gtsam::Mechanization_bRn2 Class Reference

#include <Mechanization_bRn2.h>

Public Member Functions
Vector3	b_g (double g_e) const
	gravity in the body frame More...
const Rot3 &	bRn () const
Mechanization_bRn2	correct (const Vector9 &dx) const
Mechanization_bRn2	integrate (const Vector3 &u, const double dt) const
	Mechanization_bRn2 (const Rot3 &initial_bRn=Rot3(), const Vector3 &initial_x_g=Z_3x1, const Vector3 &initial_x_a=Z_3x1)
	Mechanization_bRn2 (const Mechanization_bRn2 &other)
	Copy constructor. More...
void	print (const std::string &s="") const
	print More...
const Vector3 &	x_a () const
const Vector3 &	x_g () const

Static Public Member Functions
static Mechanization_bRn2	initialize (const Matrix &U, const Matrix &F, const double g_e=0, bool flat=false)
	Matrix version of initialize. More...
static Mechanization_bRn2	initializeVector (const std::list< Vector > &U, const std::list< Vector > &F, const double g_e=0, bool flat=false)

Private Attributes
Rot3	bRn_
	rotation from nav to body More...
Vector3	x_a_
	accelerometer bias More...
Vector3	x_g_
	gyroscope bias More...

Detailed Description

Definition at line 17 of file Mechanization_bRn2.h.

Constructor & Destructor Documentation

gtsam::Mechanization_bRn2::Mechanization_bRn2 ( const Rot3 &  initial_bRn = Rot3(), const Vector3 &  initial_x_g = Z_3x1, const Vector3 &  initial_x_a = Z_3x1  )

inline

Constructor

Parameters

initial_bRn	initial rotation from nav to body frame
initial_x_g	initial gyro bias
r3	Z-axis of rotated frame

Definition at line 32 of file Mechanization_bRn2.h.

gtsam::Mechanization_bRn2::Mechanization_bRn2 ( const Mechanization_bRn2 &  other )

inline

Copy constructor.

Definition at line 38 of file Mechanization_bRn2.h.

Member Function Documentation

Vector3 gtsam::Mechanization_bRn2::b_g ( double  g_e ) const

inline

gravity in the body frame

Definition at line 43 of file Mechanization_bRn2.h.

const Rot3& gtsam::Mechanization_bRn2::bRn ( ) const

inline

Definition at line 48 of file Mechanization_bRn2.h.

Mechanization_bRn2 gtsam::Mechanization_bRn2::correct

(

const Vector9 &

dx

)

const

Correct AHRS full state given error state dx

Parameters

obj	The current state
dx	The error used to correct and return a new state

Definition at line 68 of file Mechanization_bRn2.cpp.

Mechanization_bRn2 gtsam::Mechanization_bRn2::initialize ( const Matrix &  U, const Matrix &  F, const double  g_e = 0, bool  flat = false  )

static

Matrix version of initialize.

Definition at line 23 of file Mechanization_bRn2.cpp.

Mechanization_bRn2 gtsam::Mechanization_bRn2::initializeVector ( const std::list< Vector > &  U, const std::list< Vector > &  F, const double  g_e = 0, bool  flat = false  )

static

Initialize the first Mechanization state

Parameters

U	a list of gyro measurement vectors
F	a list of accelerometer measurement vectors
g_e	gravity magnitude
flat	flag saying whether this is a flat trim init

Definition at line 13 of file Mechanization_bRn2.cpp.

Mechanization_bRn2 gtsam::Mechanization_bRn2::integrate	(	const Vector3 &	u,
		const double	dt
	)		const

Integrate to get new state

Parameters

obj	The current state
u	gyro measurement to integrate
dt	time elapsed since previous state in seconds

Definition at line 81 of file Mechanization_bRn2.cpp.

void gtsam::Mechanization_bRn2::print ( const std::string &  s = "" ) const

inline

print

Definition at line 82 of file Mechanization_bRn2.h.

const Vector3& gtsam::Mechanization_bRn2::x_a ( ) const

inline

Definition at line 50 of file Mechanization_bRn2.h.

const Vector3& gtsam::Mechanization_bRn2::x_g ( ) const

inline

Definition at line 49 of file Mechanization_bRn2.h.

Member Data Documentation

Rot3 gtsam::Mechanization_bRn2::bRn_

private

rotation from nav to body

Definition at line 20 of file Mechanization_bRn2.h.

Vector3 gtsam::Mechanization_bRn2::x_a_

private

accelerometer bias

Definition at line 22 of file Mechanization_bRn2.h.

Vector3 gtsam::Mechanization_bRn2::x_g_

private

gyroscope bias

Definition at line 21 of file Mechanization_bRn2.h.

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

• Mechanization_bRn2.h
• Mechanization_bRn2.cpp