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32 #ifdef GTSAM_TANGENT_PREINTEGRATION
103 preintMeasCov_(preintMeasCov) {
111 void print(
const std::string&
s =
"Preintegrated Measurements:")
const override;
117 void resetIntegration()
override;
139 #ifdef GTSAM_TANGENT_PREINTEGRATION
145 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
146 friend class boost::serialization::access;
148 template<
class ARCHIVE>
149 void serialize(ARCHIVE & ar,
const unsigned int ) {
150 namespace bs = ::boost::serialization;
152 ar & BOOST_SERIALIZATION_NVP(preintMeasCov_);
170 imuBias::ConstantBias> {
182 using Base::evaluateError;
185 #if !defined(_MSC_VER) && __GNUC__ == 4 && __GNUC_MINOR__ > 5
186 typedef typename std::shared_ptr<ImuFactor>
shared_ptr;
235 #ifdef GTSAM_TANGENT_PREINTEGRATION
242 static shared_ptr Merge(
const shared_ptr& f01,
const shared_ptr& f12);
247 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
248 friend class boost::serialization::access;
249 template<
class ARCHIVE>
250 void serialize(ARCHIVE & ar,
const unsigned int ) {
252 ar & boost::serialization::make_nvp(
"NoiseModelFactor5",
253 boost::serialization::base_object<Base>(*
this));
254 ar & BOOST_SERIALIZATION_NVP(_PIM_);
275 using Base::evaluateError;
319 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
321 friend class boost::serialization::access;
322 template<
class ARCHIVE>
323 void serialize(ARCHIVE & ar,
const unsigned int ) {
325 ar & boost::serialization::make_nvp(
"NoiseModelFactor3",
326 boost::serialization::base_object<Base>(*
this));
327 ar & BOOST_SERIALIZATION_NVP(_PIM_);
std::shared_ptr< This > shared_ptr
Annotation indicating that a class derives from another given type.
NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias > Base
Array< double, 1, 3 > e(1./3., 0.5, 2.)
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
const Vector3 bias(1, 2, 3)
std::shared_ptr< ImuFactor > shared_ptr
PreintegratedImuMeasurements _PIM_
Matrix9 preintMeasCov_
(first-order propagation from measurementCovariance).
ofstream os("timeSchurFactors.csv")
void integrateMeasurements(const vector< ImuMeasurement > &measurements, PIM *pim)
std::shared_ptr< Factor > shared_ptr
A shared_ptr to this class.
PreintegratedImuMeasurements(const PreintegrationType &base, const Matrix9 &preintMeasCov)
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
PreintegratedImuMeasurements _PIM_
PreintegratedImuMeasurements()
Default constructor for serialization and wrappers.
void print(const Matrix &A, const string &s, ostream &stream)
const Vector3 measuredOmega
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Matrix preintMeasCov() const
Return pre-integrated measurement covariance.
PreintegratedImuMeasurements(const std::shared_ptr< PreintegrationParams > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())
ManifoldPreintegration PreintegrationType
Non-linear factor base classes.
Matrix * OptionalMatrixType
static const Vector3 measuredAcc
EIGEN_DEVICE_FUNC Derived & setZero(Index size)
~PreintegratedImuMeasurements() override
Virtual destructor.
NoiseModelFactorN< NavState, NavState, imuBias::ConstantBias > Base
const PreintegratedImuMeasurements & preintegratedMeasurements() const
std::uint64_t Key
Integer nonlinear key type.
const PreintegratedImuMeasurements & preintegratedMeasurements() const
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:45