Header file for the Attitude-Bias-Calibration Equivariant Filter. More...
#include <gtsam/base/Matrix.h>#include <gtsam/base/Vector.h>#include <gtsam/geometry/Rot3.h>#include <gtsam/geometry/Unit3.h>#include <gtsam/inference/Symbol.h>#include <gtsam/navigation/ImuBias.h>#include <gtsam/nonlinear/Values.h>#include <gtsam/slam/dataset.h>#include <chrono>#include <cmath>#include <fstream>#include <functional>#include <iostream>#include <numeric>#include <string>#include <vector>#include "ABC.h"
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Classes | |
| class | gtsam::abc_eqf_lib::EqF< N > |
| Equivariant Filter (EqF) implementation. More... | |
| struct | gtsam::traits< abc_eqf_lib::EqF< N > > |
Namespaces | |
| gtsam | |
| traits | |
| gtsam::abc_eqf_lib | |
Functions | |
| template<size_t N> | |
| Vector | gtsam::abc_eqf_lib::lift (const State< N > &xi, const Input &u) |
| Matrix | gtsam::abc_eqf_lib::numericalDifferential (std::function< Vector(const Vector &)> f, const Vector &x) |
| Calculate numerical differential. More... | |
| template<size_t N> | |
| State< N > | gtsam::abc_eqf_lib::operator* (const G< N > &X, const State< N > &xi) |
| template<size_t N> | |
| Vector3 | gtsam::abc_eqf_lib::outputAction (const G< N > &X, const Unit3 &y, int idx) |
| template<size_t N> | |
| Matrix | gtsam::abc_eqf_lib::stateActionDiff (const State< N > &xi) |
| template<size_t N> | |
| Input | gtsam::abc_eqf_lib::velocityAction (const G< N > &X, const Input &u) |
Detailed Description
Header file for the Attitude-Bias-Calibration Equivariant Filter.
This file contains declarations for the Equivariant Filter (EqF) for attitude estimation with both gyroscope bias and sensor extrinsic calibration, based on the paper: "Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration" by Fornasier et al. Authors: Darshan Rajasekaran & Jennifer Oum
Definition in file ABC_EQF.h.