64 Base(model, key), nT_(gpsIn) {
68 gtsam::NonlinearFactor::shared_ptr
clone()
const override {
69 return boost::static_pointer_cast<gtsam::NonlinearFactor>(
70 gtsam::NonlinearFactor::shared_ptr(
new This(*
this)));
75 DefaultKeyFormatter)
const override;
81 Vector evaluateError(
const Pose3& p,
82 boost::optional<Matrix&> H = boost::none)
const override;
84 inline const Point3 & measurementIn()
const {
93 static std::pair<Pose3, Vector3> EstimateState(
double t1,
const Point3& NED1,
94 double t2,
const Point3& NED2,
double timestamp);
99 friend class boost::serialization::access;
100 template<
class ARCHIVE>
101 void serialize(ARCHIVE & ar,
const unsigned int ) {
104 & boost::serialization::make_nvp(
"NoiseModelFactor1",
105 boost::serialization::base_object<Base>(*
this));
106 ar & BOOST_SERIALIZATION_NVP(nT_);
137 Base(model, key), nT_(gpsIn) {
141 gtsam::NonlinearFactor::shared_ptr
clone()
const override {
142 return boost::static_pointer_cast<gtsam::NonlinearFactor>(
143 gtsam::NonlinearFactor::shared_ptr(
new This(*
this)));
148 DefaultKeyFormatter)
const override;
154 Vector evaluateError(
const NavState& p,
155 boost::optional<Matrix&> H = boost::none)
const override;
157 inline const Point3 & measurementIn()
const {
164 friend class boost::serialization::access;
165 template<
class ARCHIVE>
166 void serialize(ARCHIVE & ar,
const unsigned int ) {
169 & boost::serialization::make_nvp(
"NoiseModelFactor1",
170 boost::serialization::base_object<Base>(*
this));
171 ar & BOOST_SERIALIZATION_NVP(nT_);
Navigation state composing of attitude, position, and velocity.
Non-linear factor base classes.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:113
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition: Matrix.cpp:156
Vector3 Point3
As of GTSAM 4, in order to make GTSAM more lean, it is now possible to just typedef Point3 to Vector3...
Definition: Point3.h:36
noiseModel::Base::shared_ptr SharedNoiseModel
Aliases.
Definition: NoiseModel.h:724
std::uint64_t Key
Integer nonlinear key type.
Definition: types.h:100
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Definition: Key.h:35
Template to create a binary predicate.
Definition: Testable.h:111
A 3D pose (R,t) : (Rot3,Point3)
Definition: Pose3.h:37
Prior on position in a Cartesian frame.
Definition: GPSFactor.h:35
GPSFactor This
Typedef to this class.
Definition: GPSFactor.h:49
GPSFactor()
default constructor - only use for serialization
Definition: GPSFactor.h:52
GPSFactor(Key key, const Point3 &gpsIn, const SharedNoiseModel &model)
Constructor from a measurement in a Cartesian frame.
Definition: GPSFactor.h:63
gtsam::NonlinearFactor::shared_ptr clone() const override
Definition: GPSFactor.h:68
boost::shared_ptr< GPSFactor > shared_ptr
shorthand for a smart pointer to a factor
Definition: GPSFactor.h:46
Version of GPSFactor for NavState.
Definition: GPSFactor.h:114
gtsam::NonlinearFactor::shared_ptr clone() const override
Definition: GPSFactor.h:141
GPSFactor2 This
Typedef to this class.
Definition: GPSFactor.h:128
GPSFactor2(Key key, const Point3 &gpsIn, const SharedNoiseModel &model)
Constructor from a measurement in a Cartesian frame.
Definition: GPSFactor.h:136
boost::shared_ptr< GPSFactor2 > shared_ptr
shorthand for a smart pointer to a factor
Definition: GPSFactor.h:125
GPSFactor2()
default constructor - only use for serialization
Definition: GPSFactor.h:131
Navigation state: Pose (rotation, translation) + velocity NOTE(frank): it does not make sense to make...
Definition: NavState.h:34
Nonlinear factor base class.
Definition: NonlinearFactor.h:42
A convenient base class for creating your own NoiseModelFactor with n variables.
Definition: NonlinearFactor.h:400