Class FactorTricycleKinematics

Defined in File FactorTricycleKinematics.h

Inheritance Relationships

Base Type

public mola::FactorBase

Class Documentation

class FactorTricycleKinematics : public mola::FactorBase 

Abstract representation of a constant-velocity tricycle kinematic motion model factor between two key frames.

Public Functions

FactorTricycleKinematics() = default

inline FactorTricycleKinematics(id_t kf_from, id_t kf_to, double deltaTime): Creates relative pose constraint of KF to as seem from from.

inline virtual std::size_t edge_count() const override

virtual mola::id_t edge_indices(const std::size_t i) const override

Public Members

id_t from_kf_ = INVALID_ID

id_t to_kf_ = INVALID_ID

double deltaTime_ = .0: Elapsed time between “from_kf” and “to_kf” [seconds]