#include <factor1Pose3d.hpp>
Public Member Functions | |
| Factor1Pose3d (const Mat4 &observation, std::shared_ptr< Node > &n1, const Mat6 &obsInf, Factor::robustFactorType robust_type=Factor::robustFactorType::QUADRATIC) | |
| Factor1Pose3d (const SE3 &observation, std::shared_ptr< Node > &n1, const Mat6 &obsInf, Factor::robustFactorType robust_type=Factor::robustFactorType::QUADRATIC) | |
| void | evaluate_residuals () override |
| void | evaluate_jacobians () override |
| void | evaluate_chi2 () override |
| void | print () const |
| MatRefConst | get_obs () const |
| VectRefConst | get_residual () const |
| MatRefConst | get_information_matrix () const |
| MatRefConst | get_jacobian ([[maybe_unused]] mrob::factor_id_t id=0) const |
 Public Member Functions inherited from mrob::Factor | |
| Factor (uint_t dim, uint_t allNodesDim, robustFactorType factor_type=QUADRATIC, uint_t potNumberNodes=5) | |
| matData_t | get_chi2 () const |
| factor_id_t | get_id () const |
| void | set_id (factor_id_t id) |
| uint_t | get_dim_obs () const |
| void | set_dim_obs (uint_t dim) |
| uint_t | get_all_nodes_dim () const |
| void | set_all_nodes_dim (uint_t dim) |
| const std::vector< std::shared_ptr< Node > > * | get_neighbour_nodes (void) const |
| matData_t | evaluate_robust_weight (matData_t u, matData_t params=0.0) |
Protected Attributes | |
| Mat61 | r_ |
| SE3 | Tobs_ |
| SE3 | Tr_ |
| Mat6 | W_ |
| Mat6 | J_ |
| Protected Attributes inherited from mrob::Factor | |
| factor_id_t | id_ |
| std::vector< std::shared_ptr< Node > > | neighbourNodes_ |
| uint_t | dim_ |
| uint_t | allNodesDim_ |
| matData_t | chi2_ |
| robustFactorType | robust_type_ |
| matData_t | robust_weight_ |
Additional Inherited Members | |
| Public Types inherited from mrob::Factor | |
| enum | robustFactorType { QUADRATIC = 0, HUBER, CAUCHY, MCCLURE, RANSAC } |
Detailed Description
The Factor1Poses3d is a vertex representing the distribution of a nodePose3d, pretty much like an anchoring factor.
The state is an observed RBT, coincident with the node state it is connected to.
In particular, the residual of this factor is: r = (x - obs) = Tx * Tobs^{-1}
Member Function Documentation
◆ evaluate_chi2()
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overridevirtual |
Evaluates chi2 of the current problem, with the given residuals. It may be required to evaluate_residuals() to obtain the new chi2 values This function MOST likely needs to evaluate residuals first, but evaluate_residuals does not necessarily requires to calculate chi2, that is why there are 2 functions.
Implements mrob::Factor.
◆ evaluate_jacobians()
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overridevirtual |
Evaluates Jacobians, this also creates a new linearization point. This function MOST likely needs to evaluate residuals first
Implements mrob::Factor.
◆ evaluate_residuals()
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overridevirtual |
Returns the chi2 error and fills the residual vector
Implements mrob::Factor.
◆ get_jacobian()
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inlinevirtual |
get_jacobian returns a block matrices stacking all the Jacobians on the factor. The convention is that Jacobians corresponding to.
The input value is in case that Jacobian supports accessing a particular Jacobian of a node. For most factors (include 1-2 nodes) this option is not available Mostly only for EigenFactors whose number of connected nodes is unbounded
Implements mrob::Factor.
◆ get_obs()
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inlinevirtual |
Return a Ref to a dynamic matrix, while the child matrix should declare all these variables as fixed size matrices, and ref takes care of doing the conversion with minimal temporary artifacts Observation can be a 3d point, a 3d pose (transformation 4x4), etc.
Implements mrob::Factor.
◆ get_residual()
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inlinevirtual |
Residual will always be a block vector
Implements mrob::Factor.
◆ print()
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virtual |
The print utility could be re-implemented on child classes if there are special needs
Reimplemented from mrob::Factor.
The documentation for this class was generated from the following files:
- src/FGraph/mrob/factors/factor1Pose3d.hpp
- src/FGraph/factors/factor1Pose3d.cpp
