My Project 1.0
Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion
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holistic_fusion::GraphState Class Reference

#include <GraphState.hpp>

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Public Member Functions

 GraphState ()
 ~GraphState ()
bool isOptimized () const
gtsam::Key key () const
double ts () const
const gtsam::NavState & navState () const
const gtsam::Vector3 & angularVelocityCorrected () const
const gtsam::imuBias::ConstantBias & imuBias () const
const auto & referenceFrameTransforms () const
const auto & referenceFrameTransformsCovariance () const
const auto & landmarkTransforms () const
const auto & landmarkTransformsCovariance () const
const gtsam::Matrix66 & poseCovariance () const
const gtsam::Matrix33 & velocityCovariance () const
void setIsOptimized ()
void updateKeyAndTimestamp (const gtsam::Key key, const double ts)
void updateNavState (const gtsam::Key key, const double ts, const gtsam::NavState &navState, const gtsam::Vector3 &correctedAngularVelocity)
void updateImuBias (const gtsam::Key key, const double ts, const gtsam::imuBias::ConstantBias &imuBias)
void updateNavStateAndBias (const gtsam::Key key, const double ts, const gtsam::NavState &navState, const gtsam::Vector3 &correctedAngularVelocity, const gtsam::imuBias::ConstantBias &imuBias)
void updateReferenceFrameTransforms (const holistic_fusion::TransformsDictionary< Eigen::Isometry3d > &fixedFrameTransforms)
void updateReferenceFrameTransformsCovariance (const holistic_fusion::TransformsDictionary< Eigen::Matrix< double, 6, 6 > > &fixedFrameTransformsCovariance)
void updateLandmarkTransforms (const holistic_fusion::TransformsDictionary< Eigen::Isometry3d > &landmarkTransforms)
void updateLandmarkTransformsCovariance (const holistic_fusion::TransformsDictionary< Eigen::Matrix< double, 6, 6 > > &landmarkTransformsCovariance)
void updateCovariances (const gtsam::Matrix66 &poseCovariance, const gtsam::Matrix33 &velocityCovariance)
GraphState & operator= (GraphState &other)

Private Attributes

bool isOptimizedStatus_ = false
gtsam::Key key_ = 0
double ts_ = 0.0
gtsam::NavState navState_
Eigen::Vector3d correctedAngularVelocity_
gtsam::imuBias::ConstantBias imuBias_
holistic_fusion::TransformsDictionary< Eigen::Isometry3d > referenceFrameTransforms_
holistic_fusion::TransformsDictionary< Eigen::Matrix< double, 6, 6 > > referenceFrameTransformsCovariance_
holistic_fusion::TransformsDictionary< Eigen::Isometry3d > landmarkTransforms_
holistic_fusion::TransformsDictionary< Eigen::Matrix< double, 6, 6 > > landmarkTransformsCovariance_
gtsam::Matrix66 poseCovariance_
gtsam::Matrix33 velocityCovariance_
std::mutex stateMutex_

Detailed Description

Definition at line 24 of file GraphState.hpp.

Constructor & Destructor Documentation

◆ GraphState()

holistic_fusion::GraphState::GraphState ( )
inline

Definition at line 26 of file GraphState.hpp.

◆ ~GraphState()

holistic_fusion::GraphState::~GraphState ( )
inline

Definition at line 31 of file GraphState.hpp.

Member Function Documentation

◆ angularVelocityCorrected()

const gtsam::Vector3 & holistic_fusion::GraphState::angularVelocityCorrected ( ) const
inline

Definition at line 38 of file GraphState.hpp.

◆ imuBias()

const gtsam::imuBias::ConstantBias & holistic_fusion::GraphState::imuBias ( ) const
inline

Definition at line 39 of file GraphState.hpp.

◆ isOptimized()

bool holistic_fusion::GraphState::isOptimized ( ) const
inline

Definition at line 34 of file GraphState.hpp.

◆ key()

gtsam::Key holistic_fusion::GraphState::key ( ) const
inline

Definition at line 35 of file GraphState.hpp.

◆ landmarkTransforms()

const auto & holistic_fusion::GraphState::landmarkTransforms ( ) const
inline

Definition at line 42 of file GraphState.hpp.

◆ landmarkTransformsCovariance()

const auto & holistic_fusion::GraphState::landmarkTransformsCovariance ( ) const
inline

Definition at line 43 of file GraphState.hpp.

◆ navState()

const gtsam::NavState & holistic_fusion::GraphState::navState ( ) const
inline

Definition at line 37 of file GraphState.hpp.

◆ operator=()

GraphState & holistic_fusion::GraphState::operator= ( GraphState & other)
inline

Definition at line 115 of file GraphState.hpp.

◆ poseCovariance()

const gtsam::Matrix66 & holistic_fusion::GraphState::poseCovariance ( ) const
inline

Definition at line 44 of file GraphState.hpp.

◆ referenceFrameTransforms()

const auto & holistic_fusion::GraphState::referenceFrameTransforms ( ) const
inline

Definition at line 40 of file GraphState.hpp.

◆ referenceFrameTransformsCovariance()

const auto & holistic_fusion::GraphState::referenceFrameTransformsCovariance ( ) const
inline

Definition at line 41 of file GraphState.hpp.

