#include <ImuFactor.h>

Inheritance diagram for gtsam::PreintegratedImuMeasurements:

Public Member Functions
bool	equals (const PreintegratedImuMeasurements &expected, double tol=1e-9) const
	equals More...

void	integrateMeasurement (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt) override

void	integrateMeasurements (const Matrix &measuredAccs, const Matrix &measuredOmegas, const Matrix &dts)
	Add multiple measurements, in matrix columns. More...

	PreintegratedImuMeasurements ()
	Default constructor for serialization and wrappers. More...

	PreintegratedImuMeasurements (const std::shared_ptr< PreintegrationParams > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())

	PreintegratedImuMeasurements (const PreintegrationType &base, const Matrix9 &preintMeasCov)

Matrix	preintMeasCov () const
	Return pre-integrated measurement covariance. More...

void	print (const std::string &s="Preintegrated Measurements:") const override
	print More...

void	resetIntegration () override
	Re-initialize PreintegratedIMUMeasurements. More...

	~PreintegratedImuMeasurements () override
	Virtual destructor. More...

Public Member Functions inherited from gtsam::ManifoldPreintegration
	ManifoldPreintegration (const std::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())

void	resetIntegration () override

NavState	deltaXij () const override

Rot3	deltaRij () const override

Vector3	deltaPij () const override

Vector3	deltaVij () const override

Matrix3	delRdelBiasOmega () const

Matrix3	delPdelBiasAcc () const

Matrix3	delPdelBiasOmega () const

Matrix3	delVdelBiasAcc () const

Matrix3	delVdelBiasOmega () const

bool	equals (const ManifoldPreintegration &other, double tol) const

void	update (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt, Matrix9 A, Matrix93 B, Matrix93 *C) override

Vector9	biasCorrectedDelta (const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H={}) const override

virtual std::shared_ptr< ManifoldPreintegration >	clone () const

Public Member Functions inherited from gtsam::PreintegrationBase
	PreintegrationBase (const std::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())

void	resetIntegrationAndSetBias (const Bias &biasHat)

bool	matchesParamsWith (const PreintegrationBase &other) const
	check parameters equality: checks whether shared pointer points to same Params object. More...

const std::shared_ptr< Params > &	params () const
	shared pointer to params More...

Params &	p () const
	const reference to params More...

const imuBias::ConstantBias &	biasHat () const

double	deltaTij () const

Vector6	biasHatVector () const

std::pair< Vector3, Vector3 >	correctMeasurementsBySensorPose (const Vector3 &unbiasedAcc, const Vector3 &unbiasedOmega, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedAcc={}, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedOmega={}, OptionalJacobian< 3, 3 > correctedOmega_H_unbiasedOmega={}) const

NavState	predict (const NavState &state_i, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 9 > H1={}, OptionalJacobian< 9, 6 > H2={}) const
	Predict state at time j. More...

Vector9	computeError (const NavState &state_i, const NavState &state_j, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 9 > H1, OptionalJacobian< 9, 9 > H2, OptionalJacobian< 9, 6 > H3) const
	Calculate error given navStates. More...

Vector9	computeErrorAndJacobians (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H1={}, OptionalJacobian< 9, 3 > H2={}, OptionalJacobian< 9, 6 > H3={}, OptionalJacobian< 9, 3 > H4={}, OptionalJacobian< 9, 6 > H5={}) const

Protected Attributes
Matrix9	preintMeasCov_
	(first-order propagation from measurementCovariance). More...

Protected Attributes inherited from gtsam::ManifoldPreintegration
Matrix3	delPdelBiasAcc_
	Jacobian of preintegrated position w.r.t. acceleration bias. More...

Matrix3	delPdelBiasOmega_
	Jacobian of preintegrated position w.r.t. angular rate bias. More...

Matrix3	delRdelBiasOmega_
	Jacobian of preintegrated rotation w.r.t. angular rate bias. More...

NavState	deltaXij_

Matrix3	delVdelBiasAcc_
	Jacobian of preintegrated velocity w.r.t. acceleration bias. More...

Matrix3	delVdelBiasOmega_
	Jacobian of preintegrated velocity w.r.t. angular rate bias. More...

Protected Attributes inherited from gtsam::PreintegrationBase
Bias	biasHat_
	Acceleration and gyro bias used for preintegration. More...

double	deltaTij_
	Time interval from i to j. More...

std::shared_ptr< Params >	p_

Friends
class	ImuFactor

class	ImuFactor2

Additional Inherited Members
Public Types inherited from gtsam::PreintegrationBase
typedef imuBias::ConstantBias	Bias

typedef PreintegrationParams	Params

Protected Member Functions inherited from gtsam::ManifoldPreintegration
	ManifoldPreintegration ()
	Default constructor for serialization. More...

Protected Member Functions inherited from gtsam::PreintegrationBase
	PreintegrationBase ()
	Default constructor for serialization. More...

virtual	~PreintegrationBase ()
	Virtual destructor for serialization. More...

