#include <PreintegratedRotation.h>

Inheritance diagram for gtsam::PreintegratedRotation:

Public Types
typedef PreintegratedRotationParams	Params

Public Member Functions
Constructors
	PreintegratedRotation (const std::shared_ptr< Params > &p)
	Default constructor, resets integration to zero. More...

	PreintegratedRotation (const std::shared_ptr< Params > &p, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega)
	Explicit initialization of all class members. More...

Basic utilities
void	resetIntegration ()
	Re-initialize PreintegratedMeasurements. More...

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

Access instance variables
const std::shared_ptr< Params > &	params () const

const double &	deltaTij () const

const Rot3 &	deltaRij () const

const Matrix3 &	delRdelBiasOmega () const

Testable
void	print (const std::string &s) const

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

Main functionality
Rot3	incrementalRotation (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > D_incrR_integratedOmega) const

void	integrateMeasurement (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > D_incrR_integratedOmega={}, OptionalJacobian< 3, 3 > F={})

Rot3	biascorrectedDeltaRij (const Vector3 &biasOmegaIncr, OptionalJacobian< 3, 3 > H={}) const
	Return a bias corrected version of the integrated rotation, with optional Jacobian. More...

Vector3	integrateCoriolis (const Rot3 &rot_i) const
	Integrate coriolis correction in body frame rot_i. More...

Protected Member Functions
	PreintegratedRotation ()
	Default constructor for serialization. More...

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

Rot3	deltaRij_
	Preintegrated relative orientation (in frame i) More...

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

std::shared_ptr< Params >	p_
	Parameters. More...

Detailed Description

PreintegratedRotation is the base class for all PreintegratedMeasurements classes (in AHRSFactor, ImuFactor, and CombinedImuFactor). It includes the definitions of the preintegrated rotation.

Definition at line 93 of file PreintegratedRotation.h.

Member Typedef Documentation

◆ Params

typedef PreintegratedRotationParams gtsam::PreintegratedRotation::Params

Definition at line 95 of file PreintegratedRotation.h.

Constructor & Destructor Documentation

◆ PreintegratedRotation() [1/3]

gtsam::PreintegratedRotation::PreintegratedRotation ( )

inlineprotected

Default constructor for serialization.

Definition at line 106 of file PreintegratedRotation.h.

◆ PreintegratedRotation() [2/3]

gtsam::PreintegratedRotation::PreintegratedRotation ( const std::shared_ptr< Params > & p )

inlineexplicit

Default constructor, resets integration to zero.

Definition at line 113 of file PreintegratedRotation.h.

◆ PreintegratedRotation() [3/3]

gtsam::PreintegratedRotation::PreintegratedRotation	(	const std::shared_ptr< Params > &	p,
		double	deltaTij,
		const Rot3 &	deltaRij,
		const Matrix3 &	delRdelBiasOmega
	)

inline

Explicit initialization of all class members.

Definition at line 118 of file PreintegratedRotation.h.

Member Function Documentation

◆ biascorrectedDeltaRij()

Rot3 gtsam::PreintegratedRotation::biascorrectedDeltaRij	(	const Vector3 &	biasOmegaIncr,
		OptionalJacobian< 3, 3 >	H = `{}`
	)		const

Return a bias corrected version of the integrated rotation, with optional Jacobian.

Definition at line 115 of file PreintegratedRotation.cpp.

◆ delRdelBiasOmega()

const Matrix3& gtsam::PreintegratedRotation::delRdelBiasOmega ( ) const

inline

Definition at line 148 of file PreintegratedRotation.h.

◆ deltaRij()

const Rot3& gtsam::PreintegratedRotation::deltaRij ( ) const

inline

Definition at line 145 of file PreintegratedRotation.h.

◆ deltaTij()

const double& gtsam::PreintegratedRotation::deltaTij ( ) const

inline

Definition at line 142 of file PreintegratedRotation.h.

◆ equals()

bool gtsam::PreintegratedRotation::equals	(	const PreintegratedRotation &	other,
		double	tol
	)		const

Definition at line 63 of file PreintegratedRotation.cpp.

◆ incrementalRotation()

Rot3 gtsam::PreintegratedRotation::incrementalRotation	(	const Vector3 &	measuredOmega,
		const Vector3 &	biasHat,
		double	deltaT,
		OptionalJacobian< 3, 3 >	D_incrR_integratedOmega
	)		const

Take the gyro measurement, correct it using the (constant) bias estimate and possibly the sensor pose, and then integrate it forward in time to yield an incremental rotation.

Definition at line 71 of file PreintegratedRotation.cpp.

◆ integrateCoriolis()

Vector3 gtsam::PreintegratedRotation::integrateCoriolis ( const Rot3 & rot_i ) const

Integrate coriolis correction in body frame rot_i.

Definition at line 124 of file PreintegratedRotation.cpp.

◆ integrateMeasurement()

void gtsam::PreintegratedRotation::integrateMeasurement	(	const Vector3 &	measuredOmega,
		const Vector3 &	biasHat,
		double	deltaT,
		OptionalJacobian< 3, 3 >	D_incrR_integratedOmega = `{}`,
		OptionalJacobian< 3, 3 >	F = `{}`
	)

Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_.

Definition at line 92 of file PreintegratedRotation.cpp.

◆ matchesParamsWith()

bool gtsam::PreintegratedRotation::matchesParamsWith ( const PreintegratedRotation & other ) const

inline

check parameters equality: checks whether shared pointer points to same Params object.

Definition at line 132 of file PreintegratedRotation.h.

◆ params()

const std::shared_ptr<Params>& gtsam::PreintegratedRotation::params ( ) const

inline

Definition at line 139 of file PreintegratedRotation.h.

◆ print()

void gtsam::PreintegratedRotation::print ( const std::string & s ) const

Definition at line 57 of file PreintegratedRotation.cpp.

◆ resetIntegration()

void gtsam::PreintegratedRotation::resetIntegration ( )

Re-initialize PreintegratedMeasurements.

Definition at line 51 of file PreintegratedRotation.cpp.

Member Data Documentation

◆ delRdelBiasOmega_

Matrix3 gtsam::PreintegratedRotation::delRdelBiasOmega_

protected

Jacobian of preintegrated rotation w.r.t. angular rate bias.

Definition at line 103 of file PreintegratedRotation.h.

◆ deltaRij_

Rot3 gtsam::PreintegratedRotation::deltaRij_

protected

Preintegrated relative orientation (in frame i)

Definition at line 102 of file PreintegratedRotation.h.

◆ deltaTij_

double gtsam::PreintegratedRotation::deltaTij_

protected

Time interval from i to j.

Definition at line 101 of file PreintegratedRotation.h.

◆ p_

std::shared_ptr<Params> gtsam::PreintegratedRotation::p_

protected

Parameters.

Definition at line 99 of file PreintegratedRotation.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Params

Constructor & Destructor Documentation

◆ PreintegratedRotation() [1/3]

◆ PreintegratedRotation() [2/3]

◆ PreintegratedRotation() [3/3]

Member Function Documentation

◆ biascorrectedDeltaRij()

◆ delRdelBiasOmega()

◆ deltaRij()

◆ deltaTij()

◆ equals()

◆ incrementalRotation()

◆ integrateCoriolis()

◆ integrateMeasurement()

◆ matchesParamsWith()

◆ params()

◆ print()

◆ resetIntegration()

Member Data Documentation

◆ delRdelBiasOmega_

◆ deltaRij_

◆ deltaTij_

◆ p_