#include <ScenarioRunner.h>
Inheritance diagram for gtsam::CombinedScenarioRunner:
Public Types | |
| typedef std::shared_ptr< PreintegrationCombinedParams > | SharedParams |
 Public Types inherited from gtsam::ScenarioRunner | |
| typedef imuBias::ConstantBias | Bias |
| typedef std::shared_ptr< PreintegrationParams > | SharedParams |
Public Member Functions | |
| CombinedScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias(), const Eigen::Matrix< double, 15, 15 > &preintMeasCov=Eigen::Matrix< double, 15, 15 >::Zero()) | |
| Eigen::Matrix< double, 15, 15 > | estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const |
| Compute a Monte Carlo estimate of the predict covariance using N samples. More... | |
| PreintegratedCombinedMeasurements | integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const |
| Integrate measurements for T seconds into a PIM. More... | |
| NavState | predict (const PreintegratedCombinedMeasurements &pim, const Bias &estimatedBias=Bias()) const |
| Predict predict given a PIM. More... | |
| Public Member Functions inherited from gtsam::ScenarioRunner | |
| Vector3 | actualAngularVelocity (double t) const |
| Vector3 | actualSpecificForce (double t) const |
| Matrix9 | estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const |
| Compute a Monte Carlo estimate of the predict covariance using N samples. More... | |
| Matrix6 | estimateNoiseCovariance (size_t N=1000) const |
| Estimate covariance of sampled noise for sanity-check. More... | |
| const Vector3 & | gravity_n () const |
| const double & | imuSampleTime () const |
| PreintegratedImuMeasurements | integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const |
| Integrate measurements for T seconds into a PIM. More... | |
| Vector3 | measuredAngularVelocity (double t) const |
| Vector3 | measuredSpecificForce (double t) const |
| NavState | predict (const PreintegratedImuMeasurements &pim, const Bias &estimatedBias=Bias()) const |
| Predict predict given a PIM. More... | |
| const Scenario & | scenario () const |
| ScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias()) | |
Private Attributes | |
| const Bias | estimatedBias_ |
| const SharedParams | p_ |
| const Eigen::Matrix< double, 15, 15 > | preintMeasCov_ |
Detailed Description
Definition at line 114 of file ScenarioRunner.h.
Member Typedef Documentation
◆ SharedParams
| typedef std::shared_ptr<PreintegrationCombinedParams> gtsam::CombinedScenarioRunner::SharedParams |
Definition at line 116 of file ScenarioRunner.h.
Constructor & Destructor Documentation
◆ CombinedScenarioRunner()
|
inline |
Definition at line 124 of file ScenarioRunner.h.
Member Function Documentation
◆ estimateCovariance()
| Eigen::Matrix< double, 15, 15 > gtsam::CombinedScenarioRunner::estimateCovariance | ( | double | T, |
| size_t | N = 1000, |
||
| const Bias & | estimatedBias = Bias() |
||
| ) | const |
Compute a Monte Carlo estimate of the predict covariance using N samples.
Definition at line 132 of file ScenarioRunner.cpp.
◆ integrate()
| PreintegratedCombinedMeasurements gtsam::CombinedScenarioRunner::integrate | ( | double | T, |
| const Bias & | estimatedBias = Bias(), |
||
| bool | corrupted = false |
||
| ) | const |
Integrate measurements for T seconds into a PIM.
Definition at line 106 of file ScenarioRunner.cpp.
◆ predict()
| NavState gtsam::CombinedScenarioRunner::predict | ( | const PreintegratedCombinedMeasurements & | pim, |
| const Bias & | estimatedBias = Bias() |
||
| ) | const |
Predict predict given a PIM.
Definition at line 125 of file ScenarioRunner.cpp.
Member Data Documentation
◆ estimatedBias_
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private |
Definition at line 120 of file ScenarioRunner.h.
◆ p_
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private |
Definition at line 119 of file ScenarioRunner.h.
◆ preintMeasCov_
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private |
Definition at line 121 of file ScenarioRunner.h.
The documentation for this class was generated from the following files: