#include <iostream>#include <gtsam/navigation/ImuBias.h>#include <gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h>#include <gtsam/geometry/Pose3.h>#include <gtsam/nonlinear/Values.h>#include <gtsam/base/numericalDerivative.h>#include <gtsam/inference/Key.h>#include <gtsam/linear/GaussianFactorGraph.h>
Include dependency graph for timeInertialNavFactor_GlobalVelocity.cpp:
Go to the source code of this file.
Functions | |
| gtsam::Vector | ECEF_omega_earth (Vector3(0.0, 0.0, 7.292115e-5)) |
| int | main () |
| gtsam::Pose3 | predictionErrorPose (const Pose3 &p1, const Vector3 &v1, const imuBias::ConstantBias &b1, const Pose3 &p2, const Vector3 &v2, const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &factor) |
| gtsam::Vector3 | predictionErrorVel (const Pose3 &p1, const Vector3 &v1, const imuBias::ConstantBias &b1, const Pose3 &p2, const Vector3 &v2, const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &factor) |
| gtsam::Vector | world_omega_earth (world_R_ECEF.matrix() *ECEF_omega_earth) |
Variables | |
| gtsam::Rot3 | world_R_ECEF (0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471) |
Function Documentation
◆ ECEF_omega_earth()
| gtsam::Vector ECEF_omega_earth | ( | Vector3(0.0, 0.0, 7.292115e-5) | ) |
◆ main()
| int main | ( | ) |
Definition at line 48 of file timeInertialNavFactor_GlobalVelocity.cpp.
◆ predictionErrorPose()
| gtsam::Pose3 predictionErrorPose | ( | const Pose3 & | p1, |
| const Vector3 & | v1, | ||
| const imuBias::ConstantBias & | b1, | ||
| const Pose3 & | p2, | ||
| const Vector3 & | v2, | ||
| const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > & | factor | ||
| ) |
Definition at line 38 of file timeInertialNavFactor_GlobalVelocity.cpp.
◆ predictionErrorVel()
| gtsam::Vector3 predictionErrorVel | ( | const Pose3 & | p1, |
| const Vector3 & | v1, | ||
| const imuBias::ConstantBias & | b1, | ||
| const Pose3 & | p2, | ||
| const Vector3 & | v2, | ||
| const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > & | factor | ||
| ) |
Definition at line 42 of file timeInertialNavFactor_GlobalVelocity.cpp.
◆ world_omega_earth()
| gtsam::Vector world_omega_earth | ( | world_R_ECEF.matrix() * | ECEF_omega_earth | ) |
Variable Documentation
◆ world_R_ECEF
| gtsam::Rot3 world_R_ECEF(0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471) |