#include <CombinedImuFactor.h>

Inheritance diagram for gtsam::PreintegrationCombinedParams:

Public Member Functions
bool	equals (const PreintegratedRotationParams &other, double tol) const override

const Matrix3 &	getBiasAccCovariance () const

const Matrix6 &	getBiasAccOmegaInt () const

const Matrix3 &	getBiasOmegaCovariance () const

	PreintegrationCombinedParams ()

	PreintegrationCombinedParams (const Vector3 &n_gravity)
	See two named constructors below for good values of n_gravity in body frame. More...

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

void	setBiasAccCovariance (const Matrix3 &cov)

void	setBiasAccOmegaInt (const Matrix6 &cov)

void	setBiasOmegaCovariance (const Matrix3 &cov)

Public Member Functions inherited from gtsam::PreintegrationParams
bool	equals (const PreintegratedRotationParams &other, double tol) const override

const Matrix3 &	getAccelerometerCovariance () const

const Vector3 &	getGravity () const

const Matrix3 &	getIntegrationCovariance () const

bool	getUse2ndOrderCoriolis () const

	PreintegrationParams ()
	Default constructor for serialization only. More...

	PreintegrationParams (const Vector3 &n_gravity)

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

void	setAccelerometerCovariance (const Matrix3 &cov)

void	setIntegrationCovariance (const Matrix3 &cov)

void	setUse2ndOrderCoriolis (bool flag)

Public Member Functions inherited from gtsam::PreintegratedRotationParams
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)

void	setBodyPSensor (const Pose3 &pose)

void	setGyroscopeCovariance (const Matrix3 &cov)

void	setOmegaCoriolis (const Vector3 &omega)

virtual	~PreintegratedRotationParams ()

Static Public Member Functions
static boost::shared_ptr< PreintegrationCombinedParams >	MakeSharedD (double g=9.81)

static boost::shared_ptr< PreintegrationCombinedParams >	MakeSharedU (double g=9.81)

Static Public Member Functions inherited from gtsam::PreintegrationParams
static boost::shared_ptr< PreintegrationParams >	MakeSharedD (double g=9.81)

static boost::shared_ptr< PreintegrationParams >	MakeSharedU (double g=9.81)

Public Attributes
Matrix3	biasAccCovariance
	continuous-time "Covariance" describing accelerometer bias random walk More...

Matrix6	biasAccOmegaInt
	covariance of bias used for pre-integration More...

Matrix3	biasOmegaCovariance
	continuous-time "Covariance" describing gyroscope bias random walk More...

Public Attributes inherited from gtsam::PreintegrationParams
Matrix3	accelerometerCovariance

Matrix3	integrationCovariance
	continuous-time "Covariance" describing integration uncertainty More...

Vector3	n_gravity
	Gravity vector in nav frame. More...

bool	use2ndOrderCoriolis
	Whether to use second order Coriolis integration. More...

Public Attributes inherited from gtsam::PreintegratedRotationParams
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

Additional Inherited Members
Protected Member Functions inherited from gtsam::PreintegrationParams
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Detailed Description

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

Definition at line 61 of file CombinedImuFactor.h.

Constructor & Destructor Documentation

gtsam::PreintegrationCombinedParams::PreintegrationCombinedParams ( )

inline

Default constructor makes uninitialized params struct. Used for serialization.

Definition at line 68 of file CombinedImuFactor.h.

gtsam::PreintegrationCombinedParams::PreintegrationCombinedParams ( const Vector3 & n_gravity )

inline

See two named constructors below for good values of n_gravity in body frame.

Definition at line 74 of file CombinedImuFactor.h.

Member Function Documentation

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

overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

Definition at line 47 of file CombinedImuFactor.cpp.

const Matrix3& gtsam::PreintegrationCombinedParams::getBiasAccCovariance ( ) const

inline

Definition at line 97 of file CombinedImuFactor.h.

const Matrix6& gtsam::PreintegrationCombinedParams::getBiasAccOmegaInt ( ) const

inline

Definition at line 99 of file CombinedImuFactor.h.

const Matrix3& gtsam::PreintegrationCombinedParams::getBiasOmegaCovariance ( ) const

inline

Definition at line 98 of file CombinedImuFactor.h.

static boost::shared_ptr<PreintegrationCombinedParams> gtsam::PreintegrationCombinedParams::MakeSharedD ( double g = 9.81 )

inlinestatic

Definition at line 81 of file CombinedImuFactor.h.

static boost::shared_ptr<PreintegrationCombinedParams> gtsam::PreintegrationCombinedParams::MakeSharedU ( double g = 9.81 )

inlinestatic

Definition at line 86 of file CombinedImuFactor.h.

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

overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

Definition at line 36 of file CombinedImuFactor.cpp.

template<class ARCHIVE >

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

inlineprivate

Definition at line 106 of file CombinedImuFactor.h.

void gtsam::PreintegrationCombinedParams::setBiasAccCovariance ( const Matrix3 & cov )

inline

Definition at line 93 of file CombinedImuFactor.h.

void gtsam::PreintegrationCombinedParams::setBiasAccOmegaInt ( const Matrix6 & cov )

inline

Definition at line 95 of file CombinedImuFactor.h.

void gtsam::PreintegrationCombinedParams::setBiasOmegaCovariance ( const Matrix3 & cov )

inline

Definition at line 94 of file CombinedImuFactor.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 104 of file CombinedImuFactor.h.

Member Data Documentation

Matrix3 gtsam::PreintegrationCombinedParams::biasAccCovariance

continuous-time "Covariance" describing accelerometer bias random walk

Definition at line 62 of file CombinedImuFactor.h.

Matrix6 gtsam::PreintegrationCombinedParams::biasAccOmegaInt

covariance of bias used for pre-integration

Definition at line 64 of file CombinedImuFactor.h.

Matrix3 gtsam::PreintegrationCombinedParams::biasOmegaCovariance

continuous-time "Covariance" describing gyroscope bias random walk

Definition at line 63 of file CombinedImuFactor.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation