gtsam::imuBias::ConstantBias Class Reference

#include <ImuBias.h>

Public Member Functions
const Vector3 &	accelerometer () const
Vector3	correctAccelerometer (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
Vector3	correctGyroscope (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
const Vector3 &	gyroscope () const
Vector6	vector () const
Standard Constructors
	ConstantBias ()
	ConstantBias (const Vector3 &biasAcc, const Vector3 &biasGyro)
	ConstantBias (const Vector6 &v)

Static Public Attributes
static const size_t	dimension = 6
	dimension of the variable - used to autodetect sizes More...

Private Attributes
Vector3	biasAcc_
	The units for stddev are σ = m/s² or m √Hz/s² More...
Vector3	biasGyro_
	The units for stddev are σ = rad/s or rad √Hz/s. More...

Testable
void	print (const std::string &s="") const
	print with optional string More...
bool	equals (const ConstantBias &expected, double tol=1e-5) const
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const ConstantBias &bias)
	ostream operator More...

Group
ConstantBias	operator- () const
ConstantBias	operator+ (const Vector6 &v) const
ConstantBias	operator+ (const ConstantBias &b) const
ConstantBias	operator- (const ConstantBias &b) const
static ConstantBias	Identity ()

Detailed Description

Definition at line 32 of file ImuBias.h.

Constructor & Destructor Documentation

ConstantBias() [1/3]

gtsam::imuBias::ConstantBias::ConstantBias ( )

inline

Definition at line 44 of file ImuBias.h.

ConstantBias() [2/3]

gtsam::imuBias::ConstantBias::ConstantBias ( const Vector3 &  biasAcc, const Vector3 &  biasGyro  )

inline

Definition at line 48 of file ImuBias.h.

ConstantBias() [3/3]

gtsam::imuBias::ConstantBias::ConstantBias ( const Vector6 &  v )

inlineexplicit

Definition at line 52 of file ImuBias.h.

Member Function Documentation

accelerometer()

const Vector3& gtsam::imuBias::ConstantBias::accelerometer ( ) const

inline

get accelerometer bias

Definition at line 66 of file ImuBias.h.

correctAccelerometer()

Vector3 gtsam::imuBias::ConstantBias::correctAccelerometer ( const Vector3 &  measurement, OptionalJacobian< 3, 6 >  H1 = {}, OptionalJacobian< 3, 3 >  H2 = {}  ) const

inline

Correct an accelerometer measurement using this bias model, and optionally compute Jacobians

Definition at line 76 of file ImuBias.h.

correctGyroscope()

Vector3 gtsam::imuBias::ConstantBias::correctGyroscope ( const Vector3 &  measurement, OptionalJacobian< 3, 6 >  H1 = {}, OptionalJacobian< 3, 3 >  H2 = {}  ) const

inline

Correct a gyroscope measurement using this bias model, and optionally compute Jacobians

Definition at line 85 of file ImuBias.h.

equals()

bool gtsam::imuBias::ConstantBias::equals ( const ConstantBias &  expected, double  tol = 1e-5  ) const

inline

equality up to tolerance

Definition at line 104 of file ImuBias.h.

gyroscope()

const Vector3& gtsam::imuBias::ConstantBias::gyroscope ( ) const

inline

get gyroscope bias

Definition at line 71 of file ImuBias.h.

Identity()

static ConstantBias gtsam::imuBias::ConstantBias::Identity ( )

inlinestatic

identity for group operation

Definition at line 114 of file ImuBias.h.

operator+() [1/2]

ConstantBias gtsam::imuBias::ConstantBias::operator+ ( const Vector6 &  v ) const

inline

addition of vector on right

Definition at line 124 of file ImuBias.h.

operator+() [2/2]

ConstantBias gtsam::imuBias::ConstantBias::operator+ ( const ConstantBias &  b ) const

inline

addition

Definition at line 129 of file ImuBias.h.

operator-() [1/2]

ConstantBias gtsam::imuBias::ConstantBias::operator- ( void  ) const

inline

inverse

Definition at line 119 of file ImuBias.h.

operator-() [2/2]

ConstantBias gtsam::imuBias::ConstantBias::operator- ( const ConstantBias &  b ) const

inline

subtraction

Definition at line 134 of file ImuBias.h.

print()

void gtsam::imuBias::ConstantBias::print

(

const std::string &

s = ""

)

const

print with optional string

Definition at line 75 of file ImuBias.cpp.

vector()

Vector6 gtsam::imuBias::ConstantBias::vector ( ) const

inline

return the accelerometer and gyro biases in a single vector

Definition at line 59 of file ImuBias.h.

Friends And Related Function Documentation

operator<<

GTSAM_EXPORT friend std::ostream& operator<< ( std::ostream &  os, const ConstantBias &  bias  )

friend

ostream operator

Definition at line 68 of file ImuBias.cpp.

Member Data Documentation

biasAcc_

Vector3 gtsam::imuBias::ConstantBias::biasAcc_

private

The units for stddev are σ = m/s² or m √Hz/s²

Definition at line 34 of file ImuBias.h.

biasGyro_

Vector3 gtsam::imuBias::ConstantBias::biasGyro_

private

The units for stddev are σ = rad/s or rad √Hz/s.

Definition at line 35 of file ImuBias.h.

dimension

const size_t gtsam::imuBias::ConstantBias::dimension = 6

static

dimension of the variable - used to autodetect sizes

Definition at line 39 of file ImuBias.h.

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

• ImuBias.h
• ImuBias.cpp