PreintegrationCombinedParams.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
23 #pragma once
24 
25 /* GTSAM includes */
26 #include <gtsam/base/Matrix.h>
30 
31 namespace gtsam {
32 
38  Matrix3 biasOmegaCovariance;
40  Matrix6 biasAccOmegaInt;
42 
46  : biasAccCovariance(I_3x3),
47  biasOmegaCovariance(I_3x3),
48  biasAccOmegaInt(I_6x6) {}
49 
53  : PreintegrationParams(n_gravity_),
54  biasAccCovariance(I_3x3),
55  biasOmegaCovariance(I_3x3),
56  biasAccOmegaInt(I_6x6) {}
57 
58  // Default Params for a Z-down navigation frame, such as NED: gravity points
59  // along positive Z-axis
60  static std::shared_ptr<PreintegrationCombinedParams> MakeSharedD(
61  double g = 9.81) {
62  return std::shared_ptr<PreintegrationCombinedParams>(
64  }
65 
66  // Default Params for a Z-up navigation frame, such as ENU: gravity points
67  // along negative Z-axis
68  static std::shared_ptr<PreintegrationCombinedParams> MakeSharedU(
69  double g = 9.81) {
70  return std::shared_ptr<PreintegrationCombinedParams>(
72  }
73 
74  void print(const std::string& s = "") const override;
76  double tol) const override;
77 
78  void setBiasAccCovariance(const Matrix3& cov) { biasAccCovariance = cov; }
79  void setBiasOmegaCovariance(const Matrix3& cov) { biasOmegaCovariance = cov; }
80  void setBiasAccOmegaInit(const Matrix6& cov) { biasAccOmegaInt = cov; }
81 
82  const Matrix3& getBiasAccCovariance() const { return biasAccCovariance; }
83  const Matrix3& getBiasOmegaCovariance() const { return biasOmegaCovariance; }
84  const Matrix6& getBiasAccOmegaInit() const { return biasAccOmegaInt; }
85 
86  private:
87 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
88 
89  friend class boost::serialization::access;
90  template <class ARCHIVE>
91  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
92  namespace bs = ::boost::serialization;
93  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationParams);
94  ar& BOOST_SERIALIZATION_NVP(biasAccCovariance);
95  ar& BOOST_SERIALIZATION_NVP(biasOmegaCovariance);
96  ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInt);
97  }
98 #endif
99 
100  public:
102 };
103 
104 } // namespace gtsam
gtsam::PreintegrationCombinedParams::setBiasAccOmegaInit
void setBiasAccOmegaInit(const Matrix6 &cov)
Definition: PreintegrationCombinedParams.h:80
gtsam::PreintegratedRotationParams
Definition: PreintegratedRotation.h:57
ManifoldPreintegration.h
s
RealScalar s
Definition: level1_cplx_impl.h:126
gtsam::PreintegrationParams
Definition: PreintegrationParams.h:25
gtsam::PreintegrationCombinedParams::MakeSharedU
static std::shared_ptr< PreintegrationCombinedParams > MakeSharedU(double g=9.81)
Definition: PreintegrationCombinedParams.h:68
Matrix.h
typedef and functions to augment Eigen's MatrixXd
gtsam::Vector3
Eigen::Vector3d Vector3
Definition: Vector.h:43
gtsam::print
void print(const Matrix &A, const string &s, ostream &stream)
Definition: Matrix.cpp:155
gtsam::PreintegrationCombinedParams::MakeSharedD
static std::shared_ptr< PreintegrationCombinedParams > MakeSharedD(double g=9.81)
Definition: PreintegrationCombinedParams.h:60
gtsam::PreintegrationCombinedParams::getBiasAccCovariance
const Matrix3 & getBiasAccCovariance() const
Definition: PreintegrationCombinedParams.h:82
TangentPreintegration.h
gtsam::PreintegrationCombinedParams::PreintegrationCombinedParams
PreintegrationCombinedParams(const Vector3 &n_gravity_)
Definition: PreintegrationCombinedParams.h:52
gtsam::PreintegrationCombinedParams::getBiasOmegaCovariance
const Matrix3 & getBiasOmegaCovariance() const
Definition: PreintegrationCombinedParams.h:83
gtsam::PreintegrationCombinedParams::biasAccCovariance
Matrix3 biasAccCovariance
Definition: PreintegrationCombinedParams.h:37
g
void g(const string &key, int i)
Definition: testBTree.cpp:41
gtsam::equals
Definition: Testable.h:112
gtsam::PreintegrationCombinedParams::PreintegrationCombinedParams
PreintegrationCombinedParams()
Definition: PreintegrationCombinedParams.h:45
NonlinearFactor.h
Non-linear factor base classes.
gtsam::PreintegrationCombinedParams::setBiasAccCovariance
void setBiasAccCovariance(const Matrix3 &cov)
Definition: PreintegrationCombinedParams.h:78
gtsam
traits
Definition: SFMdata.h:40
gtsam::tol
const G double tol
Definition: Group.h:79
gtsam::PreintegrationCombinedParams::setBiasOmegaCovariance
void setBiasOmegaCovariance(const Matrix3 &cov)
Definition: PreintegrationCombinedParams.h:79
gtsam::PreintegrationCombinedParams
Definition: PreintegrationCombinedParams.h:36
gtsam::PreintegrationCombinedParams::getBiasAccOmegaInit
const Matrix6 & getBiasAccOmegaInit() const
Definition: PreintegrationCombinedParams.h:84
GTSAM_MAKE_ALIGNED_OPERATOR_NEW
#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW
Definition: types.h:279
pybind_wrapper_test_script.other
other
Definition: pybind_wrapper_test_script.py:42


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