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| | Switching (size_t K, double between_sigma=1.0, double prior_sigma=0.1, std::vector< double > measurements={}, std::string discrete_transition_prob="1/2 3/2") |
| | Create with given number of time steps. More...
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| void | addModeChain (HybridNonlinearFactorGraph *fg, std::string discrete_transition_prob="1/2 3/2") |
| | Add "mode chain" to HybridNonlinearFactorGraph from M(0) to M(K-2). E.g. if K=4, we want M0, M1 and M2. More...
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| void | addModeChain (HybridGaussianFactorGraph *fg, std::string discrete_transition_prob="1/2 3/2") |
| | Add "mode chain" to HybridGaussianFactorGraph from M(0) to M(K-2). E.g. if K=4, we want M0, M1 and M2. More...
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static std::vector< MotionModel::shared_ptr > | motionModels (size_t k, double sigma=1.0) |
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◆ Switching()
| gtsam::Switching::Switching |
( |
size_t |
K, |
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double |
between_sigma = 1.0, |
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double |
prior_sigma = 0.1, |
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std::vector< double > |
measurements = {}, |
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std::string |
discrete_transition_prob = "1/2 3/2" |
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) |
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inline |
Create with given number of time steps.
- Parameters
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| K | The total number of timesteps. |
| between_sigma | The stddev between poses. |
| prior_sigma | The stddev on priors (also used for measurements). |
| measurements | Vector of measurements for each timestep. |
◆ addModeChain() [1/2]
Add "mode chain" to HybridNonlinearFactorGraph from M(0) to M(K-2). E.g. if K=4, we want M0, M1 and M2.
- Parameters
-
| fg | The nonlinear factor graph to which the mode chain is added. |
◆ addModeChain() [2/2]
Add "mode chain" to HybridGaussianFactorGraph from M(0) to M(K-2). E.g. if K=4, we want M0, M1 and M2.
- Parameters
-
| fg | The gaussian factor graph to which the mode chain is added. |
The documentation for this struct was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/hybrid/tests/Switching.h
