Variables
static const double	deltaT = 1.0

static const Vector3	measuredAcc

static const NavState	state1 (x1, v1)

static const NavState	state2 (x2, v2)

static const double	w = M_PI / 100

static const Pose3	x1 (Rot3::RzRyRx(M_PI/12.0, M_PI/6.0, M_PI/4.0), Point3(5.0, 1.0, 0))

static const Pose3	x2 (Rot3::RzRyRx(M_PI/12.0+w, M_PI/6.0, M_PI/4.0), Point3(5.5, 1.0, 0))

Function Documentation

static const Vector3 common::measuredOmega	(	w	,
		0	,
		0
	)

static

static const Vector3 common::v1 ( Vector3(0.5, 0.0, 0.0) )

static

static const Vector3 common::v2 ( Vector3(0.5, 0.0, 0.0) )

static

Variable Documentation

const double common::deltaT = 1.0

static

Definition at line 183 of file testImuFactor.cpp.

const Vector3 common::measuredAcc

static

Initial value:

= x1.rotation().unrotate(

Point3 unrotate(const Point3 &p, OptionalJacobian< 3, 3 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const

rotate point from world to rotated frame

Definition: Rot3.cpp:136

static const Vector3 kGravityAlongNavZDown(0, 0, kGravity)

static const Pose3 x1(Rot3::RzRyRx(M_PI/12.0, M_PI/6.0, M_PI/4.0), Point3(5.0, 1.0, 0))

const Rot3 & rotation(OptionalJacobian< 3, 6 > Hself=boost::none) const

get rotation

Definition: Pose3.cpp:266

Definition at line 181 of file testImuFactor.cpp.

const NavState common::state1(x1, v1)

static

const NavState common::state2(x2, v2)

static

const double common::w = M_PI / 100

static

Definition at line 179 of file testImuFactor.cpp.

const Pose3 common::x1(Rot3::RzRyRx(M_PI/12.0, M_PI/6.0, M_PI/4.0), Point3(5.0, 1.0, 0))

static

const Pose3 common::x2(Rot3::RzRyRx(M_PI/12.0+w, M_PI/6.0, M_PI/4.0), Point3(5.5, 1.0, 0))

static