gtsam 4.2.0
gtsam
gtsam::CombinedImuFactor Class Reference

Detailed Description

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.

+ Inheritance diagram for gtsam::CombinedImuFactor:

Testable

implement functions needed for Testable

GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const CombinedImuFactor &)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print More...
 
bool equals (const NonlinearFactor &expected, double tol=1e-9) const override
 equals More...
 

Public Member Functions

 CombinedImuFactor ()
 Default constructor - only use for serialization.
 
 CombinedImuFactor (Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j, const PreintegratedCombinedMeasurements &preintegratedMeasurements)
 Constructor. More...
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 
const PreintegratedCombinedMeasurementspreintegratedMeasurements () const
 Access the preintegrated measurements.
 
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...
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
Key key () const
 Returns a key. More...
 
 NoiseModelFactorN ()
 Default Constructor for I/O.
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
 Constructor. More...
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
 Constructor. More...
 
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...
 
virtual Vector evaluateError (const ValueTypes &... x, OptionalMatrix< ValueTypes >... H) const=0
 Override evaluateError to finish implementing an n-way factor. More...
 
Vector evaluateError (const ValueTypes &... x) const
 No-Jacobians requested function overload. More...
 
Vector evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 Some (but not all) optional Jacobians are omitted (function overload) More...
 
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Key key6 () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor ()
 Default constructor for I/O only.
 
 ~NoiseModelFactor () override
 Destructor.
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 Constructor.
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 Print. More...
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 Check if two factors are equal. More...
 
size_t dim () const override
 get the dimension of the factor (number of rows on linearization) More...
 
const SharedNoiseModelnoiseModel () const
 access to the noise model
 
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...
 
Vector whitenedError (const Values &c) const
 Vector of errors, whitened This is the raw error, i.e., i.e. More...
 
Vector unweightedWhitenedError (const Values &c) const
 Vector of errors, whitened, but unweighted by any loss function.
 
double weight (const Values &c) const
 Compute the effective weight of the factor from the noise model.
 
double error (const Values &c) const override
 Calculate the error of the factor. More...
 
boost::shared_ptr< GaussianFactorlinearize (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...
 
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 Creates a shared_ptr clone of the factor with a new noise model.
 
- Public Member Functions inherited from gtsam::NonlinearFactor
 NonlinearFactor ()
 Default constructor for I/O only.
 
template<typename CONTAINER >
 NonlinearFactor (const CONTAINER &keys)
 Constructor from a collection of the keys involved in this factor.
 
virtual ~NonlinearFactor ()
 Destructor.
 
double error (const HybridValues &c) const override
 All factor types need to implement an error function. More...
 
virtual bool active (const Values &) const
 Checks whether a factor should be used based on a set of values. More...
 
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...
 
virtual shared_ptr rekey (const KeyVector &new_keys) const
 Clones a factor and fully replaces its keys. More...
 
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...
 
- Public Member Functions inherited from gtsam::Factor
virtual ~Factor ()=default
 Default destructor.
 
bool empty () const
 Whether the factor is empty (involves zero variables).
 
Key front () const
 First key.
 
Key back () const
 Last key.
 
const_iterator find (Key key) const
 find
 
const KeyVectorkeys () const
 Access the factor's involved variable keys.
 
const_iterator begin () const
 Iterator at beginning of involved variable keys.
 
const_iterator end () const
 Iterator at end of involved variable keys.
 
size_t size () const
 
virtual void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys More...
 
bool equals (const This &other, double tol=1e-9) const
 check equality
 
KeyVectorkeys ()
 
iterator begin ()
 Iterator at beginning of involved variable keys.
 
iterator end ()
 Iterator at end of involved variable keys.
 

Public Types

typedef boost::shared_ptr< CombinedImuFactorshared_ptr
 Shorthand for a smart pointer to a factor.
 
- Public Types inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
enum  
 N is the number of variables (N-way factor)
 
using ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type
 The type of the I'th template param can be obtained as ValueType. More...
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef boost::shared_ptr< Thisshared_ptr
 Noise model.
 
- Public Types inherited from gtsam::NonlinearFactor
typedef boost::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::Factor
typedef KeyVector::iterator iterator
 Iterator over keys.
 
typedef KeyVector::const_iterator const_iterator
 Const iterator over keys.
 

Friends

class boost::serialization::access
 Serialization function.
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias, imuBias::ConstantBias >
using Base = NoiseModelFactor
 
using This = NoiseModelFactorN< ValueTypes... >
 
using OptionalMatrix = boost::optional< Matrix & >
 
using KeyType = Key
 
using IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type
 
using IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type
 
using ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type
 
using IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- Protected Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor (const SharedNoiseModel &noiseModel)
 Constructor - only for subclasses, as this does not set keys.
 
- Protected Member Functions inherited from gtsam::Factor
 Factor ()
 Default constructor for I/O.
 
template<typename CONTAINER >
 Factor (const CONTAINER &keys)
 Construct factor from container of keys. More...
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys. More...
 
- Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor FromKeys (const CONTAINER &keys)
 Construct factor from container of keys. More...
 
template<typename ITERATOR >
static Factor FromIterators (ITERATOR first, ITERATOR last)
 Construct factor from iterator keys. More...
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor.
 

Constructor & Destructor Documentation

◆ CombinedImuFactor()

gtsam::CombinedImuFactor::CombinedImuFactor ( Key  pose_i,
Key  vel_i,
Key  pose_j,
Key  vel_j,
Key  bias_i,
Key  bias_j,
const PreintegratedCombinedMeasurements preintegratedMeasurements 
)

Constructor.

Parameters
pose_iPrevious pose key
vel_iPrevious velocity key
pose_jCurrent pose key
vel_jCurrent velocity key
bias_iPrevious bias key
bias_jCurrent bias key
PreintegratedCombinedMeasurementsCombined IMU measurements

Member Function Documentation

◆ clone()

gtsam::NonlinearFactor::shared_ptr gtsam::CombinedImuFactor::clone ( ) const
overridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

◆ equals()

bool gtsam::CombinedImuFactor::equals ( const NonlinearFactor expected,
double  tol = 1e-9 
) const
overridevirtual

equals

Reimplemented from gtsam::NonlinearFactor.

◆ evaluateError()

Vector gtsam::CombinedImuFactor::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

vector of errors

◆ print()

void gtsam::CombinedImuFactor::print ( const std::string &  s = "",
const KeyFormatter keyFormatter = DefaultKeyFormatter 
) const
overridevirtual

print

Reimplemented from gtsam::Factor.


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