gtsam.examples.ImuFactorISAM2Example Namespace Reference

Functions
def	get_camera (radius)
def	get_scenario (radius, pose_0, angular_velocity, delta_t)
def	IMU_example ()
def	preintegration_parameters ()
def	vector3 (x, y, z)

Variables
float	g = 9.81
def	n_gravity = vector3(0, 0, -g)

Detailed Description

ImuFactor example with iSAM2.
Authors: Robert Truax (C++), Frank Dellaert, Varun Agrawal (Python)

Function Documentation

get_camera()

def gtsam.examples.ImuFactorISAM2Example.get_camera

(

radius

)

Definition at line 52 of file ImuFactorISAM2Example.py.

get_scenario()

def gtsam.examples.ImuFactorISAM2Example.get_scenario	(		radius,
			pose_0,
			angular_velocity,
			delta_t
	)

Create the set of ground-truth landmarks and poses

Definition at line 60 of file ImuFactorISAM2Example.py.

IMU_example()

def gtsam.examples.ImuFactorISAM2Example.IMU_example

(

)

Run iSAM 2 example with IMU factor.

Definition at line 70 of file ImuFactorISAM2Example.py.

preintegration_parameters()

def gtsam.examples.ImuFactorISAM2Example.preintegration_parameters

(

)

Definition at line 34 of file ImuFactorISAM2Example.py.

vector3()

def gtsam.examples.ImuFactorISAM2Example.vector3	(		x,
			y,
			z
	)

Create 3d double numpy array.

Definition at line 25 of file ImuFactorISAM2Example.py.

Variable Documentation

g

float gtsam.examples.ImuFactorISAM2Example.g = 9.81

Definition at line 30 of file ImuFactorISAM2Example.py.

n_gravity

def gtsam.examples.ImuFactorISAM2Example.n_gravity = vector3(0, 0, -g)

Definition at line 31 of file ImuFactorISAM2Example.py.