SDK function Index

mutable struct Categorical <: NavAbilitySDK.Distribution

Categorical distribution specified by a set of probabilities summing up to 1.

struct ContinuousScalar <: NavAbilitySDK.VariableType

General 1 dimensional variable.

abstract type Distribution

Abstract parent type for all distributions.

mutable struct FullNormal <: NavAbilitySDK.Distribution

Multidimensional normal distribution specified by means and a covariance matrix.

struct MixtureInferenceType <: DistributedFactorGraphs.InferenceType

InferenceType for MixtureData.

mutable struct Normal <: NavAbilitySDK.Distribution

One dimensional normal distribution.

struct Point2 <: NavAbilitySDK.VariableType

XY Euclidean manifold variable.

struct Point3 <: NavAbilitySDK.VariableType

XYZ Euclidean manifold variable..

struct Pose2 <: NavAbilitySDK.VariableType

SpecialEuclidean(2) manifold, two Euclidean translations and one Circular rotation, used for general 2D SLAM.

struct Pose2AprilTag4Corners <: DistributedFactorGraphs.InferenceType

InferenceType for Pose2AprilTag4CornersData.

struct Pose2Point2BearingRange <: DistributedFactorGraphs.InferenceType

Pose2Point2BearingRangeInferenceType is used to represent a bearing

• range measurement.

struct Pose3 <: NavAbilitySDK.VariableType

SpecialEuclidean(3) manifold used for 3D SLAM.

mutable struct Rayleigh <: NavAbilitySDK.Distribution

One dimensional Rayleigh distribution.

Alignment factor between point cloud populations, using either

• a continuous density function cost: ApproxManifoldProducts.mmd, or
• a conventional iterative closest point (ICP) algorithm (when .sample_count < 0).

This factor can support very large density clouds, with sample_count subsampling for individual alignments.

mutable struct Uniform <: NavAbilitySDK.Distribution

One dimensional uniform distribution.

addVariable! Add a variable to the NavAbility Platform service Example

addVariable!(fgclient, "x0", NvaSDK.Pose2)

getId

Get the deterministic identifier (uuid v5) for a node.

createConnect

Create a connection gql query to a node.

createUpload(nvastore, blobId)
createUpload(nvastore, blobId, parts)

Request URLs for data blob upload.

Args: navAbilityClient (NavAbilityClient): The NavAbility client. blobId: The unique file identifier of the data blob. parts (Int): Split upload into multiple blob parts, FIXME currently only supports parts=1.

Macro to autogenerate factor type definitions. Used for common types such as Prior, PriorPose2, Pose3Pose3, etc.