◆ setIsOptimized()

void holistic_fusion::GraphState::setIsOptimized ( )
inline

Definition at line 48 of file GraphState.hpp.

◆ ts()

double holistic_fusion::GraphState::ts ( ) const
inline

Definition at line 36 of file GraphState.hpp.

◆ updateCovariances()

void holistic_fusion::GraphState::updateCovariances ( const gtsam::Matrix66 & poseCovariance,
const gtsam::Matrix33 & velocityCovariance )
inline

Definition at line 108 of file GraphState.hpp.

◆ updateImuBias()

void holistic_fusion::GraphState::updateImuBias ( const gtsam::Key key,
const double ts,
const gtsam::imuBias::ConstantBias & imuBias )
inline

Definition at line 68 of file GraphState.hpp.

◆ updateKeyAndTimestamp()

void holistic_fusion::GraphState::updateKeyAndTimestamp ( const gtsam::Key key,
const double ts )
inline

Definition at line 51 of file GraphState.hpp.

◆ updateLandmarkTransforms()

void holistic_fusion::GraphState::updateLandmarkTransforms ( const holistic_fusion::TransformsDictionary< Eigen::Isometry3d > & landmarkTransforms)
inline

Definition at line 97 of file GraphState.hpp.

◆ updateLandmarkTransformsCovariance()

void holistic_fusion::GraphState::updateLandmarkTransformsCovariance ( const holistic_fusion::TransformsDictionary< Eigen::Matrix< double, 6, 6 > > & landmarkTransformsCovariance)
inline

Definition at line 102 of file GraphState.hpp.

◆ updateNavState()

void holistic_fusion::GraphState::updateNavState ( const gtsam::Key key,
const double ts,
const gtsam::NavState & navState,
const gtsam::Vector3 & correctedAngularVelocity )
inline

Definition at line 58 of file GraphState.hpp.

◆ updateNavStateAndBias()

void holistic_fusion::GraphState::updateNavStateAndBias ( const gtsam::Key key,
const double ts,
const gtsam::NavState & navState,
const gtsam::Vector3 & correctedAngularVelocity,
const gtsam::imuBias::ConstantBias & imuBias )
inline

Definition at line 76 of file GraphState.hpp.

◆ updateReferenceFrameTransforms()

void holistic_fusion::GraphState::updateReferenceFrameTransforms ( const holistic_fusion::TransformsDictionary< Eigen::Isometry3d > & fixedFrameTransforms)
inline

Definition at line 86 of file GraphState.hpp.

◆ updateReferenceFrameTransformsCovariance()

void holistic_fusion::GraphState::updateReferenceFrameTransformsCovariance ( const holistic_fusion::TransformsDictionary< Eigen::Matrix< double, 6, 6 > > & fixedFrameTransformsCovariance)
inline

Definition at line 91 of file GraphState.hpp.

◆ velocityCovariance()

const gtsam::Matrix33 & holistic_fusion::GraphState::velocityCovariance ( ) const
inline

Definition at line 45 of file GraphState.hpp.

Member Data Documentation

◆ correctedAngularVelocity_

Eigen::Vector3d holistic_fusion::GraphState::correctedAngularVelocity_
private

Definition at line 131 of file GraphState.hpp.

◆ imuBias_

gtsam::imuBias::ConstantBias holistic_fusion::GraphState::imuBias_
private

Definition at line 132 of file GraphState.hpp.

◆ isOptimizedStatus_

bool holistic_fusion::GraphState::isOptimizedStatus_ = false
private

Definition at line 125 of file GraphState.hpp.

◆ key_

gtsam::Key holistic_fusion::GraphState::key_ = 0
private

Definition at line 127 of file GraphState.hpp.

◆ landmarkTransforms_

holistic_fusion::TransformsDictionary<Eigen::Isometry3d> holistic_fusion::GraphState::landmarkTransforms_
private

Definition at line 137 of file GraphState.hpp.

◆ landmarkTransformsCovariance_

holistic_fusion::TransformsDictionary<Eigen::Matrix<double, 6, 6> > holistic_fusion::GraphState::landmarkTransformsCovariance_
private

Definition at line 138 of file GraphState.hpp.

◆ navState_

gtsam::NavState holistic_fusion::GraphState::navState_
private

Definition at line 130 of file GraphState.hpp.

◆ poseCovariance_

gtsam::Matrix66 holistic_fusion::GraphState::poseCovariance_
private

Definition at line 140 of file GraphState.hpp.

◆ referenceFrameTransforms_

holistic_fusion::TransformsDictionary<Eigen::Isometry3d> holistic_fusion::GraphState::referenceFrameTransforms_
private

Definition at line 134 of file GraphState.hpp.

◆ referenceFrameTransformsCovariance_

holistic_fusion::TransformsDictionary<Eigen::Matrix<double, 6, 6> > holistic_fusion::GraphState::referenceFrameTransformsCovariance_
private

Definition at line 136 of file GraphState.hpp.

◆ stateMutex_

std::mutex holistic_fusion::GraphState::stateMutex_
private

Definition at line 143 of file GraphState.hpp.

◆ ts_

double holistic_fusion::GraphState::ts_ = 0.0
private

Definition at line 128 of file GraphState.hpp.

◆ velocityCovariance_

gtsam::Matrix33 holistic_fusion::GraphState::velocityCovariance_
private

Definition at line 141 of file GraphState.hpp.

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