65 void resetIntegration()
override;
91 static Vector9 UpdatePreintegrated(
const Vector3& a_body,
93 const Vector9& preintegrated,
95 OptionalJacobian<9, 3>
B = {},
96 OptionalJacobian<9, 3>
C = {});
108 Vector9 biasCorrectedDelta(
const imuBias::ConstantBias& bias_i,
109 OptionalJacobian<9, 6>
H = {})
const override;
112 static Vector9 Compose(
const Vector9& zeta01,
const Vector9& zeta12,
114 OptionalJacobian<9, 9> H1 = {},
115 OptionalJacobian<9, 9> H2 = {});
119 void mergeWith(
const TangentPreintegration& pim,
Matrix9* H1,
Matrix9* H2);
123 virtual std::shared_ptr<TangentPreintegration>
clone()
const {
124 return std::shared_ptr<TangentPreintegration>();
130 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
132 friend class boost::serialization::access;
133 template<
class ARCHIVE>
134 void serialize(ARCHIVE & ar,
const unsigned int ) {
135 namespace bs = ::boost::serialization;
137 ar & BOOST_SERIALIZATION_NVP(preintegrated_);
138 ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasAcc_);
139 ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasOmega_);