gtsam::PreintegratedRotationParams Struct Reference

#include <PreintegratedRotation.h>

Inheritance diagram for gtsam::PreintegratedRotationParams:

Public Member Functions
virtual bool	equals (const PreintegratedRotationParams &other, double tol=1e-9) const
std::optional< Pose3 >	getBodyPSensor () const
const Matrix3 &	getGyroscopeCovariance () const
std::optional< Vector3 >	getOmegaCoriolis () const
	PreintegratedRotationParams ()
	PreintegratedRotationParams (const Matrix3 &gyroscope_covariance, std::optional< Vector3 > omega_coriolis)
virtual void	print (const std::string &s) const
void	setBodyPSensor (const Pose3 &pose)
void	setGyroscopeCovariance (const Matrix3 &cov)
void	setOmegaCoriolis (const Vector3 &omega)
virtual	~PreintegratedRotationParams ()

Public Attributes
std::optional< Pose3 >	body_P_sensor
	The pose of the sensor in the body frame. More...
Matrix3	gyroscopeCovariance
std::optional< Vector3 >	omegaCoriolis
	Coriolis constant. More...

Detailed Description

Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor

Definition at line 57 of file PreintegratedRotation.h.

Constructor & Destructor Documentation

PreintegratedRotationParams() [1/2]

gtsam::PreintegratedRotationParams::PreintegratedRotationParams ( )

inline

Definition at line 64 of file PreintegratedRotation.h.

PreintegratedRotationParams() [2/2]

gtsam::PreintegratedRotationParams::PreintegratedRotationParams ( const Matrix3 &  gyroscope_covariance, std::optional< Vector3 >  omega_coriolis  )

inline

Definition at line 66 of file PreintegratedRotation.h.

~PreintegratedRotationParams()

virtual gtsam::PreintegratedRotationParams::~PreintegratedRotationParams ( )

inlinevirtual

Definition at line 74 of file PreintegratedRotation.h.

Member Function Documentation

equals()

bool gtsam::PreintegratedRotationParams::equals ( const PreintegratedRotationParams &  other, double  tol = 1e-9  ) const

virtual

Reimplemented in gtsam::PreintegrationCombinedParams, and gtsam::PreintegrationParams.

Definition at line 36 of file PreintegratedRotation.cpp.

getBodyPSensor()

std::optional<Pose3> gtsam::PreintegratedRotationParams::getBodyPSensor ( ) const

inline

Definition at line 85 of file PreintegratedRotation.h.

getGyroscopeCovariance()

const Matrix3& gtsam::PreintegratedRotationParams::getGyroscopeCovariance ( ) const

inline

Definition at line 83 of file PreintegratedRotation.h.

getOmegaCoriolis()

std::optional<Vector3> gtsam::PreintegratedRotationParams::getOmegaCoriolis ( ) const

inline

Definition at line 84 of file PreintegratedRotation.h.

print()

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

virtual

Reimplemented in gtsam::PreintegrationCombinedParams, and gtsam::PreintegrationParams.

Definition at line 28 of file PreintegratedRotation.cpp.

setBodyPSensor()

void gtsam::PreintegratedRotationParams::setBodyPSensor ( const Pose3 &  pose )

inline

Definition at line 81 of file PreintegratedRotation.h.

setGyroscopeCovariance()

void gtsam::PreintegratedRotationParams::setGyroscopeCovariance ( const Matrix3 &  cov )

inline

Definition at line 79 of file PreintegratedRotation.h.

setOmegaCoriolis()

void gtsam::PreintegratedRotationParams::setOmegaCoriolis ( const Vector3 &  omega )

inline

Definition at line 80 of file PreintegratedRotation.h.

Member Data Documentation

body_P_sensor

std::optional<Pose3> gtsam::PreintegratedRotationParams::body_P_sensor

The pose of the sensor in the body frame.

Definition at line 62 of file PreintegratedRotation.h.

gyroscopeCovariance

Matrix3 gtsam::PreintegratedRotationParams::gyroscopeCovariance

Continuous-time "Covariance" of gyroscope measurements The units for stddev are σ = rad/s/√Hz

Definition at line 60 of file PreintegratedRotation.h.

omegaCoriolis

std::optional<Vector3> gtsam::PreintegratedRotationParams::omegaCoriolis

Coriolis constant.

Definition at line 61 of file PreintegratedRotation.h.

---

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

• PreintegratedRotation.h
• PreintegratedRotation.cpp