#include <PreintegratedRotation.h>

Inheritance diagram for gtsam::PreintegratedRotation:

Public Types
typedef PreintegratedRotationParams	Params

Public Member Functions
Constructors
	PreintegratedRotation (const boost::shared_ptr< Params > &p)
	Default constructor, resets integration to zero. More...

	PreintegratedRotation (const boost::shared_ptr< Params > &p, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega)
	Explicit initialization of all class members. More...

Basic utilities
void	resetIntegration ()
	Re-initialize PreintegratedMeasurements. More...

bool	matchesParamsWith (const PreintegratedRotation &other) const
	check parameters equality: checks whether shared pointer points to same Params object. More...

Access instance variables
const boost::shared_ptr< Params > &	params () const

const double &	deltaTij () const

const Rot3 &	deltaRij () const

const Matrix3 &	delRdelBiasOmega () const

Testable
void	print (const std::string &s) const

bool	equals (const PreintegratedRotation &other, double tol) const

Main functionality
Rot3	incrementalRotation (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > D_incrR_integratedOmega) const

void	integrateMeasurement (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > D_incrR_integratedOmega=boost::none, OptionalJacobian< 3, 3 > F=boost::none)

Rot3	biascorrectedDeltaRij (const Vector3 &biasOmegaIncr, OptionalJacobian< 3, 3 > H=boost::none) const
	Return a bias corrected version of the integrated rotation, with optional Jacobian. More...

Vector3	integrateCoriolis (const Rot3 &rot_i) const
	Integrate coriolis correction in body frame rot_i. More...

Protected Member Functions
	PreintegratedRotation ()
	Default constructor for serialization. More...

Protected Attributes
Matrix3	delRdelBiasOmega_
	Jacobian of preintegrated rotation w.r.t. angular rate bias. More...

Rot3	deltaRij_
	Preintegrated relative orientation (in frame i) More...

double	deltaTij_
	Time interval from i to j. More...

boost::shared_ptr< Params >	p_
	Parameters. More...

Private Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Friends
class	boost::serialization::access

Detailed Description

PreintegratedRotation is the base class for all PreintegratedMeasurements classes (in AHRSFactor, ImuFactor, and CombinedImuFactor). It includes the definitions of the preintegrated rotation.

Definition at line 89 of file PreintegratedRotation.h.

Member Typedef Documentation

typedef PreintegratedRotationParams gtsam::PreintegratedRotation::Params

Definition at line 91 of file PreintegratedRotation.h.

Constructor & Destructor Documentation

gtsam::PreintegratedRotation::PreintegratedRotation ( )

inlineprotected

Default constructor for serialization.

Definition at line 102 of file PreintegratedRotation.h.

gtsam::PreintegratedRotation::PreintegratedRotation ( const boost::shared_ptr< Params > & p )

inlineexplicit

Default constructor, resets integration to zero.

Definition at line 109 of file PreintegratedRotation.h.

gtsam::PreintegratedRotation::PreintegratedRotation	(	const boost::shared_ptr< Params > &	p,
		double	deltaTij,
		const Rot3 &	deltaRij,
		const Matrix3 &	delRdelBiasOmega
	)

inline

Explicit initialization of all class members.

Definition at line 114 of file PreintegratedRotation.h.

Member Function Documentation

Rot3 gtsam::PreintegratedRotation::biascorrectedDeltaRij	(	const Vector3 &	biasOmegaIncr,
		OptionalJacobian< 3, 3 >	H = `boost::none`
	)		const

Return a bias corrected version of the integrated rotation, with optional Jacobian.

Definition at line 115 of file PreintegratedRotation.cpp.

const Matrix3& gtsam::PreintegratedRotation::delRdelBiasOmega ( ) const

inline

Definition at line 144 of file PreintegratedRotation.h.

const Rot3& gtsam::PreintegratedRotation::deltaRij ( ) const

inline

Definition at line 141 of file PreintegratedRotation.h.

const double& gtsam::PreintegratedRotation::deltaTij ( ) const

inline

Definition at line 138 of file PreintegratedRotation.h.

bool gtsam::PreintegratedRotation::equals	(	const PreintegratedRotation &	other,
		double	tol
	)		const

Definition at line 63 of file PreintegratedRotation.cpp.

Rot3 gtsam::PreintegratedRotation::incrementalRotation	(	const Vector3 &	measuredOmega,
		const Vector3 &	biasHat,
		double	deltaT,
		OptionalJacobian< 3, 3 >	D_incrR_integratedOmega
	)		const

Take the gyro measurement, correct it using the (constant) bias estimate and possibly the sensor pose, and then integrate it forward in time to yield an incremental rotation.

Definition at line 71 of file PreintegratedRotation.cpp.

Vector3 gtsam::PreintegratedRotation::integrateCoriolis ( const Rot3 & rot_i ) const

Integrate coriolis correction in body frame rot_i.

Definition at line 125 of file PreintegratedRotation.cpp.

void gtsam::PreintegratedRotation::integrateMeasurement	(	const Vector3 &	measuredOmega,
		const Vector3 &	biasHat,
		double	deltaT,
		OptionalJacobian< 3, 3 >	D_incrR_integratedOmega = `boost::none`,
		OptionalJacobian< 3, 3 >	F = `boost::none`
	)

Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_.

Definition at line 92 of file PreintegratedRotation.cpp.

bool gtsam::PreintegratedRotation::matchesParamsWith ( const PreintegratedRotation & other ) const

inline

check parameters equality: checks whether shared pointer points to same Params object.

Definition at line 128 of file PreintegratedRotation.h.

const boost::shared_ptr<Params>& gtsam::PreintegratedRotation::params ( ) const

inline

Definition at line 135 of file PreintegratedRotation.h.

void gtsam::PreintegratedRotation::print ( const std::string & s ) const

Definition at line 57 of file PreintegratedRotation.cpp.

void gtsam::PreintegratedRotation::resetIntegration ( )

Re-initialize PreintegratedMeasurements.

Definition at line 51 of file PreintegratedRotation.cpp.

template<class ARCHIVE >

void gtsam::PreintegratedRotation::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 183 of file PreintegratedRotation.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 181 of file PreintegratedRotation.h.

Member Data Documentation

Matrix3 gtsam::PreintegratedRotation::delRdelBiasOmega_

protected

Jacobian of preintegrated rotation w.r.t. angular rate bias.

Definition at line 99 of file PreintegratedRotation.h.

Rot3 gtsam::PreintegratedRotation::deltaRij_

protected

Preintegrated relative orientation (in frame i)

Definition at line 98 of file PreintegratedRotation.h.

double gtsam::PreintegratedRotation::deltaTij_

protected

Time interval from i to j.

Definition at line 97 of file PreintegratedRotation.h.

boost::shared_ptr<Params> gtsam::PreintegratedRotation::p_

protected

Parameters.

Definition at line 95 of file PreintegratedRotation.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation