-
Notifications
You must be signed in to change notification settings - Fork 4
/
Copy pathgtsam_gnss.i
135 lines (119 loc) · 8.44 KB
/
gtsam_gnss.i
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
namespace gtsam_gnss {
// Pseudorange factor with 3D position (X) and receiver clock (C)
#include <PseudorangeFactor_XC.h>
virtual class PseudorangeFactor_XC : gtsam::NoiseModelFactor {
PseudorangeFactor_XC(size_t keyX, size_t keyC, const gtsam::Vector& losvec, const double& pr, const int& sysidx, const gtsam::Vector& inix, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& x, const gtsam::Vector& c) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
// Pseudorange factor with 3D position (X)
#include <PseudorangeFactor_X.h>
virtual class PseudorangeFactor_X : gtsam::NoiseModelFactor {
PseudorangeFactor_X(size_t keyX, const gtsam::Vector& losvec, const double& pr, const gtsam::Vector& inix, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& x) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
// Doppler factor with 3D velocity (V) and receiver clock drift (D)
#include <DopplerFactor_VD.h>
virtual class DopplerFactor_VD : gtsam::NoiseModelFactor {
DopplerFactor_VD(size_t keyV, size_t keyD, const gtsam::Vector& losvec, const double& prr, const gtsam::Vector& iniv, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& v, const gtsam::Vector& d) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
// Doppler factor with 3D velocity (V)
#include <DopplerFactor_V.h>
virtual class DopplerFactor_V : gtsam::NoiseModelFactor {
DopplerFactor_V(size_t keyV, const gtsam::Vector& losvec, const double& prr, const gtsam::Vector& iniv, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& v) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
// Doppler factor with 3D positions (X) and receiver clocks (C)
#include <DopplerFactor_XXCC.h>
virtual class DopplerFactor_XXCC : gtsam::NoiseModelFactor {
DopplerFactor_XXCC(size_t keyX1, size_t keyX2, size_t keyC1, size_t keyC2, const gtsam::Vector& losvec, const double& prr, const double& dt, const gtsam::Vector& inix1, const gtsam::Vector& inix2, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& x1, const gtsam::Vector& x2, const gtsam::Vector& c1, const gtsam::Vector& c2) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
// Carrier phase factor with 3D position (X) and carrier phase bias (B)
#include <CarrierPhaseFactor_XB.h>
virtual class CarrierPhaseFactor_XB : gtsam::NoiseModelFactor {
CarrierPhaseFactor_XB(size_t keyX, size_t keyB, const gtsam::Vector& losvec, const double& cp, const int& biasidx, const double& lam, const gtsam::Vector& inix, gtsam::noiseModel::Base* model);
CarrierPhaseFactor_XB(size_t keyX, size_t keyB, const gtsam::Vector& losvec, const double& cp, const int& biasidx, const int& refbiasidx, const double& lam, const gtsam::Vector& inix, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& x, const gtsam::Vector& b) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
// Time-difference Carrier Phase (TDCP) factor with 3D positions (X) and receiver clocks (C)
#include <TDCPFactor_XXCC.h>
virtual class TDCPFactor_XXCC : gtsam::NoiseModelFactor {
TDCPFactor_XXCC(size_t keyX1, size_t keyX2, size_t keyC1, size_t keyC2, const gtsam::Vector& losvec, const double& tdcp, const gtsam::Vector& inix1, const gtsam::Vector& inix2, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& x1, const gtsam::Vector& x2, const gtsam::Vector& c1, const gtsam::Vector& c2) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
// Time-difference Carrier Phase (TDCP) factor with 3D positions (X)
#include <TDCPFactor_XX.h>
virtual class TDCPFactor_XX : gtsam::NoiseModelFactor {
TDCPFactor_XX(size_t keyX1, size_t keyX2, const gtsam::Vector& losvec, const double& tdcp, const gtsam::Vector& inix1, const gtsam::Vector& inix2, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& x1, const gtsam::Vector& x2) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
// Time-difference Carrier Phase (TDCP) factor with 3D positions (X) and receiver clock drifts (D)
#include <TDCPFactor_XXDD.h>
virtual class TDCPFactor_XXDD : gtsam::NoiseModelFactor {
TDCPFactor_XXDD(size_t keyX1, size_t keyX2, size_t keyD1, size_t keyD2, const gtsam::Vector& losvec, const double& tdcp, const double& dt, const gtsam::Vector& inix1, const gtsam::Vector& inix2, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& x1, const gtsam::Vector& x2, const gtsam::Vector& d1, const gtsam::Vector& d2) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
// Motion factor with 3D positions (X) and 3D velocities (V)
#include <MotionFactor_XXVV.h>
virtual class MotionFactor_XXVV : gtsam::NoiseModelFactor {
MotionFactor_XXVV(size_t keyX1, size_t keyX2, size_t keyV1, size_t keyV2, const double& dt, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& x1, const gtsam::Vector& x2, const gtsam::Vector& v1, const gtsam::Vector& v2) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
};
// Clock factor with receiver clocks (C)
#include <ClockFactor_CC.h>
virtual class ClockFactor_CC : gtsam::NoiseModelFactor {
ClockFactor_CC(size_t keyC1, size_t keyC2, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& c1, const gtsam::Vector& c2) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
};
// Clock factor with receiver clocks (C) and receiver clock drifts (D)
#include <ClockFactor_CCDD.h>
virtual class ClockFactor_CCDD : gtsam::NoiseModelFactor {
ClockFactor_CCDD(size_t keyC1, size_t keyC2, size_t keyD1, size_t keyD2, const double& dt, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& c1, const gtsam::Vector& c2, const gtsam::Vector& d1, const gtsam::Vector& d2) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
};
// Pose3Point3 factor with 3D pose (P) and 3D position (X)
#include <Pose3Point3Factor_PX.h>
virtual class Pose3Point3Factor_PX : gtsam::NoiseModelFactor {
Pose3Point3Factor_PX(size_t keyP, size_t keyX, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Pose3& p, const gtsam::Vector& x) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
};
// Acceleration factor: Estimate 3D velocity and acceleration bias
#include <AccelerationFactor_VVBB.h>
virtual class AccelerationFactor_VVBB : gtsam::NoiseModelFactor {
AccelerationFactor_VVBB(size_t keyV1, size_t keyV2, size_t keyB1, size_t keyB2, const double& g, const double& dt, const double& acc3d, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& v1, const gtsam::Vector& v2, const gtsam::Vector& b1, const gtsam::Vector& b2) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
// Angular rate factor: Estimate 3D velocity and angular rate bias
#include <AngularRateFactor_VVBB.h>
virtual class AngularRateFactor_VVBB : gtsam::NoiseModelFactor {
AngularRateFactor_VVBB(size_t keyV1, size_t keyV2, size_t keyB1, size_t keyB2, const double& axang, gtsam::noiseModel::Base* model);
gtsam::Vector evaluateError(const gtsam::Vector& v1, const gtsam::Vector& v2, const gtsam::Vector& b1, const gtsam::Vector& b2) const;
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
const double& measurementIn() const;
};
}