gtsam_points::ContinuousTrajectory Class Reference

Continuous trajectory class for offline batch optimization. More...

#include <continuous_trajectory.hpp>

Public Member Functions
	ContinuousTrajectory (char symbol, double start_time, double end_time, double knot_interval)
	Construct a continuous trajectory instance.
double	knot_stamp (int i) const
	Time of a spline knot.
int	knot_id (double t) const
	Key knot ID for a given time.
int	knot_max_id () const
	Number of spline knots.
gtsam::Pose3_	pose (double t, const gtsam::Double_ &t_)
	Get an expression of the interpolated time at t.
gtsam::Pose3	pose (const gtsam::Values &values, double t)
	Calculate the interpolated time at t.
gtsam::Vector6_	imu (double t, const gtsam::Double_ &t_, const Eigen::Vector3d &g=Eigen::Vector3d(0.0, 0.0, 9.80665))
	Get an expression of the linear acceleration and angular velocity at t.
gtsam::Vector6	imu (const gtsam::Values &values, double t, const Eigen::Vector3d &g=Eigen::Vector3d(0.0, 0.0, 9.80665))
	Calculate the linear acceleration and angular velocity at t.
gtsam::Values	fit_knots (const std::vector< double > &stamps, const std::vector< gtsam::Pose3 > &poses, double smoothness, const gtsam::LevenbergMarquardtParams &lm_params) const
	Optimize spline knots to fit the interpolated trajectory to a set of poses.
gtsam::Values	fit_knots (const std::vector< double > &stamps, const std::vector< gtsam::Pose3 > &poses, double smoothness=1e-3, bool verbose=false) const

Public Attributes
const char	symbol
const double	start_time
const double	end_time
const double	knot_interval

Detailed Description

Continuous trajectory class for offline batch optimization.

Constructor & Destructor Documentation

ContinuousTrajectory()

gtsam_points::ContinuousTrajectory::ContinuousTrajectory	(	char	symbol,
		double	start_time,
		double	end_time,
		double	knot_interval
	)

Construct a continuous trajectory instance.

Parameters

symbol	Key symbol
start_time	Start time of the trajectory
end_time	End time of the trajectory
knot_interval	Time interval of spline control knots

Member Function Documentation

fit_knots()

gtsam::Values gtsam_points::ContinuousTrajectory::fit_knots	(	const std::vector< double > &	stamps,
		const std::vector< gtsam::Pose3 > &	poses,
		double	smoothness,
		const gtsam::LevenbergMarquardtParams &	lm_params
	)		const

Optimize spline knots to fit the interpolated trajectory to a set of poses.

Parameters

stamps	Timestamps of target poses
poses	Target poses
smoothness	Smoothness regularization to prevent underconstrained system (If smoothness <= 0.0, regularization will be disabled)

Returns

Knots of B-spline fitted to the target poses

imu() [1/2]

gtsam::Vector6 gtsam_points::ContinuousTrajectory::imu	(	const gtsam::Values &	values,
		double	t,
		const Eigen::Vector3d &	g = Eigen::Vector3d(0.0, 0.0, 9.80665)
	)

Calculate the linear acceleration and angular velocity at t.

Parameters

values	Values including knot poses
t	Time

imu() [2/2]

gtsam::Vector6_ gtsam_points::ContinuousTrajectory::imu	(	double	t,
		const gtsam::Double_ &	t_,
		const Eigen::Vector3d &	g = Eigen::Vector3d(0.0, 0.0, 9.80665)
	)

Get an expression of the linear acceleration and angular velocity at t.

Parameters

t	Time
t_	Expression of t

pose() [1/2]

gtsam::Pose3 gtsam_points::ContinuousTrajectory::pose	(	const gtsam::Values &	values,
		double	t
	)

Calculate the interpolated time at t.

Parameters

values	Values including knot poses
t	Time

pose() [2/2]

gtsam::Pose3_ gtsam_points::ContinuousTrajectory::pose	(	double	t,
		const gtsam::Double_ &	t_
	)

Get an expression of the interpolated time at t.

Parameters

t	Time
t_	Expression of t

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The documentation for this class was generated from the following file:

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/util/continuous_trajectory.hpp