node_adders::MeasurementBasedTimestampedNodeAdder< MeasurementType, NodeType, TimestampedNodesType, MeasurementBasedTimestampedNodeAdderModelType > Class Template Reference

#include <measurement_based_timestamped_node_adder.h>

Inheritance diagram for node_adders::MeasurementBasedTimestampedNodeAdder< MeasurementType, NodeType, TimestampedNodesType, MeasurementBasedTimestampedNodeAdderModelType >:

Public Types
using	Params = TimestampedNodeAdderParams< NodeType >

Public Member Functions
	MeasurementBasedTimestampedNodeAdder (const Params &params, const typename MeasurementBasedTimestampedNodeAdderModelType::Params &node_adder_model_params, std::shared_ptr< nodes::Values > values)
	MeasurementBasedTimestampedNodeAdder (const Params &params, const typename MeasurementBasedTimestampedNodeAdderModelType::Params &node_adder_model_params, std::shared_ptr< TimestampedNodesType > timestamped_nodes)
void	AddMeasurement (const MeasurementType &measurement)
void	RemoveMeasurements (const localization_common::Time oldest_allowed_time)
bool	SlideWindow (const localization_common::Time oldest_allowed_timestamp, const boost::optional< const gtsam::Marginals & > &marginals, const gtsam::KeyVector &old_keys, const double huber_k, gtsam::NonlinearFactorGraph &factors) final
Public Member Functions inherited from node_adders::TimestampedNodeAdder< NodeType, TimestampedNodesType, MeasurementBasedTimestampedNodeAdderModelType >
	TimestampedNodeAdder (const TimestampedNodeAdderParams< NodeType > &params, const typename MeasurementBasedTimestampedNodeAdderModelType ::Params &node_adder_model_params, std::shared_ptr< nodes::Values > values)
	TimestampedNodeAdder (const TimestampedNodeAdderParams< NodeType > &params, const typename MeasurementBasedTimestampedNodeAdderModelType ::Params &node_adder_model_params, std::shared_ptr< TimestampedNodesType > timestamped_nodes)
	TimestampedNodeAdder ()=default
virtual	~TimestampedNodeAdder ()=default
void	AddInitialNodesAndPriors (gtsam::NonlinearFactorGraph &factors) final
void	AddInitialNodesAndPriors (const NodeType &initial_node, const std::vector< gtsam::SharedNoiseModel > &initial_noise, const localization_common::Time timestamp, gtsam::NonlinearFactorGraph &factors)
bool	AddNode (const localization_common::Time timestamp, gtsam::NonlinearFactorGraph &factors) final
bool	SlideWindow (const localization_common::Time oldest_allowed_timestamp, const boost::optional< const gtsam::Marginals & > &marginals, const gtsam::KeyVector &old_keys, const double huber_k, gtsam::NonlinearFactorGraph &factors) override
boost::optional< localization_common::Time >	SlideWindowNewStartTime () const final
gtsam::KeyVector	OldKeys (const localization_common::Time oldest_allowed_time, const gtsam::NonlinearFactorGraph &graph) const final
boost::optional< localization_common::Time >	StartTime () const final
boost::optional< localization_common::Time >	EndTime () const final
bool	CanAddNode (const localization_common::Time timestamp) const final
gtsam::KeyVector	Keys (const localization_common::Time timestamp) const final
const TimestampedNodesType &	nodes () const
std::shared_ptr< const TimestampedNodesType >	nodes_ptr ()
MeasurementBasedTimestampedNodeAdderModelType &	node_adder_model ()
Public Member Functions inherited from node_adders::SlidingWindowNodeAdder
virtual	~SlidingWindowNodeAdder ()
virtual boost::optional< localization_common::Time >	SlideWindowNewStartTime () const =0
virtual boost::optional< localization_common::Time >	StartTime () const =0
virtual boost::optional< localization_common::Time >	EndTime () const =0
Public Member Functions inherited from node_adders::NodeAdder
virtual	~NodeAdder ()

Friends
class	boost::serialization::access

Member Typedef Documentation

Params

template<typename MeasurementType , typename NodeType , typename TimestampedNodesType , typename MeasurementBasedTimestampedNodeAdderModelType >

using node_adders::MeasurementBasedTimestampedNodeAdder< MeasurementType, NodeType, TimestampedNodesType, MeasurementBasedTimestampedNodeAdderModelType >::Params = TimestampedNodeAdderParams<NodeType>

Constructor & Destructor Documentation

MeasurementBasedTimestampedNodeAdder() [1/2]

template<typename MeasurementType , typename NodeType , typename TimestampedNodesType , typename MeasurementBasedTimestampedNodeAdderModelType >

node_adders::MeasurementBasedTimestampedNodeAdder< MeasurementType, NodeType, TimestampedNodesType, MeasurementBasedTimestampedNodeAdderModelType >::MeasurementBasedTimestampedNodeAdder	(	const Params &	params,
		const typename MeasurementBasedTimestampedNodeAdderModelType::Params &	node_adder_model_params,
		std::shared_ptr< nodes::Values >	values
	)

MeasurementBasedTimestampedNodeAdder() [2/2]

template<typename MeasurementType , typename NodeType , typename TimestampedNodesType , typename MeasurementBasedTimestampedNodeAdderModelType >

node_adders::MeasurementBasedTimestampedNodeAdder< MeasurementType, NodeType, TimestampedNodesType, MeasurementBasedTimestampedNodeAdderModelType >::MeasurementBasedTimestampedNodeAdder	(	const Params &	params,
		const typename MeasurementBasedTimestampedNodeAdderModelType::Params &	node_adder_model_params,
		std::shared_ptr< TimestampedNodesType >	timestamped_nodes
	)

Member Function Documentation

AddMeasurement()

template<typename MeasurementType , typename NodeType , typename TimestampedNodesType , typename MeasurementBasedTimestampedNodeAdderModelType >

void node_adders::MeasurementBasedTimestampedNodeAdder< MeasurementType, NodeType, TimestampedNodesType, MeasurementBasedTimestampedNodeAdderModelType >::AddMeasurement

(

const MeasurementType &

measurement

)

RemoveMeasurements()

template<typename MeasurementType , typename NodeType , typename TimestampedNodesType , typename MeasurementBasedTimestampedNodeAdderModelType >

void node_adders::MeasurementBasedTimestampedNodeAdder< MeasurementType, NodeType, TimestampedNodesType, MeasurementBasedTimestampedNodeAdderModelType >::RemoveMeasurements

(

const localization_common::Time

oldest_allowed_time

)

SlideWindow()

template<typename MeasurementType , typename NodeType , typename TimestampedNodesType , typename MeasurementBasedTimestampedNodeAdderModelType >

bool node_adders::MeasurementBasedTimestampedNodeAdder< MeasurementType, NodeType, TimestampedNodesType, MeasurementBasedTimestampedNodeAdderModelType >::SlideWindow ( const localization_common::Time  oldest_allowed_timestamp, const boost::optional< const gtsam::Marginals & > &  marginals, const gtsam::KeyVector &  old_keys, const double  huber_k, gtsam::NonlinearFactorGraph &  factors  )

finalvirtual

Implements node_adders::SlidingWindowNodeAdder.

Friends And Related Function Documentation

boost::serialization::access

template<typename MeasurementType , typename NodeType , typename TimestampedNodesType , typename MeasurementBasedTimestampedNodeAdderModelType >

friend class boost::serialization::access

friend

---

The documentation for this class was generated from the following file:

• localization/node_adders/include/node_adders/measurement_based_timestamped_node_adder.h