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

#include <point_to_plane_factor.h>

Inheritance diagram for gtsam::PointToPlaneFactor:
Inheritance graph

Public Member Functions

 PointToPlaneFactor ()
 
 PointToPlaneFactor (const Point3 &sensor_t_point, const localization_measurements::Plane &world_T_plane, 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< 1, 3 > d_distance_d_world_t_point=boost::none) const
 
const Point3 & sensor_t_point () const
 
const localization_measurements::Plane & world_T_plane () const
 
const Pose3 & body_T_sensor () const
 

Friends

class boost::serialization::access
 

Constructor & Destructor Documentation

◆ PointToPlaneFactor() [1/2]

gtsam::PointToPlaneFactor::PointToPlaneFactor ( )
inline

◆ PointToPlaneFactor() [2/2]

gtsam::PointToPlaneFactor::PointToPlaneFactor ( const Point3 &  sensor_t_point,
const localization_measurements::Plane &  world_T_plane,
const Pose3 &  body_T_sensor,
const SharedNoiseModel &  model,
Key  pose_key 
)
inline

Member Function Documentation

◆ body_T_sensor()

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

◆ equals()

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

◆ evaluateError()

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

◆ getError()

Vector gtsam::PointToPlaneFactor::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< 1, 3 >  d_distance_d_world_t_point = boost::none 
) const
inline

◆ print()

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

◆ sensor_t_point()

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

◆ world_T_plane()

const localization_measurements::Plane& gtsam::PointToPlaneFactor::world_T_plane ( ) 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: