node_adders Namespace Reference

Classes
class	BetweenFactorNodeAdderModel
class	CombinedNavStateNodeAdderModel
struct	CombinedNavStateNodeAdderModelParams
class	MeasurementBasedTimestampedNodeAdder
class	MeasurementBasedTimestampedNodeAdderModel
class	NodeAdder
class	PoseNodeAdderModel
struct	PoseNodeAdderParams
class	SlidingWindowNodeAdder
class	TimestampedNodeAdder
class	TimestampedNodeAdderModel
struct	TimestampedNodeAdderModelParams
struct	TimestampedNodeAdderParams

Typedefs
template<typename MeasurementType , typename NodeType >
using	BetweenFactorMeasurementBasedTimestampedNodeAdderModel = BetweenFactorNodeAdderModel< NodeType, MeasurementBasedTimestampedNodeAdderModel< MeasurementType, NodeType, nodes::TimestampedNodes< NodeType > >>
template<typename NodeType >
using	BetweenFactorTimestampedNodeAdderModel = BetweenFactorNodeAdderModel< NodeType, TimestampedNodeAdderModel< NodeType, nodes::TimestampedNodes< NodeType > >>
using	CombinedNavStateNodeAdder = MeasurementBasedTimestampedNodeAdder< localization_measurements::ImuMeasurement, localization_common::CombinedNavState, nodes::CombinedNavStateNodes, CombinedNavStateNodeAdderModel >
using	PoseNodeAdder = MeasurementBasedTimestampedNodeAdder< localization_measurements::PoseWithCovarianceMeasurement, gtsam::Pose3, nodes::TimestampedNodes< gtsam::Pose3 >, PoseNodeAdderModel >

Functions
template<typename FactorType >
bool	RemoveFactor (const gtsam::KeyVector &keys, gtsam::NonlinearFactorGraph &factors)
template<typename FactorType , typename NodesType >
bool	RemoveRelativeFactor (const localization_common::Time timestamp_a, const localization_common::Time timestamp_b, const NodesType &nodes, gtsam::NonlinearFactorGraph &factors)
gtsam::Matrix	Covariance (const gtsam::SharedNoiseModel &robust_gaussian_noise)

Typedef Documentation

BetweenFactorMeasurementBasedTimestampedNodeAdderModel

template<typename MeasurementType , typename NodeType >

using node_adders::BetweenFactorMeasurementBasedTimestampedNodeAdderModel = typedef BetweenFactorNodeAdderModel< NodeType, MeasurementBasedTimestampedNodeAdderModel<MeasurementType, NodeType, nodes::TimestampedNodes<NodeType> >>

BetweenFactorTimestampedNodeAdderModel

template<typename NodeType >

using node_adders::BetweenFactorTimestampedNodeAdderModel = typedef BetweenFactorNodeAdderModel<NodeType, TimestampedNodeAdderModel<NodeType, nodes::TimestampedNodes<NodeType> >>

CombinedNavStateNodeAdder

using node_adders::CombinedNavStateNodeAdder = typedef MeasurementBasedTimestampedNodeAdder<localization_measurements::ImuMeasurement, localization_common::CombinedNavState, nodes::CombinedNavStateNodes, CombinedNavStateNodeAdderModel>

PoseNodeAdder

using node_adders::PoseNodeAdder = typedef MeasurementBasedTimestampedNodeAdder<localization_measurements::PoseWithCovarianceMeasurement, gtsam::Pose3, nodes::TimestampedNodes<gtsam::Pose3>, PoseNodeAdderModel>

Function Documentation

Covariance()

gtsam::Matrix node_adders::Covariance

(

const gtsam::SharedNoiseModel &

robust_gaussian_noise

)

RemoveFactor()

template<typename FactorType >

bool node_adders::RemoveFactor	(	const gtsam::KeyVector &	keys,
		gtsam::NonlinearFactorGraph &	factors
	)

RemoveRelativeFactor()

template<typename FactorType , typename NodesType >

bool node_adders::RemoveRelativeFactor	(	const localization_common::Time	timestamp_a,
		const localization_common::Time	timestamp_b,
		const NodesType &	nodes,
		gtsam::NonlinearFactorGraph &	factors
	)