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@ -20,7 +20,9 @@ namespace gtsam {
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* Factor to estimate rotation of a Pose2 or Pose3 given a magnetometer reading.
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* This version uses the measurement model bM = scale * bRn * direction + bias,
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* where bRn is the rotation of the body in the nav frame, and scale, direction,
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* and bias are assumed to be known.
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* and bias are assumed to be known. If the factor is constructed with a
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* body_P_sensor, then the magnetometer measurements and bias should be
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* expressed in the sensor frame.
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*/
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template <class POSE>
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class MagPoseFactor: public NoiseModelFactor1<POSE> {
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@ -30,9 +32,9 @@ class MagPoseFactor: public NoiseModelFactor1<POSE> {
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typedef typename POSE::Translation Point; // Could be a Vector2 or Vector3 depending on POSE.
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typedef typename POSE::Rotation Rot;
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const Point measured_; ///< The measured magnetometer data in the body frame.
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const Point nM_; ///< Local magnetic field (mag output units) in the nav frame.
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const Point bias_; ///< The bias vector (mag output units) in the body frame.
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const Point measured_; ///< The measured magnetometer data in the body frame.
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const Point nM_; ///< Local magnetic field (mag output units) in the nav frame.
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const Point bias_; ///< The bias vector (mag output units) in the body frame.
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boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame.
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static const int MeasDim = Point::RowsAtCompileTime;
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@ -53,8 +55,9 @@ class MagPoseFactor: public NoiseModelFactor1<POSE> {
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MagPoseFactor() {}
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/**
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* @param pose_key of the unknown pose nav_P_body in the factor graph.
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* @param measurement magnetometer reading in the sensor frame, a 2D or 3D vector
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* Construct the factor.
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* @param pose_key of the unknown pose nPb in the factor graph
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* @param measurement magnetometer reading, a Point2 or Point3
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* @param scale by which a unit vector is scaled to yield a magnetometer reading
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* @param direction of the local magnetic field, see e.g. http://www.ngdc.noaa.gov/geomag-web/#igrfwmm
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* @param bias of the magnetometer, modeled as purely additive (after scaling)
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@ -101,7 +104,9 @@ class MagPoseFactor: public NoiseModelFactor1<POSE> {
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/** Implement functions needed to derive from Factor. */
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/** Return the factor's error h(x) - z, and the optional Jacobian. */
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/** Return the factor's error h(x) - z, and the optional Jacobian. Note that
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* the measurement error is expressed in the body frame.
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*/
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Vector evaluateError(const POSE& nPb, boost::optional<Matrix&> H = boost::none) const override {
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// Predict the measured magnetic field h(x) in the *body* frame.
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// If body_P_sensor was given, bias_ will have been rotated into the body frame.
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