NASA Astrobee Robot Software  0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
Public Member Functions | Static Public Member Functions | Friends | List of all members
gtsam::PointToHandrailEndpointFactor Class Reference

#include <point_to_handrail_endpoint_factor.h>

Inheritance diagram for gtsam::PointToHandrailEndpointFactor:
Inheritance graph

Public Member Functions

 PointToHandrailEndpointFactor ()
 
 PointToHandrailEndpointFactor (const Point3 &sensor_t_point, const Point3 &world_t_endpoint_a, const Point3 &world_t_endpoint_b, const Pose3 &body_T_sensor, const SharedNoiseModel &model, Key pose_key)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
bool equals (const NonlinearFactor &p, double tol=1e-9) const override
 
Vector evaluateError (const Pose3 &world_T_body, boost::optional< Matrix & > H=boost::none) const override
 
Vector getError (const Pose3 &world_T_body, OptionalJacobian< 6, 6 > d_world_T_sensor_d_world_T_body=boost::none, OptionalJacobian< 3, 6 > d_world_t_point_d_world_T_sensor=boost::none, OptionalJacobian< 3, 3 > d_local_d_world_t_point=boost::none) const
 
const Point3 & sensor_t_point () const
 
const Point3 & world_t_endpoint_a () const
 
const Point3 & world_t_endpoint_b () const
 
const Pose3 & body_T_sensor () const
 

Static Public Member Functions

static Point3 local (const Point3 &point1, const Point3 &point2, OptionalJacobian< 3, 3 > d_local_d_point1=boost::none)
 

Friends

class boost::serialization::access
 

Constructor & Destructor Documentation

◆ PointToHandrailEndpointFactor() [1/2]

gtsam::PointToHandrailEndpointFactor::PointToHandrailEndpointFactor ( )
inline

◆ PointToHandrailEndpointFactor() [2/2]

gtsam::PointToHandrailEndpointFactor::PointToHandrailEndpointFactor ( const Point3 &  sensor_t_point,
const Point3 &  world_t_endpoint_a,
const Point3 &  world_t_endpoint_b,
const Pose3 &  body_T_sensor,
const SharedNoiseModel &  model,
Key  pose_key 
)
inline

Member Function Documentation

◆ body_T_sensor()

const Pose3& gtsam::PointToHandrailEndpointFactor::body_T_sensor ( ) const
inline

◆ equals()

bool gtsam::PointToHandrailEndpointFactor::equals ( const NonlinearFactor &  p,
double  tol = 1e-9 
) const
inlineoverride

◆ evaluateError()

Vector gtsam::PointToHandrailEndpointFactor::evaluateError ( const Pose3 &  world_T_body,
boost::optional< Matrix & >  H = boost::none 
) const
inlineoverride

◆ getError()

Vector gtsam::PointToHandrailEndpointFactor::getError ( const Pose3 &  world_T_body,
OptionalJacobian< 6, 6 >  d_world_T_sensor_d_world_T_body = boost::none,
OptionalJacobian< 3, 6 >  d_world_t_point_d_world_T_sensor = boost::none,
OptionalJacobian< 3, 3 >  d_local_d_world_t_point = boost::none 
) const
inline

◆ local()

static Point3 gtsam::PointToHandrailEndpointFactor::local ( const Point3 &  point1,
const Point3 &  point2,
OptionalJacobian< 3, 3 >  d_local_d_point1 = boost::none 
)
inlinestatic

◆ print()

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

◆ sensor_t_point()

const Point3& gtsam::PointToHandrailEndpointFactor::sensor_t_point ( ) const
inline

◆ world_t_endpoint_a()

const Point3& gtsam::PointToHandrailEndpointFactor::world_t_endpoint_a ( ) const
inline

◆ world_t_endpoint_b()

const Point3& gtsam::PointToHandrailEndpointFactor::world_t_endpoint_b ( ) const
inline

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access
friend
The documentation for this class was generated from the following file: