Function object for incremental rotation. More...
#include <PreintegratedRotation.h>
Public Member Functions | |
Rot3 | operator() (const Vector3 &bias, OptionalJacobian< 3, 3 > H_bias={}) const |
Integrate angular velocity, but corrected by bias. More... | |
Public Attributes | |
const std::optional< Pose3 > & | body_P_sensor |
const double | deltaT |
const Vector3 & | measuredOmega |
Function object for incremental rotation.
measuredOmega | The measured angular velocity (as given by the sensor) |
deltaT | The time interval over which the rotation is integrated. |
body_P_sensor | Optional transform between body and IMU. |
Definition at line 38 of file PreintegratedRotation.h.
Rot3 gtsam::internal::IncrementalRotation::operator() | ( | const Vector3 & | bias, |
OptionalJacobian< 3, 3 > | H_bias = {} |
||
) | const |
Integrate angular velocity, but corrected by bias.
bias | The bias estimate |
H_bias | Jacobian of the rotation w.r.t. bias. |
Definition at line 72 of file PreintegratedRotation.cpp.
const std::optional<Pose3>& gtsam::internal::IncrementalRotation::body_P_sensor |
Definition at line 41 of file PreintegratedRotation.h.
const double gtsam::internal::IncrementalRotation::deltaT |
Definition at line 40 of file PreintegratedRotation.h.
const Vector3& gtsam::internal::IncrementalRotation::measuredOmega |
Definition at line 39 of file PreintegratedRotation.h.