#include <PreintegratedRotation.h>

Inheritance diagram for gtsam::PreintegratedRotationParams:

Public Member Functions
virtual bool	equals (const PreintegratedRotationParams &other, double tol=1e-9) const

boost::optional< Pose3 >	getBodyPSensor () const

const Matrix3 &	getGyroscopeCovariance () const

boost::optional< Vector3 >	getOmegaCoriolis () const

	PreintegratedRotationParams ()

	PreintegratedRotationParams (const Matrix3 &gyroscope_covariance, boost::optional< Vector3 > omega_coriolis)

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

void	setBodyPSensor (const Pose3 &pose)

void	setGyroscopeCovariance (const Matrix3 &cov)

void	setOmegaCoriolis (const Vector3 &omega)

virtual	~PreintegratedRotationParams ()

Public Attributes
boost::optional< Pose3 >	body_P_sensor
	The pose of the sensor in the body frame. More...

Matrix3	gyroscopeCovariance

boost::optional< Vector3 >	omegaCoriolis
	Coriolis constant. More...

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

Friends
class	boost::serialization::access

Detailed Description

Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor

Definition at line 31 of file PreintegratedRotation.h.

Constructor & Destructor Documentation

gtsam::PreintegratedRotationParams::PreintegratedRotationParams ( )

inline

Definition at line 38 of file PreintegratedRotation.h.

gtsam::PreintegratedRotationParams::PreintegratedRotationParams	(	const Matrix3 &	gyroscope_covariance,
		boost::optional< Vector3 >	omega_coriolis
	)

inline

Definition at line 40 of file PreintegratedRotation.h.

virtual gtsam::PreintegratedRotationParams::~PreintegratedRotationParams ( )

inlinevirtual

Definition at line 47 of file PreintegratedRotation.h.

Member Function Documentation

bool gtsam::PreintegratedRotationParams::equals	(	const PreintegratedRotationParams &	other,
		double	tol = `1e-9`
	)		const

virtual

Reimplemented in gtsam::PreintegrationCombinedParams, and gtsam::PreintegrationParams.

Definition at line 36 of file PreintegratedRotation.cpp.

boost::optional<Pose3> gtsam::PreintegratedRotationParams::getBodyPSensor ( ) const

inline

Definition at line 58 of file PreintegratedRotation.h.

const Matrix3& gtsam::PreintegratedRotationParams::getGyroscopeCovariance ( ) const

inline

Definition at line 56 of file PreintegratedRotation.h.

boost::optional<Vector3> gtsam::PreintegratedRotationParams::getOmegaCoriolis ( ) const

inline

Definition at line 57 of file PreintegratedRotation.h.

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

virtual

Reimplemented in gtsam::PreintegrationCombinedParams, and gtsam::PreintegrationParams.

Definition at line 28 of file PreintegratedRotation.cpp.

template<class ARCHIVE >

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

inlineprivate

Definition at line 64 of file PreintegratedRotation.h.

void gtsam::PreintegratedRotationParams::setBodyPSensor ( const Pose3 & pose )

inline

Definition at line 54 of file PreintegratedRotation.h.

void gtsam::PreintegratedRotationParams::setGyroscopeCovariance ( const Matrix3 & cov )

inline

Definition at line 52 of file PreintegratedRotation.h.

void gtsam::PreintegratedRotationParams::setOmegaCoriolis ( const Vector3 & omega )

inline

Definition at line 53 of file PreintegratedRotation.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 62 of file PreintegratedRotation.h.

Member Data Documentation

boost::optional<Pose3> gtsam::PreintegratedRotationParams::body_P_sensor

The pose of the sensor in the body frame.

Definition at line 36 of file PreintegratedRotation.h.

Matrix3 gtsam::PreintegratedRotationParams::gyroscopeCovariance

Continuous-time "Covariance" of gyroscope measurements The units for stddev are σ = rad/s/√Hz

Definition at line 34 of file PreintegratedRotation.h.

boost::optional<Vector3> gtsam::PreintegratedRotationParams::omegaCoriolis

Coriolis constant.

Definition at line 35 of file PreintegratedRotation.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation