12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed typos in class names

release/4.3a0
Stephen Williams 2013-04-18 21:01:44 +00:00
parent 88d3def0db
commit 584f5c6c8c
1 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
gtsam/navigation/EquivInertialNavFactor_GlobalVel.h
View File

@ -92,7 +92,7 @@ class EquivInertialNavFactor_GlobalVel : public NoiseModelFactor5<POSE, VELOCITY
private:
typedef EquivInertialNavFactor_GlobalVelocity<POSE, VELOCITY, IMUBIAS> This;
typedef EquivInertialNavFactor_GlobalVel<POSE, VELOCITY, IMUBIAS> This;
typedef NoiseModelFactor5<POSE, VELOCITY, IMUBIAS, POSE, VELOCITY> Base;
Vector delta_pos_in_t0_;
@ -112,7 +112,7 @@ private:
public:
// shorthand for a smart pointer to a factor
typedef typename boost::shared_ptr<EquivInertialNavFactor_GlobalVelocity> shared_ptr;
typedef typename boost::shared_ptr<EquivInertialNavFactor_GlobalVel> shared_ptr;
/** default constructor - only use for serialization */
EquivInertialNavFactor_GlobalVel() {}
@ -304,36 +304,36 @@ public:
// TODO: Write analytical derivative calculations
// Jacobian w.r.t. Pose1
if (H1){
Matrix H1_Pose = numericalDerivative11<POSE, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVelocity::evaluatePoseError, this, _1, Vel1, Bias1, Pose2, Vel2), Pose1);
Matrix H1_Vel = numericalDerivative11<VELOCITY, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVelocity::evaluateVelocityError, this, _1, Vel1, Bias1, Pose2, Vel2), Pose1);
Matrix H1_Pose = numericalDerivative11<POSE, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, _1, Vel1, Bias1, Pose2, Vel2), Pose1);
Matrix H1_Vel = numericalDerivative11<VELOCITY, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, _1, Vel1, Bias1, Pose2, Vel2), Pose1);
*H1 = stack(2, &H1_Pose, &H1_Vel);
}
// Jacobian w.r.t. Vel1
if (H2){
Matrix H2_Pose = numericalDerivative11<POSE, VELOCITY>(boost::bind(&EquivInertialNavFactor_GlobalVelocity::evaluatePoseError, this, Pose1, _1, Bias1, Pose2, Vel2), Vel1);
Matrix H2_Vel = numericalDerivative11<VELOCITY, VELOCITY>(boost::bind(&EquivInertialNavFactor_GlobalVelocity::evaluateVelocityError, this, Pose1, _1, Bias1, Pose2, Vel2), Vel1);
Matrix H2_Pose = numericalDerivative11<POSE, VELOCITY>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, _1, Bias1, Pose2, Vel2), Vel1);
Matrix H2_Vel = numericalDerivative11<VELOCITY, VELOCITY>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, _1, Bias1, Pose2, Vel2), Vel1);
*H2 = stack(2, &H2_Pose, &H2_Vel);
}
// Jacobian w.r.t. IMUBias1
if (H3){
Matrix H3_Pose = numericalDerivative11<POSE, IMUBIAS>(boost::bind(&EquivInertialNavFactor_GlobalVelocity::evaluatePoseError, this, Pose1, Vel1, _1, Pose2, Vel2), Bias1);
Matrix H3_Vel = numericalDerivative11<VELOCITY, IMUBIAS>(boost::bind(&EquivInertialNavFactor_GlobalVelocity::evaluateVelocityError, this, Pose1, Vel1, _1, Pose2, Vel2), Bias1);
Matrix H3_Pose = numericalDerivative11<POSE, IMUBIAS>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, _1, Pose2, Vel2), Bias1);
Matrix H3_Vel = numericalDerivative11<VELOCITY, IMUBIAS>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, _1, Pose2, Vel2), Bias1);
*H3 = stack(2, &H3_Pose, &H3_Vel);
}
// Jacobian w.r.t. Pose2
if (H4){
Matrix H4_Pose = numericalDerivative11<POSE, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVelocity::evaluatePoseError, this, Pose1, Vel1, Bias1, _1, Vel2), Pose2);
Matrix H4_Vel = numericalDerivative11<VELOCITY, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVelocity::evaluateVelocityError, this, Pose1, Vel1, Bias1, _1, Vel2), Pose2);
Matrix H4_Pose = numericalDerivative11<POSE, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, Bias1, _1, Vel2), Pose2);
Matrix H4_Vel = numericalDerivative11<VELOCITY, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, Bias1, _1, Vel2), Pose2);
*H4 = stack(2, &H4_Pose, &H4_Vel);
}
// Jacobian w.r.t. Vel2
if (H5){
Matrix H5_Pose = numericalDerivative11<POSE, VELOCITY>(boost::bind(&EquivInertialNavFactor_GlobalVelocity::evaluatePoseError, this, Pose1, Vel1, Bias1, Pose2, _1), Vel2);
Matrix H5_Vel = numericalDerivative11<VELOCITY, VELOCITY>(boost::bind(&EquivInertialNavFactor_GlobalVelocity::evaluateVelocityError, this, Pose1, Vel1, Bias1, Pose2, _1), Vel2);
Matrix H5_Pose = numericalDerivative11<POSE, VELOCITY>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, Bias1, Pose2, _1), Vel2);
Matrix H5_Vel = numericalDerivative11<VELOCITY, VELOCITY>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, Bias1, Pose2, _1), Vel2);
*H5 = stack(2, &H5_Pose, &H5_Vel);
}