#include <factor2Poses2d.hpp>

Inheritance diagram for mrob::Factor2Poses2dOdom:

Collaboration diagram for mrob::Factor2Poses2dOdom:

Public Member Functions
	Factor2Poses2dOdom (const Mat31 &observation, std::shared_ptr< Node > &nodeOrigin, std::shared_ptr< Node > &nodeTarget, const Mat3 &obsInf, bool updateNodeTarget=true, Factor::robustFactorType robust_type=Factor::robustFactorType::QUADRATIC)

void	evaluate_residuals () override

void	evaluate_jacobians () override

Public Member Functions inherited from mrob::Factor2Poses2d
	Factor2Poses2d (const Mat31 &observation, std::shared_ptr< Node > &nodeOrigin, std::shared_ptr< Node > &nodeTarget, const Mat3 &obsInf, bool updateNodeTarget=false, Factor::robustFactorType robust_type=Factor::robustFactorType::QUADRATIC)

void	evaluate_chi2 () override

MatRefConst	get_obs () const override

VectRefConst	get_residual () const override

MatRefConst	get_information_matrix () const override

MatRefConst	get_jacobian ([[maybe_unused]]mrob::factor_id_t id=0) const override

void	print () const override

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

virtual MatRefConst	get_jacobian ([[maybe_unused]] mrob::factor_id_t id=0) const =0

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)

Additional Inherited Members
Public Types inherited from mrob::Factor
enum	robustFactorType { QUADRATIC = 0, HUBER, CAUCHY, MCCLURE, RANSAC }

Protected Attributes inherited from mrob::Factor2Poses2d
Mat31	obs_

Mat31	r_

Mat3	W_

Mat< 3, 6 >	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_

Detailed Description

Factor2Poses2dOdom if a factor expressing the relation between consecutive 2d nodes with odometry observations such that; residual = g (x_origin, observation) - x_dest

Observation = [drot1, dtrans, drot2]

We assume that this factor also updates the value of node destination unless explicitly written

Constructor & Destructor Documentation

◆ Factor2Poses2dOdom()

Factor2Poses2dOdom::Factor2Poses2dOdom	(	const Mat31 &	observation,
		std::shared_ptr< Node > &	nodeOrigin,
		std::shared_ptr< Node > &	nodeTarget,
		const Mat3 &	obsInf,
		bool	updateNodeTarget = `true`,
		Factor::robustFactorType	robust_type = `Factor::robustFactorType::QUADRATIC`
	)

Constructor of factor Odom. Conventions are: 1) obs = [drot1, dtrans, drot2] 2) This factor also updates the value of node destination according to obs

Member Function Documentation

◆ evaluate_jacobians()

void Factor2Poses2dOdom::evaluate_jacobians ( )

overridevirtual

Evaluates Jacobians, this also creates a new linearization point. This function MOST likely needs to evaluate residuals first

Reimplemented from mrob::Factor2Poses2d.

◆ evaluate_residuals()

void Factor2Poses2dOdom::evaluate_residuals ( )

overridevirtual

Residuals are evaluated with respect to the current solution