBRATION_CHAR >.
Definition at line 43 of file GmsfUnaryExpressionLocal.h.
The documentation for this class was generated from the following file:
- holistic_fusion/include/holistic_fusion/factors/gmsf_expression/GmsfUnaryExpressionLocal.h
