#include <core/factor/factor_pose_3d_with_extrinsics.h>

Inheritance diagram for wolf::FactorPose3dWithExtrinsics:

Public Member Functions
	FactorPose3dWithExtrinsics (const Eigen::VectorXd &_measurement, const Eigen::MatrixXd &_measurement_sqrt_information_upper, const FrameBasePtr &_frame_ptr, const SensorBasePtr &_sensor_ptr, const ProcessorBasePtr &_processor_ptr, bool _apply_loss_function, FactorStatus _status=FAC_ACTIVE)

	~FactorPose3dWithExtrinsics () override=default

template<typename D1 , typename D2 , typename D3 , typename D4 , typename D5 , typename D6 , typename D7 >
void	error (const Eigen::MatrixBase< D1 > &w_p_wb, const Eigen::QuaternionBase< D2 > &w_q_b, const Eigen::MatrixBase< D3 > &b_p_bm, const Eigen::QuaternionBase< D4 > &b_q_m, const Eigen::MatrixBase< D5 > &w_p_wm, const Eigen::QuaternionBase< D6 > &w_q_m, Eigen::MatrixBase< D7 > &p_err, Eigen::MatrixBase< D7 > &o_err) const

Eigen::Vector6d	error () const

template<typename T >
bool	operator() (const T const _p, const T const _q, const T const _sp, const T const _sq, T *_residuals) const

Public Member Functions inherited from wolf::FactorAutodiff< FactorPose3dWithExtrinsics, 6, 3, 4, 3, 4 >
	FactorAutodiff (const std::string &_type, const FactorTopology &_top, const Eigen::VectorXd &_measurement, const Eigen::MatrixXd &_measurement_sqrt_information_upper, const NodeStateBlocksPtrList &_node_state_block_list, const ProcessorBasePtr &_processor_ptr, const std::vector< StateBlockPtr > &_state_ptrs, bool _apply_loss_function, FactorStatus _status=FAC_ACTIVE)

	~FactorAutodiff () override=default

bool	evaluate (double const const params, double residuals, double *jacobians) const override
	Returns the residual and jacobians given the state values. More...

bool	evaluate (const std::vector< const double * > &_states_ptr, Eigen::VectorXd &residual_, std::vector< Eigen::MatrixXd > &jacobians_) const override
	Returns a vector of Jacobian matrix corresponding to each state block evaluated in the point provided in _states_ptr. More...

void	updateJetsRealPart (const std::vector< double const * > &params) const
	Updates all jets real part with values of params. More...

unsigned int	getSize () const override
	Returns the residual size. More...

Public Member Functions inherited from wolf::FactorBase
	FactorBase (const std::string &_type, const FactorTopology &_top, const JacobianMethod &_jac_method, const Eigen::VectorXd &_measurement, const Eigen::MatrixXd &_measurement_sqrt_information_upper, const NodeStateBlocksPtrList &_node_state_block_list, const ProcessorBasePtr &_processor_ptr, const std::vector< StateBlockPtr > &_state_ptrs, bool _apply_loss_function, FactorStatus _status=FAC_ACTIVE)
	constructor from measurement and noise square root information upper matrix (cholesky) More...

	~FactorBase () override=default

virtual void	remove (bool viral_remove_parent_without_children=false)

bool	hasChildren () const override

unsigned int	id () const

virtual FactorTopology	getTopology () const final
	get the main topological characteristic More...

virtual void	getTopology (FactorTopology _top) final
	set the main topological characteristic More...

std::string	getTopologyString () const
	get the main topological characteristic as string More...

virtual bool	evaluate (double const const _parameters, double _residuals, double *_jacobians) const =0
	Evaluate the factor given the input parameters and returning the residuals and jacobians. More...

virtual bool	evaluate (const std::vector< const double * > &_states_ptr, Eigen::VectorXd &_residual, std::vector< Eigen::MatrixXd > &_jacobians) const =0

virtual Eigen::VectorXd	residual () const
	Evaluate the factor residual with the current state block values. More...

virtual double	cost () const
	Evaluate the cost of the factor with the current state block values. More...

virtual JacobianMethod	getJacobianMethod () const final
	Returns the jacobians computation method. More...

virtual std::vector< StateBlockConstPtr >	getStateBlockPtrVector () const
	Returns a vector of pointers to the states in which this factor depends. More...

virtual std::vector< StateBlockPtr >	getStateBlockPtrVector ()

virtual std::vector< unsigned int >	getStateSizes () const
	Returns a vector of the states sizes. More...

virtual const Eigen::VectorXd &	getMeasurement () const
	Returns a reference to the measurement. More...

virtual const Eigen::MatrixXd &	getMeasurementSquareRootInformationUpper () const
	Returns a reference to the measurement square root information. More...

