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NASA Astrobee Robot Software
Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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NASA Astrobee Robot Software
Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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The factor adders package provides a set of factor adders that add factors to a graph optimizer given a range of timestamps.
Base class for adding factors given a timestamp range.
Extends the FactorAdder and stores measurements in a buffer before using these for factor creation.
MeasurementBasedFactorAdder that adds factors using single measurements at a time for measurements in a provided time range.
SingleMeasurementBasedFactorAdder that takes map-based image feature measurements and generates either LocProjectionFactors or LocPoseFactors. Optionally adds loc pose factors as a fallback for projection factors that suffer cheirality errors. Uses a pose node adder for required node creation.
Generates visual odometry smart factors using image feature tracks. Downsamples measurements as desired for smart factors. See gtsam::SmartProjectionPoseFactor for more information on smart factors. Uses a pose node adder for required node creation.
Creates a zero velocity prior and a zero tranform between factor for successive nodes when standstill is detected. Uses a pose and velocity node adder for required node creation.
