#include <PreintegrationCombinedParams.h>

Inheritance diagram for gtsam::PreintegrationCombinedParams:

Public Member Functions
bool	equals (const PreintegratedRotationParams &other, double tol) const override

const Matrix3 &	getBiasAccCovariance () const

const Matrix6 &	getBiasAccOmegaInit () const

const Matrix3 &	getBiasOmegaCovariance () const

	PreintegrationCombinedParams ()

	PreintegrationCombinedParams (const Vector3 &n_gravity_)

void	print (const std::string &s="") const override

void	setBiasAccCovariance (const Matrix3 &cov)

void	setBiasAccOmegaInit (const Matrix6 &cov)

void	setBiasOmegaCovariance (const Matrix3 &cov)

Public Member Functions inherited from gtsam::PreintegrationParams
bool	equals (const PreintegratedRotationParams &other, double tol) const override

const Matrix3 &	getAccelerometerCovariance () const

const Vector3 &	getGravity () const

const Matrix3 &	getIntegrationCovariance () const

bool	getUse2ndOrderCoriolis () const

	PreintegrationParams ()
	Default constructor for serialization only. More...

	PreintegrationParams (const Vector3 &n_gravity_)

void	print (const std::string &s="") const override

void	setAccelerometerCovariance (const Matrix3 &cov)

void	setIntegrationCovariance (const Matrix3 &cov)

void	setUse2ndOrderCoriolis (bool flag)

Public Member Functions inherited from gtsam::PreintegratedRotationParams
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)

void	setBodyPSensor (const Pose3 &pose)

void	setGyroscopeCovariance (const Matrix3 &cov)

void	setOmegaCoriolis (const Vector3 &omega)

virtual	~PreintegratedRotationParams ()

Static Public Member Functions
static std::shared_ptr< PreintegrationCombinedParams >	MakeSharedD (double g=9.81)

static std::shared_ptr< PreintegrationCombinedParams >	MakeSharedU (double g=9.81)

Static Public Member Functions inherited from gtsam::PreintegrationParams
static std::shared_ptr< PreintegrationParams >	MakeSharedD (double g=9.81)

static std::shared_ptr< PreintegrationParams >	MakeSharedU (double g=9.81)

Public Attributes
Matrix3	biasAccCovariance

Matrix6	biasAccOmegaInt
	covariance of bias used as initial estimate. More...

Matrix3	biasOmegaCovariance

Public Attributes inherited from gtsam::PreintegrationParams
Matrix3	accelerometerCovariance

Matrix3	integrationCovariance
	continuous-time "Covariance" describing integration uncertainty More...

Vector3	n_gravity
	Gravity vector in nav frame. More...

bool	use2ndOrderCoriolis
	Whether to use second order Coriolis integration. More...

Public Attributes inherited from gtsam::PreintegratedRotationParams
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 using PreintegratedCombinedMeasurements: Usage: Create just a single Params and pass a shared pointer to the constructor

Definition at line 36 of file PreintegrationCombinedParams.h.