Public Types | Protected Member Functions | Protected Attributes | List of all members
gtsam::PreintegratedRotation Class Reference

#include <PreintegratedRotation.h>

Inheritance diagram for gtsam::PreintegratedRotation:
Inheritance graph
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Public Types

typedef PreintegratedRotationParams Params
 

Public Member Functions

Constructors
 PreintegratedRotation (const std::shared_ptr< Params > &p)
 Default constructor, resets integration to zero. More...
 
 PreintegratedRotation (const std::shared_ptr< Params > &p, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega)
 Explicit initialization of all class members. More...
 
Basic utilities
void resetIntegration ()
 Re-initialize PreintegratedMeasurements. More...
 
bool matchesParamsWith (const PreintegratedRotation &other) const
 check parameters equality: checks whether shared pointer points to same Params object. More...
 
Access instance variables
const std::shared_ptr< Params > & params () const
 
const double & deltaTij () const
 
const Rot3deltaRij () const
 
const Matrix3 & delRdelBiasOmega () const
 
Testable
void print (const std::string &s) const
 
bool equals (const PreintegratedRotation &other, double tol) const
 
Main functionality
void integrateGyroMeasurement (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > F={})
 Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_. More...
 
Rot3 biascorrectedDeltaRij (const Vector3 &biasOmegaIncr, OptionalJacobian< 3, 3 > H={}) const
 Return a bias corrected version of the integrated rotation. More...
 
Vector3 integrateCoriolis (const Rot3 &rot_i) const
 Integrate coriolis correction in body frame rot_i. More...
 

Protected Member Functions

 PreintegratedRotation ()
 Default constructor for serialization. More...
 

Protected Attributes

Matrix3 delRdelBiasOmega_
 Jacobian of preintegrated rotation w.r.t. angular rate bias. More...
 
Rot3 deltaRij_
 Preintegrated relative orientation (in frame i) More...
 
double deltaTij_
 Time interval from i to j. More...
 
std::shared_ptr< Paramsp_
 Parameters. More...
 

Detailed Description

PreintegratedRotation is the base class for all PreintegratedMeasurements classes (in AHRSFactor, ImuFactor, and CombinedImuFactor). It includes the definitions of the preintegrated rotation.

Definition at line 117 of file PreintegratedRotation.h.

Member Typedef Documentation

◆ Params

Definition at line 119 of file PreintegratedRotation.h.

Constructor & Destructor Documentation

◆ PreintegratedRotation() [1/3]

gtsam::PreintegratedRotation::PreintegratedRotation ( )
inlineprotected

Default constructor for serialization.

Definition at line 130 of file PreintegratedRotation.h.

◆ PreintegratedRotation() [2/3]

gtsam::PreintegratedRotation::PreintegratedRotation ( const std::shared_ptr< Params > &  p)
inlineexplicit

Default constructor, resets integration to zero.

Definition at line 137 of file PreintegratedRotation.h.

◆ PreintegratedRotation() [3/3]

gtsam::PreintegratedRotation::PreintegratedRotation ( const std::shared_ptr< Params > &  p,
double  deltaTij,
const Rot3 deltaRij,
const Matrix3 &  delRdelBiasOmega 
)
inline

Explicit initialization of all class members.

Definition at line 142 of file PreintegratedRotation.h.

Member Function Documentation

◆ biascorrectedDeltaRij()

Rot3 gtsam::PreintegratedRotation::biascorrectedDeltaRij ( const Vector3 biasOmegaIncr,
OptionalJacobian< 3, 3 >  H = {} 
) const

Return a bias corrected version of the integrated rotation.

Parameters
biasOmegaIncrAn increment with respect to biasHat used above.
Hoptional Jacobian of the correction w.r.t. the bias increment.
Note
The key functionality of this class used in optimizing the bias.

Definition at line 130 of file PreintegratedRotation.cpp.

◆ delRdelBiasOmega()

const Matrix3& gtsam::PreintegratedRotation::delRdelBiasOmega ( ) const
inline

Definition at line 166 of file PreintegratedRotation.h.

◆ deltaRij()

const Rot3& gtsam::PreintegratedRotation::deltaRij ( ) const
inline

Definition at line 165 of file PreintegratedRotation.h.

◆ deltaTij()

const double& gtsam::PreintegratedRotation::deltaTij ( ) const
inline

Definition at line 164 of file PreintegratedRotation.h.

◆ equals()

bool gtsam::PreintegratedRotation::equals ( const PreintegratedRotation other,
double  tol 
) const

Definition at line 63 of file PreintegratedRotation.cpp.

◆ integrateCoriolis()

Vector3 gtsam::PreintegratedRotation::integrateCoriolis ( const Rot3 rot_i) const

Integrate coriolis correction in body frame rot_i.

Definition at line 139 of file PreintegratedRotation.cpp.

◆ integrateGyroMeasurement()

void gtsam::PreintegratedRotation::integrateGyroMeasurement ( const Vector3 measuredOmega,
const Vector3 biasHat,
double  deltaT,
OptionalJacobian< 3, 3 >  F = {} 
)

Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_.

Parameters
measuredOmegaThe measured angular velocity (as given by the sensor)
biasThe biasHat estimate
deltaTThe time interval
Foptional Jacobian of internal compose, used in AhrsFactor.

Definition at line 97 of file PreintegratedRotation.cpp.

◆ matchesParamsWith()

bool gtsam::PreintegratedRotation::matchesParamsWith ( const PreintegratedRotation other) const
inline

check parameters equality: checks whether shared pointer points to same Params object.

Definition at line 156 of file PreintegratedRotation.h.

◆ params()

const std::shared_ptr<Params>& gtsam::PreintegratedRotation::params ( ) const
inline

Definition at line 163 of file PreintegratedRotation.h.

◆ print()

void gtsam::PreintegratedRotation::print ( const std::string &  s) const

Definition at line 57 of file PreintegratedRotation.cpp.

◆ resetIntegration()

void gtsam::PreintegratedRotation::resetIntegration ( )

Re-initialize PreintegratedMeasurements.

Definition at line 51 of file PreintegratedRotation.cpp.

Member Data Documentation

◆ delRdelBiasOmega_

Matrix3 gtsam::PreintegratedRotation::delRdelBiasOmega_
protected

Jacobian of preintegrated rotation w.r.t. angular rate bias.

Definition at line 127 of file PreintegratedRotation.h.

◆ deltaRij_

Rot3 gtsam::PreintegratedRotation::deltaRij_
protected

Preintegrated relative orientation (in frame i)

Definition at line 126 of file PreintegratedRotation.h.

◆ deltaTij_

double gtsam::PreintegratedRotation::deltaTij_
protected

Time interval from i to j.

Definition at line 125 of file PreintegratedRotation.h.

◆ p_

std::shared_ptr<Params> gtsam::PreintegratedRotation::p_
protected

Parameters.

Definition at line 123 of file PreintegratedRotation.h.


The documentation for this class was generated from the following files:


gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:52:42