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27 #include "gtsam/dllexport.h"
67 std::optional<Vector3> omega_coriolis)
68 : gyroscopeCovariance(gyroscope_covariance) {
70 omegaCoriolis = *omega_coriolis;
76 virtual void print(
const std::string&
s)
const;
88 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
90 friend class boost::serialization::access;
91 template<
class ARCHIVE>
92 void serialize(ARCHIVE & ar,
const unsigned int ) {
93 ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance);
97 bool omegaCoriolisFlag = omegaCoriolis.has_value();
98 ar & boost::serialization::make_nvp(
"omegaCoriolisFlag", omegaCoriolisFlag);
99 if (omegaCoriolisFlag) {
100 ar & BOOST_SERIALIZATION_NVP(*omegaCoriolis);
105 #ifdef GTSAM_USE_QUATERNIONS
123 std::shared_ptr<Params>
p_;
143 double deltaTij,
const Rot3& deltaRij,
144 const Matrix3& delRdelBiasOmega)
145 : p_(
p), deltaTij_(deltaTij), deltaRij_(deltaRij), delRdelBiasOmega_(delRdelBiasOmega) {}
153 void resetIntegration();
157 return p_ ==
other.p_;
163 const std::shared_ptr<Params>&
params()
const {
return p_; }
164 const double&
deltaTij()
const {
return deltaTij_; }
171 void print(
const std::string&
s)
const;
196 Rot3 biascorrectedDeltaRij(
const Vector3& biasOmegaIncr,
197 OptionalJacobian<3, 3>
H = {})
const;
200 Vector3 integrateCoriolis(
const Rot3& rot_i)
const;
207 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V43
211 OptionalJacobian<3, 3> D_incrR_integratedOmega)
const {
213 Rot3 incrR =
f(
bias, D_incrR_integratedOmega);
215 if (D_incrR_integratedOmega) *D_incrR_integratedOmega /= -
deltaT;
223 OptionalJacobian<3, 3> D_incrR_integratedOmega, OptionalJacobian<3, 3>
F);
230 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
232 friend class boost::serialization::access;
233 template <
class ARCHIVE>
234 void serialize(ARCHIVE& ar,
const unsigned int ) {
235 ar& BOOST_SERIALIZATION_NVP(p_);
236 ar& BOOST_SERIALIZATION_NVP(deltaTij_);
237 ar& BOOST_SERIALIZATION_NVP(deltaRij_);
238 ar& BOOST_SERIALIZATION_NVP(delRdelBiasOmega_);
242 #ifdef GTSAM_USE_QUATERNIONS
const Vector3 & measuredOmega
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static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
const Matrix3 & delRdelBiasOmega() const
Array< double, 1, 3 > e(1./3., 0.5, 2.)
typedef and functions to augment Eigen's MatrixXd
const Rot3 & deltaRij() const
bool matchesParamsWith(const PreintegratedRotation &other) const
check parameters equality: checks whether shared pointer points to same Params object.
PreintegratedRotationParams(const Matrix3 &gyroscope_covariance, std::optional< Vector3 > omega_coriolis)
std::optional< Pose3 > getBodyPSensor() const
double deltaTij_
Time interval from i to j.
const Vector3 bias(1, 2, 3)
PreintegratedRotationParams Params
const std::optional< Pose3 > & body_P_sensor
static Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0))
Matrix3 delRdelBiasOmega_
Jacobian of preintegrated rotation w.r.t. angular rate bias.
PreintegratedRotation()
Default constructor for serialization.
PreintegratedRotation(const std::shared_ptr< Params > &p)
Default constructor, resets integration to zero.
PreintegratedRotationParams()
static const double deltaT
std::optional< Vector3 > getOmegaCoriolis() const
void print(const Matrix &A, const string &s, ostream &stream)
const Matrix3 & getGyroscopeCovariance() const
const Vector3 measuredOmega
Matrix3 gyroscopeCovariance
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
internal::enable_if< internal::valid_indexed_view_overload< RowIndices, ColIndices >::value &&internal::traits< typename EIGEN_INDEXED_VIEW_METHOD_TYPE< RowIndices, ColIndices >::type >::ReturnAsIndexedView, typename EIGEN_INDEXED_VIEW_METHOD_TYPE< RowIndices, ColIndices >::type >::type operator()(const RowIndices &rowIndices, const ColIndices &colIndices) EIGEN_INDEXED_VIEW_METHOD_CONST
void setGyroscopeCovariance(const Matrix3 &cov)
std::optional< Pose3 > body_P_sensor
The pose of the sensor in the body frame.
void setOmegaCoriolis(const Vector3 &omega)
virtual ~PreintegratedRotationParams()
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
const double & deltaTij() const
PreintegratedRotation(const std::shared_ptr< Params > &p, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega)
Explicit initialization of all class members.
const std::shared_ptr< Params > & params() const
std::optional< Vector3 > omegaCoriolis
Coriolis constant.
void setBodyPSensor(const Pose3 &pose)
#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW
Function object for incremental rotation.
Rot3 deltaRij_
Preintegrated relative orientation (in frame i)
std::shared_ptr< Params > p_
Parameters.
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:03:37