|
bool | equals (const PreintegratedImuMeasurements &expected, double tol=1e-9) const |
| equals More...
|
|
void | integrateMeasurement (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt) override |
|
void | integrateMeasurements (const Matrix &measuredAccs, const Matrix &measuredOmegas, const Matrix &dts) |
| Add multiple measurements, in matrix columns. More...
|
|
| PreintegratedImuMeasurements () |
| Default constructor for serialization and wrappers. More...
|
|
| PreintegratedImuMeasurements (const PreintegrationType &base, const Matrix9 &preintMeasCov) |
|
| PreintegratedImuMeasurements (const std::shared_ptr< PreintegrationParams > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias()) |
|
Matrix | preintMeasCov () const |
| Return pre-integrated measurement covariance. More...
|
|
void | print (const std::string &s="Preintegrated Measurements:") const override |
| print More...
|
|
void | resetIntegration () override |
| Re-initialize PreintegratedIMUMeasurements. More...
|
|
| ~PreintegratedImuMeasurements () override |
| Virtual destructor. More...
|
|
| ManifoldPreintegration (const std::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias()) |
|
void | resetIntegration () override |
|
NavState | deltaXij () const override |
|
Rot3 | deltaRij () const override |
|
Vector3 | deltaPij () const override |
|
Vector3 | deltaVij () const override |
|
Matrix3 | delRdelBiasOmega () const |
|
Matrix3 | delPdelBiasAcc () const |
|
Matrix3 | delPdelBiasOmega () const |
|
Matrix3 | delVdelBiasAcc () const |
|
Matrix3 | delVdelBiasOmega () const |
|
bool | equals (const ManifoldPreintegration &other, double tol) const |
|
void | update (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt, Matrix9 *A, Matrix93 *B, Matrix93 *C) override |
|
Vector9 | biasCorrectedDelta (const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H={}) const override |
|
virtual std::shared_ptr< ManifoldPreintegration > | clone () const |
|
| PreintegrationBase (const std::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias()) |
|
void | resetIntegrationAndSetBias (const Bias &biasHat) |
|
bool | matchesParamsWith (const PreintegrationBase &other) const |
| check parameters equality: checks whether shared pointer points to same Params object. More...
|
|
const std::shared_ptr< Params > & | params () const |
| shared pointer to params More...
|
|
Params & | p () const |
| const reference to params More...
|
|
const imuBias::ConstantBias & | biasHat () const |
|
double | deltaTij () const |
|
Vector6 | biasHatVector () const |
|
std::pair< Vector3, Vector3 > | correctMeasurementsBySensorPose (const Vector3 &unbiasedAcc, const Vector3 &unbiasedOmega, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedAcc={}, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedOmega={}, OptionalJacobian< 3, 3 > correctedOmega_H_unbiasedOmega={}) const |
|
NavState | predict (const NavState &state_i, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 9 > H1={}, OptionalJacobian< 9, 6 > H2={}) const |
| Predict state at time j. More...
|
|
Vector9 | computeError (const NavState &state_i, const NavState &state_j, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 9 > H1, OptionalJacobian< 9, 9 > H2, OptionalJacobian< 9, 6 > H3) const |
| Calculate error given navStates. More...
|
|
Vector9 | computeErrorAndJacobians (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H1={}, OptionalJacobian< 9, 3 > H2={}, OptionalJacobian< 9, 6 > H3={}, OptionalJacobian< 9, 3 > H4={}, OptionalJacobian< 9, 6 > H5={}) const |
|
PreintegratedImuMeasurements accumulates (integrates) the IMU measurements (rotation rates and accelerations) and the corresponding covariance matrix. The measurements are then used to build the Preintegrated IMU factor. Integration is done incrementally (ideally, one integrates the measurement as soon as it is received from the IMU) so as to avoid costly integration at time of factor construction.
Definition at line 68 of file ImuFactor.h.