FeatureBaseConstPtr	getFeature () const
	Returns a pointer to the feature constrained from. More...

FeatureBasePtr	getFeature ()

CaptureBaseConstPtr	getCapture () const
	Returns a pointer to its capture. More...

CaptureBasePtr	getCapture ()

FrameBaseConstPtr	getFrame () const
	Returns a pointer to its frame. More...

FrameBasePtr	getFrame ()

ProcessorBaseConstPtr	getProcessor () const
	getProcessor More...

ProcessorBasePtr	getProcessor ()

virtual unsigned int	getSize () const =0
	Returns the factor residual size. More...

FactorStatus	getStatus () const
	Gets the status. More...

void	setStatus (FactorStatus _status)
	Sets the status. More...

bool	getApplyLossFunction () const
	Gets the apply loss function flag. More...

NodeStateBlocksWPtrList	getNodesFactored ()

FrameBaseWPtrList	getFramesFactored ()

CaptureBaseWPtrList	getCapturesFactored ()

LandmarkBaseWPtrList	getLandmarksFactored ()

SensorBaseWPtrList	getSensorsFactored ()

NodeStateBlocksConstWPtrList	getNodesFactored () const

FrameBaseConstWPtrList	getFramesFactored () const

CaptureBaseConstWPtrList	getCapturesFactored () const

LandmarkBaseConstWPtrList	getLandmarksFactored () const

SensorBaseConstWPtrList	getSensorsFactored () const

bool	hasNode (const NodeStateBlocksConstPtr &_nsb) const

bool	hasFrame (const FrameBaseConstPtr &_frm) const

bool	hasCapture (const CaptureBaseConstPtr &_cap) const

bool	hasLandmark (const LandmarkBaseConstPtr &_lmk) const

bool	hasSensor (const SensorBaseConstPtr &_sen) const

void	link (FeatureBasePtr ftr)

virtual void	printHeader (int _depth, bool _factored_by, bool _metric, bool _state_blocks, std::ostream &_stream, std::string _tabs="") const

void	print (int _depth, bool _factored_by, bool _metric, bool _state_blocks, std::ostream &_stream=std::cout, std::string _tabs="") const

virtual CheckLog	localCheck (bool _verbose, std::ostream &_stream, std::string _tabs="") const

bool	check (CheckLog &_log, bool _verbose, std::ostream &_stream, std::string _tabs="") const

Public Member Functions inherited from wolf::NodeBase
	NodeBase (const std::string &_category, const std::string &_type="Undefined", const std::string &_name="")

virtual	~NodeBase ()=default

unsigned int	nodeId () const

std::string	getCategory () const

std::string	getType () const

std::string	getName () const

bool	isRemoving () const

virtual bool	hasChildren () const =0

void	setType (const std::string &_type)

void	setName (const std::string &_name)

ProblemConstPtr	getProblem () const

ProblemPtr	getProblem ()

Additional Inherited Members
Public Types inherited from wolf::FactorAutodiff< FactorPose3dWithExtrinsics, 6, 3, 4, 3, 4 >
typedef autodiff::Jet< double, B0+B1+B2+B3+0+0+0+0+0+0+0+0+0+0+0 >	WolfJet

Static Public Member Functions inherited from wolf::FactorBase
template<typename classType , typename... T>
static std::shared_ptr< classType >	emplace (FeatureBasePtr _oth_ptr, T &&... all)

Static Public Attributes inherited from wolf::FactorAutodiff< FactorPose3dWithExtrinsics, 6, 3, 4, 3, 4 >
static const unsigned int	n_blocks

Protected Member Functions inherited from wolf::FactorBase
void	setProblem (ProblemPtr) override final

virtual void	setProblem (ProblemPtr _prob_ptr)

