38 Matrix3 biasOmegaCovariance;
40 Matrix6 biasAccOmegaInt;
46 : biasAccCovariance(I_3x3),
47 biasOmegaCovariance(I_3x3),
48 biasAccOmegaInt(I_6x6) {}
54 biasAccCovariance(I_3x3),
55 biasOmegaCovariance(I_3x3),
56 biasAccOmegaInt(I_6x6) {}
60 static std::shared_ptr<PreintegrationCombinedParams>
MakeSharedD(
62 return std::shared_ptr<PreintegrationCombinedParams>(
68 static std::shared_ptr<PreintegrationCombinedParams>
MakeSharedU(
70 return std::shared_ptr<PreintegrationCombinedParams>(
74 void print(
const std::string&
s =
"")
const override;
76 double tol)
const override;
87 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
89 friend class boost::serialization::access;
90 template <
class ARCHIVE>
91 void serialize(ARCHIVE& ar,
const unsigned int ) {
92 namespace bs = ::boost::serialization;
94 ar& BOOST_SERIALIZATION_NVP(biasAccCovariance);
95 ar& BOOST_SERIALIZATION_NVP(biasOmegaCovariance);
96 ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInt);