gtsam::internal::IncrementalRotation Struct Reference

Function object for incremental rotation. More...

#include <PreintegratedRotation.h>

Public Member Functions
Rot3	operator() (const Vector3 &bias, OptionalJacobian< 3, 3 > H_bias={}) const
	Integrate angular velocity, but corrected by bias. More...

Public Attributes
const std::optional< Pose3 > &	body_P_sensor
const double	deltaT
const Vector3 &	measuredOmega

Detailed Description

Function object for incremental rotation.

Parameters

measuredOmega	The measured angular velocity (as given by the sensor)
deltaT	The time interval over which the rotation is integrated.
body_P_sensor	Optional transform between body and IMU.

Definition at line 38 of file PreintegratedRotation.h.

Member Function Documentation

operator()()

Rot3 gtsam::internal::IncrementalRotation::operator()	(	const Vector3 &	bias,
		OptionalJacobian< 3, 3 >	H_bias = {}
	)		const

Integrate angular velocity, but corrected by bias.

Parameters

bias	The bias estimate
H_bias	Jacobian of the rotation w.r.t. bias.

Returns

The incremental rotation

Definition at line 72 of file PreintegratedRotation.cpp.

Member Data Documentation

body_P_sensor

const std::optional<Pose3>& gtsam::internal::IncrementalRotation::body_P_sensor

Definition at line 41 of file PreintegratedRotation.h.

deltaT

const double gtsam::internal::IncrementalRotation::deltaT

Definition at line 40 of file PreintegratedRotation.h.

measuredOmega

const Vector3& gtsam::internal::IncrementalRotation::measuredOmega

Definition at line 39 of file PreintegratedRotation.h.

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

• PreintegratedRotation.h
• PreintegratedRotation.cpp