CombinedImuFactor is a 6-ways factor involving previous state (pose and velocity of the vehicle, as well as bias at previous time step), and current state (pose, velocity, bias at current time step).
Following the pre- integration scheme proposed in [2], the CombinedImuFactor includes many IMU measurements, which are "summarized" using the PreintegratedCombinedMeasurements class. There are 3 main differences wrpt the ImuFactor class: 1) The factor is 6-ways, meaning that it also involves both biases (previous and current time step).Therefore, the factor internally imposes the biases to be slowly varying; in particular, the matrices "biasAccCovariance" and "biasOmegaCovariance" described the random walk that models bias evolution. 2) The preintegration covariance takes into account the noise in the bias estimate used for integration. 3) The covariance matrix of the PreintegratedCombinedMeasurements preserves the correlation between the bias uncertainty and the preintegrated measurements uncertainty.
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| CombinedImuFactor () |
| Default constructor - only use for serialization.
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| CombinedImuFactor (Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const PreintegratedCombinedMeasurements &preintegratedMeasurements) |
| Constructor. More...
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gtsam::NonlinearFactor::shared_ptr | clone () const override |
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const PreintegratedCombinedMeasurements & | preintegratedMeasurements () const |
| Access the preintegrated measurements.
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Vector | evaluateError (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, const imuBias::ConstantBias &bias_j, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none, boost::optional< Matrix & > H3=boost::none, boost::optional< Matrix & > H4=boost::none, boost::optional< Matrix & > H5=boost::none, boost::optional< Matrix & > H6=boost::none) const override |
| implement functions needed to derive from Factor More...
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Key | key () const |
| Returns a key. More...
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| NoiseModelFactorN () |
| Default Constructor for I/O.
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| NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys) |
| Constructor. More...
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| NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys) |
| Constructor. More...
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Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const override |
| This implements the unwhitenedError virtual function by calling the n-key specific version of evaluateError, which is pure virtual so must be implemented in the derived class. More...
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virtual Vector | evaluateError (const ValueTypes &... x, OptionalMatrix< ValueTypes >... H) const=0 |
| Override evaluateError to finish implementing an n-way factor. More...
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Vector | evaluateError (const ValueTypes &... x) const |
| No-Jacobians requested function overload. More...
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Vector | evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const |
| Some (but not all) optional Jacobians are omitted (function overload) More...
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Key | key1 () const |
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Key | key2 () const |
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Key | key3 () const |
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Key | key4 () const |
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Key | key5 () const |
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Key | key6 () const |
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| NoiseModelFactor () |
| Default constructor for I/O only.
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| ~NoiseModelFactor () override |
| Destructor.
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template<typename CONTAINER > |
| NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys) |
| Constructor.
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void | print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override |
| Print. More...
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bool | equals (const NonlinearFactor &f, double tol=1e-9) const override |
| Check if two factors are equal. More...
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size_t | dim () const override |
| get the dimension of the factor (number of rows on linearization) More...
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const SharedNoiseModel & | noiseModel () const |
| access to the noise model
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virtual Vector | unwhitenedError (const Values &x, boost::optional< std::vector< Matrix > & > H=boost::none) const =0 |
| Error function without the NoiseModel, \( z-h(x) \). More...
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Vector | whitenedError (const Values &c) const |
| Vector of errors, whitened This is the raw error, i.e., i.e. More...
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Vector | unweightedWhitenedError (const Values &c) const |
| Vector of errors, whitened, but unweighted by any loss function.
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double | weight (const Values &c) const |
| Compute the effective weight of the factor from the noise model.
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double | error (const Values &c) const override |
| Calculate the error of the factor. More...
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boost::shared_ptr< GaussianFactor > | linearize (const Values &x) const override |
| Linearize a non-linearFactorN to get a GaussianFactor, \( Ax-b \approx h(x+\delta x)-z = h(x) + A \delta x - z \) Hence \( b = z - h(x) = - \mathtt{error\_vector}(x) \). More...
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shared_ptr | cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const |
| Creates a shared_ptr clone of the factor with a new noise model.
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| NonlinearFactor () |
| Default constructor for I/O only.
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template<typename CONTAINER > |
| NonlinearFactor (const CONTAINER &keys) |
| Constructor from a collection of the keys involved in this factor.
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virtual | ~NonlinearFactor () |
| Destructor.
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double | error (const HybridValues &c) const override |
| All factor types need to implement an error function. More...
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virtual bool | active (const Values &) const |
| Checks whether a factor should be used based on a set of values. More...
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virtual shared_ptr | rekey (const std::map< Key, Key > &rekey_mapping) const |
| Creates a shared_ptr clone of the factor with different keys using a map from old->new keys. More...
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virtual shared_ptr | rekey (const KeyVector &new_keys) const |
| Clones a factor and fully replaces its keys. More...
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virtual bool | sendable () const |
| Should the factor be evaluated in the same thread as the caller This is to enable factors that has shared states (like the Python GIL lock) More...
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virtual | ~Factor ()=default |
| Default destructor.
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bool | empty () const |
| Whether the factor is empty (involves zero variables).
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Key | front () const |
| First key.
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Key | back () const |
| Last key.
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const_iterator | find (Key key) const |
| find
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const KeyVector & | keys () const |
| Access the factor's involved variable keys.
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const_iterator | begin () const |
| Iterator at beginning of involved variable keys.
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const_iterator | end () const |
| Iterator at end of involved variable keys.
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size_t | size () const |
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virtual void | printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const |
| print only keys More...
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bool | equals (const This &other, double tol=1e-9) const |
| check equality
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KeyVector & | keys () |
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iterator | begin () |
| Iterator at beginning of involved variable keys.
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iterator | end () |
| Iterator at end of involved variable keys.
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using | Base = NoiseModelFactor |
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using | This = NoiseModelFactorN< ValueTypes... > |
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using | OptionalMatrix = boost::optional< Matrix & > |
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using | KeyType = Key |
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using | IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type |
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using | IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type |
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using | ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type |
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using | IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key > |
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typedef NonlinearFactor | Base |
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typedef NoiseModelFactor | This |
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typedef Factor | Base |
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typedef NonlinearFactor | This |
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| NoiseModelFactor (const SharedNoiseModel &noiseModel) |
| Constructor - only for subclasses, as this does not set keys.
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| Factor () |
| Default constructor for I/O.
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template<typename CONTAINER > |
| Factor (const CONTAINER &keys) |
| Construct factor from container of keys. More...
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template<typename ITERATOR > |
| Factor (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys. More...
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template<typename CONTAINER > |
static Factor | FromKeys (const CONTAINER &keys) |
| Construct factor from container of keys. More...
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template<typename ITERATOR > |
static Factor | FromIterators (ITERATOR first, ITERATOR last) |
| Construct factor from iterator keys. More...
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SharedNoiseModel | noiseModel_ |
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KeyVector | keys_ |
| The keys involved in this factor.
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