PreintegrationParams.cpp

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#include "PreintegrationParams.h"

using namespace std;

namespace gtsam {

//------------------------------------------------------------------------------
void PreintegrationParams::print(const string& s) const {
  PreintegratedRotationParams::print(s);
  cout << "accelerometerCovariance:\n[\n" << accelerometerCovariance << "\n]"
       << endl;
  cout << "integrationCovariance:\n[\n" << integrationCovariance << "\n]"
       << endl;
  if (omegaCoriolis && use2ndOrderCoriolis)
    cout << "Using 2nd-order Coriolis" << endl;
  if (body_P_sensor) body_P_sensor->print("    ");
  cout << "n_gravity = (" << n_gravity.transpose() << ")" << endl;
}

//------------------------------------------------------------------------------
bool PreintegrationParams::equals(const PreintegratedRotationParams& other,
                                  double tol) const {
  auto e = dynamic_cast<const PreintegrationParams*>(&other);
  return e != nullptr && PreintegratedRotationParams::equals(other, tol) &&
         use2ndOrderCoriolis == e->use2ndOrderCoriolis &&
         equal_with_abs_tol(accelerometerCovariance, e->accelerometerCovariance,
                            tol) &&
         equal_with_abs_tol(integrationCovariance, e->integrationCovariance,
                            tol) &&
         equal_with_abs_tol(n_gravity, e->n_gravity, tol);
}

}  // namespace gtsam