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| CombinedScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias(), const Eigen::Matrix< double, 15, 15 > &preintMeasCov=Eigen::Matrix< double, 15, 15 >::Zero()) |
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Eigen::Matrix< double, 15, 15 > | estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const |
| Compute a Monte Carlo estimate of the predict covariance using N samples. More...
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PreintegratedCombinedMeasurements | integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const |
| Integrate measurements for T seconds into a PIM. More...
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NavState | predict (const PreintegratedCombinedMeasurements &pim, const Bias &estimatedBias=Bias()) const |
| Predict predict given a PIM. More...
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Vector3 | actualAngularVelocity (double t) const |
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Vector3 | actualSpecificForce (double t) const |
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Matrix9 | estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const |
| Compute a Monte Carlo estimate of the predict covariance using N samples. More...
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Matrix6 | estimateNoiseCovariance (size_t N=1000) const |
| Estimate covariance of sampled noise for sanity-check. More...
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const Vector3 & | gravity_n () const |
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const double & | imuSampleTime () const |
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PreintegratedImuMeasurements | integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const |
| Integrate measurements for T seconds into a PIM. More...
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Vector3 | measuredAngularVelocity (double t) const |
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Vector3 | measuredSpecificForce (double t) const |
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NavState | predict (const PreintegratedImuMeasurements &pim, const Bias &estimatedBias=Bias()) const |
| Predict predict given a PIM. More...
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const Scenario & | scenario () const |
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| ScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias()) |
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Definition at line 114 of file ScenarioRunner.h.