Public Member Functions | Static Public Member Functions | Private Attributes | List of all members
gtsam::Mechanization_bRn2 Class Reference

#include <Mechanization_bRn2.h>

Public Member Functions

Vector3 b_g (double g_e) const
 gravity in the body frame More...
 
const Rot3bRn () const
 
Mechanization_bRn2 correct (const Vector9 &dx) const
 
Mechanization_bRn2 integrate (const Vector3 &u, const double dt) const
 
 Mechanization_bRn2 (const Rot3 &initial_bRn=Rot3(), const Vector3 &initial_x_g=Z_3x1, const Vector3 &initial_x_a=Z_3x1)
 
 Mechanization_bRn2 (const Mechanization_bRn2 &other)
 Copy constructor. More...
 
void print (const std::string &s="") const
 print More...
 
const Vector3x_a () const
 
const Vector3x_g () const
 

Static Public Member Functions

static Mechanization_bRn2 initialize (const Matrix &U, const Matrix &F, const double g_e=0, bool flat=false)
 Matrix version of initialize. More...
 
static Mechanization_bRn2 initializeVector (const std::list< Vector > &U, const std::list< Vector > &F, const double g_e=0, bool flat=false)
 

Private Attributes

Rot3 bRn_
 rotation from nav to body More...
 
Vector3 x_a_
 accelerometer bias More...
 
Vector3 x_g_
 gyroscope bias More...
 

Detailed Description

Definition at line 17 of file Mechanization_bRn2.h.

Constructor & Destructor Documentation

◆ Mechanization_bRn2() [1/2]

gtsam::Mechanization_bRn2::Mechanization_bRn2 ( const Rot3 initial_bRn = Rot3(),
const Vector3 initial_x_g = Z_3x1,
const Vector3 initial_x_a = Z_3x1 
)
inline

Constructor

Parameters
initial_bRninitial rotation from nav to body frame
initial_x_ginitial gyro bias
r3Z-axis of rotated frame

Definition at line 32 of file Mechanization_bRn2.h.

◆ Mechanization_bRn2() [2/2]

gtsam::Mechanization_bRn2::Mechanization_bRn2 ( const Mechanization_bRn2 other)
inline

Copy constructor.

Definition at line 38 of file Mechanization_bRn2.h.

Member Function Documentation

◆ b_g()

Vector3 gtsam::Mechanization_bRn2::b_g ( double  g_e) const
inline

gravity in the body frame

Definition at line 43 of file Mechanization_bRn2.h.

◆ bRn()

const Rot3& gtsam::Mechanization_bRn2::bRn ( ) const
inline

Definition at line 48 of file Mechanization_bRn2.h.

◆ correct()

Mechanization_bRn2 gtsam::Mechanization_bRn2::correct ( const Vector9 &  dx) const

Correct AHRS full state given error state dx

Parameters
objThe current state
dxThe error used to correct and return a new state

Definition at line 68 of file Mechanization_bRn2.cpp.

◆ initialize()

Mechanization_bRn2 gtsam::Mechanization_bRn2::initialize ( const Matrix U,
const Matrix F,
const double  g_e = 0,
bool  flat = false 
)
static

Matrix version of initialize.

Definition at line 23 of file Mechanization_bRn2.cpp.

◆ initializeVector()

Mechanization_bRn2 gtsam::Mechanization_bRn2::initializeVector ( const std::list< Vector > &  U,
const std::list< Vector > &  F,
const double  g_e = 0,
bool  flat = false 
)
static

Initialize the first Mechanization state

Parameters
Ua list of gyro measurement vectors
Fa list of accelerometer measurement vectors
g_egravity magnitude
flatflag saying whether this is a flat trim init

Definition at line 13 of file Mechanization_bRn2.cpp.

◆ integrate()

Mechanization_bRn2 gtsam::Mechanization_bRn2::integrate ( const Vector3 u,
const double  dt 
) const

Integrate to get new state

Parameters
objThe current state
ugyro measurement to integrate
dttime elapsed since previous state in seconds

Definition at line 81 of file Mechanization_bRn2.cpp.

◆ print()

void gtsam::Mechanization_bRn2::print ( const std::string &  s = "") const
inline

print

Definition at line 82 of file Mechanization_bRn2.h.

◆ x_a()

const Vector3& gtsam::Mechanization_bRn2::x_a ( ) const
inline

Definition at line 50 of file Mechanization_bRn2.h.

◆ x_g()

const Vector3& gtsam::Mechanization_bRn2::x_g ( ) const
inline

Definition at line 49 of file Mechanization_bRn2.h.

Member Data Documentation

◆ bRn_

Rot3 gtsam::Mechanization_bRn2::bRn_
private

rotation from nav to body

Definition at line 20 of file Mechanization_bRn2.h.

◆ x_a_

Vector3 gtsam::Mechanization_bRn2::x_a_
private

accelerometer bias

Definition at line 22 of file Mechanization_bRn2.h.

◆ x_g_

Vector3 gtsam::Mechanization_bRn2::x_g_
private

gyroscope bias

Definition at line 21 of file Mechanization_bRn2.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:23