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improved documentation, params and getters

release/4.3a0
morten 2025-01-16 18:12:07 +01:00
parent 4737f0d554
commit b5349a74f5
1 changed files with 23 additions and 3 deletions
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26
gtsam/navigation/GPSFactor.h
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@ -85,6 +85,7 @@ public:
/// vector of errors /// vector of errors
Vector evaluateError(const Pose3& p, OptionalMatrixType H) const override; Vector evaluateError(const Pose3& p, OptionalMatrixType H) const override;
/// return the measurement, in the navigation frame
inline const Point3 & measurementIn() const { inline const Point3 & measurementIn() const {
return nT_; return nT_;
} }
@ -146,7 +147,12 @@ public:
~GPSFactorArm() override {} ~GPSFactorArm() override {}
/// Constructor from a measurement in a Cartesian frame. /** Constructor from a measurement in a Cartesian frame.
* @param key key of the Pose3 variable related to this measurement
* @param gpsIn gps measurement, in Cartesian navigation frame
* @param leverArm translation from the body frame origin to the gps antenna, in body frame
* @param model Gaussian noise model
*/
GPSFactorArm(Key key, const Point3& gpsIn, const Point3& leverArm, const SharedNoiseModel& model) : GPSFactorArm(Key key, const Point3& gpsIn, const Point3& leverArm, const SharedNoiseModel& model) :
Base(model, key), nT_(gpsIn), bL_(leverArm) { Base(model, key), nT_(gpsIn), bL_(leverArm) {
} }
@ -167,10 +173,12 @@ public:
/// vector of errors /// vector of errors
Vector evaluateError(const Pose3& p, OptionalMatrixType H) const override; Vector evaluateError(const Pose3& p, OptionalMatrixType H) const override;
/// return the measurement, in the navigation frame
inline const Point3 & measurementIn() const { inline const Point3 & measurementIn() const {
return nT_; return nT_;
} }
/// return the lever arm, a position in the body frame
inline const Point3 & leverArm() const { inline const Point3 & leverArm() const {
return bL_; return bL_;
} }
@ -207,7 +215,11 @@ public:
~GPSFactor2() override {} ~GPSFactor2() override {}
/// Constructor from a measurement in a Cartesian frame. /** Constructor from a measurement in a Cartesian frame.
* @param key key of the NavState variable related to this measurement
* @param gpsIn gps measurement, in Cartesian navigation frame
* @param model Gaussian noise model
*/
GPSFactor2(Key key, const Point3& gpsIn, const SharedNoiseModel& model) : GPSFactor2(Key key, const Point3& gpsIn, const SharedNoiseModel& model) :
Base(model, key), nT_(gpsIn) { Base(model, key), nT_(gpsIn) {
} }
@ -228,6 +240,7 @@ public:
/// vector of errors /// vector of errors
Vector evaluateError(const NavState& p, OptionalMatrixType H) const override; Vector evaluateError(const NavState& p, OptionalMatrixType H) const override;
/// return the measurement, in the navigation frame
inline const Point3 & measurementIn() const { inline const Point3 & measurementIn() const {
return nT_; return nT_;
} }
@ -281,7 +294,12 @@ public:
~GPSFactor2Arm() override {} ~GPSFactor2Arm() override {}
/// Constructor from a measurement in a Cartesian frame. /** Constructor from a measurement in a Cartesian frame.
* @param key key of the NavState variable related to this measurement
* @param gpsIn gps measurement, in Cartesian navigation frame
* @param leverArm translation from the body frame origin to the gps antenna, in body frame
* @param model noise model for the factor's residual
*/
GPSFactor2Arm(Key key, const Point3& gpsIn, const Point3& leverArm, const SharedNoiseModel& model) : GPSFactor2Arm(Key key, const Point3& gpsIn, const Point3& leverArm, const SharedNoiseModel& model) :
Base(model, key), nT_(gpsIn), bL_(leverArm) { Base(model, key), nT_(gpsIn), bL_(leverArm) {
} }
@ -302,10 +320,12 @@ public:
/// vector of errors /// vector of errors
Vector evaluateError(const NavState& p, OptionalMatrixType H) const override; Vector evaluateError(const NavState& p, OptionalMatrixType H) const override;
/// return the measurement, in the navigation frame
inline const Point3 & measurementIn() const { inline const Point3 & measurementIn() const {
return nT_; return nT_;
} }
/// return the lever arm, a position in the body frame
inline const Point3 & leverArm() const { inline const Point3 & leverArm() const {
return bL_; return bL_;
} }