Public Types | Public Member Functions | Private Attributes | List of all members
gtsam::ScenarioRunner Class Reference

#include <ScenarioRunner.h>

Inheritance diagram for gtsam::ScenarioRunner:
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Public Types

typedef imuBias::ConstantBias Bias
 
typedef std::shared_ptr< PreintegrationParamsSharedParams
 

Public Member Functions

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 Vector3gravity_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 Scenarioscenario () const
 
 ScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias())
 

Private Attributes

Sampler accSampler_
 
const Bias estimatedBias_
 
Sampler gyroSampler_
 
const double imuSampleTime_
 
const SharedParams p_
 
const Scenarioscenario_
 
const double sqrt_dt_
 

Detailed Description

Definition at line 40 of file ScenarioRunner.h.

Member Typedef Documentation

◆ Bias

Definition at line 42 of file ScenarioRunner.h.

◆ SharedParams

Definition at line 43 of file ScenarioRunner.h.

Constructor & Destructor Documentation

◆ ScenarioRunner()

gtsam::ScenarioRunner::ScenarioRunner ( const Scenario scenario,
const SharedParams p,
double  imuSampleTime = 1.0 / 100.0,
const Bias bias = Bias() 
)
inline

Definition at line 55 of file ScenarioRunner.h.

Member Function Documentation

◆ actualAngularVelocity()

Vector3 gtsam::ScenarioRunner::actualAngularVelocity ( double  t) const
inline

Definition at line 73 of file ScenarioRunner.h.

◆ actualSpecificForce()

Vector3 gtsam::ScenarioRunner::actualSpecificForce ( double  t) const
inline

Definition at line 76 of file ScenarioRunner.h.

◆ estimateCovariance()

Matrix9 gtsam::ScenarioRunner::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 55 of file ScenarioRunner.cpp.

◆ estimateNoiseCovariance()

Matrix6 gtsam::ScenarioRunner::estimateNoiseCovariance ( size_t  N = 1000) const

Estimate covariance of sampled noise for sanity-check.

Definition at line 85 of file ScenarioRunner.cpp.

◆ gravity_n()

const Vector3& gtsam::ScenarioRunner::gravity_n ( ) const
inline

Definition at line 68 of file ScenarioRunner.h.

◆ imuSampleTime()

const double& gtsam::ScenarioRunner::imuSampleTime ( ) const
inline

Definition at line 91 of file ScenarioRunner.h.

◆ integrate()

PreintegratedImuMeasurements gtsam::ScenarioRunner::integrate ( double  T,
const Bias estimatedBias = Bias(),
bool  corrupted = false 
) const

Integrate measurements for T seconds into a PIM.

Definition at line 30 of file ScenarioRunner.cpp.

◆ measuredAngularVelocity()

Vector3 gtsam::ScenarioRunner::measuredAngularVelocity ( double  t) const
inline

Definition at line 82 of file ScenarioRunner.h.

◆ measuredSpecificForce()

Vector3 gtsam::ScenarioRunner::measuredSpecificForce ( double  t) const
inline

Definition at line 86 of file ScenarioRunner.h.

◆ predict()

NavState gtsam::ScenarioRunner::predict ( const PreintegratedImuMeasurements pim,
const Bias estimatedBias = Bias() 
) const

Predict predict given a PIM.

Definition at line 49 of file ScenarioRunner.cpp.

◆ scenario()

const Scenario& gtsam::ScenarioRunner::scenario ( ) const
inline

Definition at line 70 of file ScenarioRunner.h.

Member Data Documentation

◆ accSampler_

Sampler gtsam::ScenarioRunner::accSampler_
private

Definition at line 52 of file ScenarioRunner.h.

◆ estimatedBias_

const Bias gtsam::ScenarioRunner::estimatedBias_
private

Definition at line 49 of file ScenarioRunner.h.

◆ gyroSampler_

Sampler gtsam::ScenarioRunner::gyroSampler_
private

Definition at line 52 of file ScenarioRunner.h.

◆ imuSampleTime_

const double gtsam::ScenarioRunner::imuSampleTime_
private

Definition at line 48 of file ScenarioRunner.h.

◆ p_

const SharedParams gtsam::ScenarioRunner::p_
private

Definition at line 47 of file ScenarioRunner.h.

◆ scenario_

const Scenario& gtsam::ScenarioRunner::scenario_
private

Definition at line 46 of file ScenarioRunner.h.

◆ sqrt_dt_

const double gtsam::ScenarioRunner::sqrt_dt_
private

Definition at line 48 of file ScenarioRunner.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:08