Inheritance diagram for gtsam.examples.CombinedImuFactorExample.CombinedImuFactorExample:

Public Member Functions
def	__init__ (self, str twist_scenario="sick_twist")

def	addPrior (self, int i, gtsam.NonlinearFactorGraph graph)

def	optimize (self, gtsam.NonlinearFactorGraph graph, gtsam.Values initial)

def	plot (self, gtsam.Values values, str title="Estimated Trajectory", int fignum=POSES_FIG+1, bool show=False)

def	run (self, int T=12, bool compute_covariances=False, bool verbose=True)

Public Member Functions inherited from gtsam.examples.PreintegrationExample.PreintegrationExample
def	__init__ (self, Optional[np.ndarray] twist=None, Optional[gtsam.imuBias.ConstantBias] bias=None, Optional[gtsam.PreintegrationParams] params=None, float dt=1e-2)

def	plotGroundTruthPose (self, float t, float scale=0.3, float time_interval=0.01)

def	plotImu (self, float t, Sequence measuredOmega, Sequence measuredAcc)

def	run (self, int T=12)

Public Attributes
	biasNoise

	priorNoise

	velNoise

	velocity

Public Attributes inherited from gtsam.examples.PreintegrationExample.PreintegrationExample
	actualBias

	axes

	colors

	dt

	labels

	maxDim

	params

	runner

	scenario

Additional Inherited Members
Static Public Member Functions inherited from gtsam.examples.PreintegrationExample.PreintegrationExample
def	defaultParams (float g)

Detailed Description

Class to run example of the Imu Factor.

Definition at line 53 of file CombinedImuFactorExample.py.

Constructor & Destructor Documentation

◆ init()

def gtsam.examples.CombinedImuFactorExample.CombinedImuFactorExample.__init__	(		self,
		str	twist_scenario = `"sick_twist"`
	)

Definition at line 55 of file CombinedImuFactorExample.py.

Member Function Documentation

◆ addPrior()

def gtsam.examples.CombinedImuFactorExample.CombinedImuFactorExample.addPrior	(		self,
		int	i,
		gtsam.NonlinearFactorGraph	graph
	)

Add a prior on the navigation state at time `i`.

Definition at line 87 of file CombinedImuFactorExample.py.

◆ optimize()

def gtsam.examples.CombinedImuFactorExample.CombinedImuFactorExample.optimize	(		self,
		gtsam.NonlinearFactorGraph	graph,
		gtsam.Values	initial
	)

Optimize using Levenberg-Marquardt optimization.

Definition at line 98 of file CombinedImuFactorExample.py.

◆ plot()

def gtsam.examples.CombinedImuFactorExample.CombinedImuFactorExample.plot	(		self,
		gtsam.Values	values,
		str	title = `"Estimated Trajectory"`,
		int	fignum = `POSES_FIG + 1`,
		bool	show = `False`
	)

Plot poses in values.

Args:
    values: The values object with the poses to plot.
    title: The title of the plot.
    fignum: The matplotlib figure number.
POSES_FIG is a value from the PreintegrationExample
which we simply increment to generate a new figure.
    show: Flag indicating whether to display the figure.

Definition at line 107 of file CombinedImuFactorExample.py.

◆ run()

def gtsam.examples.CombinedImuFactorExample.CombinedImuFactorExample.run	(		self,
		int	T = `12`,
		bool	compute_covariances = `False`,
		bool	verbose = `True`
	)

Main runner.

Args:
    T: Total trajectory time.
    compute_covariances: Flag indicating whether to compute marginal covariances.
    verbose: Flag indicating if printing should be verbose.

Definition at line 142 of file CombinedImuFactorExample.py.