Public Member Functions | Public Attributes | List of all members
gtsam::internal::IncrementalRotation Struct Reference

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 Vector3measuredOmega
 

Detailed Description

Function object for incremental rotation.

Parameters
measuredOmegaThe measured angular velocity (as given by the sensor)
deltaTThe time interval over which the rotation is integrated.
body_P_sensorOptional transform between body and IMU.

Definition at line 38 of file PreintegratedRotation.h.

Member Function Documentation

◆ operator()()

Rot3 gtsam::internal::IncrementalRotation::operator() ( const Vector3 bias,
OptionalJacobian< 3, 3 >  H_bias = {} 
) const

Integrate angular velocity, but corrected by bias.

Parameters
biasThe bias estimate
H_biasJacobian of the rotation w.r.t. bias.
Returns
The incremental rotation

Definition at line 72 of file PreintegratedRotation.cpp.

Member Data Documentation

◆ body_P_sensor

const std::optional<Pose3>& gtsam::internal::IncrementalRotation::body_P_sensor

Definition at line 41 of file PreintegratedRotation.h.

◆ deltaT

const double gtsam::internal::IncrementalRotation::deltaT

Definition at line 40 of file PreintegratedRotation.h.

◆ measuredOmega

const Vector3& gtsam::internal::IncrementalRotation::measuredOmega

Definition at line 39 of file PreintegratedRotation.h.


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


gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:52:55