Detailed Description

PreintegratedImuMeasurements accumulates (integrates) the IMU measurements (rotation rates and accelerations) and the corresponding covariance matrix. The measurements are then used to build the Preintegrated IMU factor. Integration is done incrementally (ideally, one integrates the measurement as soon as it is received from the IMU) so as to avoid costly integration at time of factor construction.

Definition at line 72 of file ImuFactor.h.

Constructor & Destructor Documentation

◆ PreintegratedImuMeasurements() [1/3]

gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements ( )

inline

Default constructor for serialization and wrappers.

Definition at line 85 of file ImuFactor.h.

◆ PreintegratedImuMeasurements() [2/3]

gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements	(	const std::shared_ptr< PreintegrationParams > &	p,
		const imuBias::ConstantBias &	biasHat = `imuBias::ConstantBias()`
	)

inline

Constructor, initializes the class with no measurements

Parameters

p	Parameters, typically fixed in a single application
biasHat	Current estimate of acceleration and rotation rate biases

Definition at line 94 of file ImuFactor.h.

◆ PreintegratedImuMeasurements() [3/3]

gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements	(	const PreintegrationType &	base,
		const Matrix9 &	preintMeasCov
	)

inline

Construct preintegrated directly from members: base class and preintMeasCov

Parameters

base	PreintegrationType instance
preintMeasCov	Covariance matrix used in noise model.

Definition at line 105 of file ImuFactor.h.

◆ ~PreintegratedImuMeasurements()

gtsam::PreintegratedImuMeasurements::~PreintegratedImuMeasurements ( )

inlineoverride

Virtual destructor.

Definition at line 111 of file ImuFactor.h.

Member Function Documentation

◆ equals()

bool gtsam::PreintegratedImuMeasurements::equals	(	const PreintegratedImuMeasurements &	expected,
		double	tol = `1e-9`
	)		const

equals

Definition at line 40 of file ImuFactor.cpp.

◆ integrateMeasurement()

void gtsam::PreintegratedImuMeasurements::integrateMeasurement	(	const Vector3 &	measuredAcc,
		const Vector3 &	measuredOmega,
		const double	dt
	)

overridevirtual

Add a single IMU measurement to the preintegration. Both accelerometer and gyroscope measurements are taken to be in the sensor frame and conversion to the body frame is handled by body_P_sensor in PreintegrationParams.

Parameters

measuredAcc	Measured acceleration (as given by the sensor)
measuredOmega	Measured angular velocity (as given by the sensor)
dt	Time interval between this and the last IMU measurement

Reimplemented from gtsam::PreintegrationBase.

Definition at line 53 of file ImuFactor.cpp.

◆ integrateMeasurements()

void gtsam::PreintegratedImuMeasurements::integrateMeasurements	(	const Matrix &	measuredAccs,
		const Matrix &	measuredOmegas,
		const Matrix &	dts
	)

Add multiple measurements, in matrix columns.

Definition at line 87 of file ImuFactor.cpp.

◆ preintMeasCov()

Matrix gtsam::PreintegratedImuMeasurements::preintMeasCov ( ) const

inline

Return pre-integrated measurement covariance.

Definition at line 141 of file ImuFactor.h.

◆ print()

void gtsam::PreintegratedImuMeasurements::print ( const std::string & s = "Preintegrated Measurements:" ) const

overridevirtual

print

Reimplemented from gtsam::PreintegrationBase.

Definition at line 34 of file ImuFactor.cpp.

◆ resetIntegration()

void gtsam::PreintegratedImuMeasurements::resetIntegration ( )

overridevirtual

Re-initialize PreintegratedIMUMeasurements.

Implements gtsam::PreintegrationBase.

Definition at line 47 of file ImuFactor.cpp.

Friends And Related Function Documentation

◆ ImuFactor

friend class ImuFactor

friend

Definition at line 74 of file ImuFactor.h.

◆ ImuFactor2

friend class ImuFactor2

friend

Definition at line 75 of file ImuFactor.h.

Member Data Documentation

◆ preintMeasCov_

Matrix9 gtsam::PreintegratedImuMeasurements::preintMeasCov_

protected

(first-order propagation from measurementCovariance).

COVARIANCE OF: [PreintROTATION PreintPOSITION PreintVELOCITY]

Definition at line 79 of file ImuFactor.h.

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

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PreintegratedImuMeasurements() [1/3]

◆ PreintegratedImuMeasurements() [2/3]

◆ PreintegratedImuMeasurements() [3/3]

◆ ~PreintegratedImuMeasurements()

Member Function Documentation

◆ equals()

◆ integrateMeasurement()

◆ integrateMeasurements()

◆ preintMeasCov()

◆ print()

◆ resetIntegration()

Friends And Related Function Documentation

◆ ImuFactor

◆ ImuFactor2

Member Data Documentation

◆ preintMeasCov_