#include <PreintegrationParams.h>

Inheritance diagram for gtsam::PreintegrationParams:

Public Member Functions
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< PreintegrationParams >	MakeSharedD (double g=9.81)

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

Public Attributes
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...

Protected 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 26 of file PreintegrationParams.h.

Constructor & Destructor Documentation

gtsam::PreintegrationParams::PreintegrationParams ( )

inline

Default constructor for serialization only.

Definition at line 35 of file PreintegrationParams.h.

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

inline

The Params constructor insists on getting the navigation frame gravity vector For convenience, two commonly used conventions are provided by named constructors below

Definition at line 44 of file PreintegrationParams.h.

Member Function Documentation

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

overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

Definition at line 42 of file PreintegrationParams.cpp.

const Matrix3& gtsam::PreintegrationParams::getAccelerometerCovariance ( ) const

inline

Definition at line 68 of file PreintegrationParams.h.

const Vector3& gtsam::PreintegrationParams::getGravity ( ) const

inline

Definition at line 70 of file PreintegrationParams.h.

const Matrix3& gtsam::PreintegrationParams::getIntegrationCovariance ( ) const

inline

Definition at line 69 of file PreintegrationParams.h.

bool gtsam::PreintegrationParams::getUse2ndOrderCoriolis ( ) const

inline

Definition at line 71 of file PreintegrationParams.h.

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

inlinestatic

Definition at line 52 of file PreintegrationParams.h.

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

inlinestatic

Definition at line 57 of file PreintegrationParams.h.

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

overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

Definition at line 29 of file PreintegrationParams.cpp.

template<class ARCHIVE >

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

inlineprotected

Definition at line 78 of file PreintegrationParams.h.

void gtsam::PreintegrationParams::setAccelerometerCovariance ( const Matrix3 & cov )

inline

Definition at line 64 of file PreintegrationParams.h.

void gtsam::PreintegrationParams::setIntegrationCovariance ( const Matrix3 & cov )

inline

Definition at line 65 of file PreintegrationParams.h.

void gtsam::PreintegrationParams::setUse2ndOrderCoriolis ( bool flag )

inline

Definition at line 66 of file PreintegrationParams.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 76 of file PreintegrationParams.h.

Member Data Documentation

Matrix3 gtsam::PreintegrationParams::accelerometerCovariance

Continuous-time "Covariance" of accelerometer The units for stddev are σ = m/s²/√Hz

Definition at line 29 of file PreintegrationParams.h.

Matrix3 gtsam::PreintegrationParams::integrationCovariance

continuous-time "Covariance" describing integration uncertainty

Definition at line 30 of file PreintegrationParams.h.

Vector3 gtsam::PreintegrationParams::n_gravity

Gravity vector in nav frame.

Definition at line 32 of file PreintegrationParams.h.

bool gtsam::PreintegrationParams::use2ndOrderCoriolis

Whether to use second order Coriolis integration.

Definition at line 31 of file PreintegrationParams.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation