#include <Scenario.h>
Public Member Functions | |
Vector3 | acceleration_n (double t) const override |
acceleration in nav frame More... | |
ConstantTwistScenario (const Vector3 &w, const Vector3 &v, const Pose3 &nTb0=Pose3()) | |
Construct scenario with constant twist [w,v]. More... | |
Vector3 | omega_b (double t) const override |
angular velocity in body frame More... | |
Pose3 | pose (double t) const override |
pose at time t More... | |
Vector3 | velocity_n (double t) const override |
velocity at time t, in nav frame More... | |
Public Member Functions inherited from gtsam::Scenario | |
Vector3 | acceleration_b (double t) const |
NavState | navState (double t) const |
Rot3 | rotation (double t) const |
Vector3 | velocity_b (double t) const |
virtual | ~Scenario () |
virtual destructor More... | |
Private Attributes | |
const Vector3 | a_b_ |
const Pose3 | nTb0_ |
const Vector6 | twist_ |
Scenario with constant twist 3D trajectory. Note that a plane flying level does not feel any acceleration: gravity is being perfectly compensated by the lift generated by the wings, and drag is compensated by thrust. The accelerometer will add the gravity component back in, as modeled by the specificForce method in ScenarioRunner.
Definition at line 60 of file Scenario.h.
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inline |
Construct scenario with constant twist [w,v].
Definition at line 63 of file Scenario.h.
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inlineoverridevirtual |
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inlineoverridevirtual |
angular velocity in body frame
Implements gtsam::Scenario.
Definition at line 70 of file Scenario.h.
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inlineoverridevirtual |
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inlineoverridevirtual |
velocity at time t, in nav frame
Implements gtsam::Scenario.
Definition at line 71 of file Scenario.h.
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private |
Definition at line 78 of file Scenario.h.
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private |
Definition at line 79 of file Scenario.h.
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private |
Definition at line 77 of file Scenario.h.