Protected Attributes inherited from wolf::FactorAutodiff< FactorPose3dWithExtrinsics, 6, 3, 4, 3, 4 >
std::array< WolfJet, RES >	residuals_jets_

std::array< WolfJet, B0 >	jets_0_

std::array< WolfJet, B1 >	jets_1_

std::array< WolfJet, B2 >	jets_2_

std::array< WolfJet, B3 >	jets_3_

std::array< WolfJet, 0 >	jets_4_

std::array< WolfJet, 0 >	jets_5_

std::array< WolfJet, 0 >	jets_6_

std::array< WolfJet, 0 >	jets_7_

std::array< WolfJet, 0 >	jets_8_

std::array< WolfJet, 0 >	jets_9_

std::array< WolfJet, 0 >	jets_10_

std::array< WolfJet, 0 >	jets_11_

std::array< WolfJet, 0 >	jets_12_

std::array< WolfJet, 0 >	jets_13_

std::array< WolfJet, 0 >	jets_14_

Protected Attributes inherited from wolf::FactorBase
unsigned int	factor_id_

FactorTopology	topology_
	topology of factor More...

JacobianMethod	jacobian_method_
	jacobian method More...

FactorStatus	status_
	status of factor More...

bool	apply_loss_function_
	flag for applying loss function to this factor More...

Eigen::VectorXd	measurement_
	the measurement vector More...

Eigen::MatrixXd	measurement_sqrt_information_upper_
	the squared root information matrix More...

std::vector< unsigned int >	state_block_sizes_
	vector containing sizes of the state blocks involved More...

std::vector< StateBlockPtr >	state_block_vector_
	vector containing the state blocks involved More...

Protected Attributes inherited from wolf::NodeBase
ProblemWPtr	problem_ptr_

unsigned int	node_id_
	Node id. It is unique over the whole Wolf Tree. More...

std::string	node_category_
	Text label identifying the category of node ("SENSOR", "FEATURE", etc) More...

std::string	node_type_
	Text label identifying the type or subcategory of node ("Pin Hole", "Point 2d", etc) More...

std::string	node_name_

bool	is_removing_
	A flag for safely removing nodes from the Wolf tree. See remove(). More...

Static Protected Attributes inherited from wolf::FactorAutodiff< FactorPose3dWithExtrinsics, 6, 3, 4, 3, 4 >
static const std::vector< unsigned int >	jacobian_locations_

Constructor & Destructor Documentation

◆ FactorPose3dWithExtrinsics()

wolf::FactorPose3dWithExtrinsics::FactorPose3dWithExtrinsics	(	const Eigen::VectorXd &	_measurement,
		const Eigen::MatrixXd &	_measurement_sqrt_information_upper,
		const FrameBasePtr &	_frame_ptr,
		const SensorBasePtr &	_sensor_ptr,
		const ProcessorBasePtr &	_processor_ptr,
		bool	_apply_loss_function,
		FactorStatus	_status = `FAC_ACTIVE`
	)

inline

◆ ~FactorPose3dWithExtrinsics()

wolf::FactorPose3dWithExtrinsics::~FactorPose3dWithExtrinsics ( )

overridedefault

Member Function Documentation

◆ error() [1/2]

Eigen::Vector6d wolf::FactorPose3dWithExtrinsics::error ( ) const

inline

◆ error() [2/2]

template<typename D1 , typename D2 , typename D3 , typename D4 , typename D5 , typename D6 , typename D7 >

void wolf::FactorPose3dWithExtrinsics::error	(	const Eigen::MatrixBase< D1 > &	w_p_wb,
		const Eigen::QuaternionBase< D2 > &	w_q_b,
		const Eigen::MatrixBase< D3 > &	b_p_bm,
		const Eigen::QuaternionBase< D4 > &	b_q_m,
		const Eigen::MatrixBase< D5 > &	w_p_wm,
		const Eigen::QuaternionBase< D6 > &	w_q_m,
		Eigen::MatrixBase< D7 > &	p_err,
		Eigen::MatrixBase< D7 > &	o_err
	)		const

inline

◆ operator()()

template<typename T >

bool wolf::FactorPose3dWithExtrinsics::operator()	(	const T *const	_p,
		const T *const	_q,
		const T *const	_sp,
		const T *const	_sq,
		T *	_residuals
	)		const

inline

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

include/core/factor/factor_pose_3d_with_extrinsics.h

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ FactorPose3dWithExtrinsics()

◆ ~FactorPose3dWithExtrinsics()

Member Function Documentation

◆ error() [1/2]

◆ error() [2/2]

◆ operator()()