Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
gtsam::PreintegrationCombinedParams Struct Reference

#include <PreintegrationCombinedParams.h>

Inheritance diagram for gtsam::PreintegrationCombinedParams:
Inheritance graph
[legend]

Public Member Functions

bool equals (const PreintegratedRotationParams &other, double tol) const override
 
const Matrix3 & getBiasAccCovariance () const
 
const Matrix6 & getBiasAccOmegaInit () const
 
const Matrix3 & getBiasOmegaCovariance () const
 
 PreintegrationCombinedParams ()
 
 PreintegrationCombinedParams (const Vector3 &n_gravity_)
 
void print (const std::string &s="") const override
 
void setBiasAccCovariance (const Matrix3 &cov)
 
void setBiasAccOmegaInit (const Matrix6 &cov)
 
void setBiasOmegaCovariance (const Matrix3 &cov)
 
- Public Member Functions inherited from gtsam::PreintegrationParams
bool equals (const PreintegratedRotationParams &other, double tol) const override
 
const Matrix3 & getAccelerometerCovariance () const
 
const Vector3getGravity () const
 
const Matrix3 & getIntegrationCovariance () const
 
bool getUse2ndOrderCoriolis () const
 
 PreintegrationParams ()
 Default constructor for serialization only. More...
 
 PreintegrationParams (const Vector3 &n_gravity_)
 
void print (const std::string &s="") const override
 
void setAccelerometerCovariance (const Matrix3 &cov)
 
void setIntegrationCovariance (const Matrix3 &cov)
 
void setUse2ndOrderCoriolis (bool flag)
 
- Public Member Functions inherited from gtsam::PreintegratedRotationParams
std::optional< Pose3getBodyPSensor () const
 
const Matrix3 & getGyroscopeCovariance () const
 
std::optional< Vector3getOmegaCoriolis () const
 
 PreintegratedRotationParams ()
 
 PreintegratedRotationParams (const Matrix3 &gyroscope_covariance, std::optional< Vector3 > omega_coriolis)
 
void setBodyPSensor (const Pose3 &pose)
 
void setGyroscopeCovariance (const Matrix3 &cov)
 
void setOmegaCoriolis (const Vector3 &omega)
 
virtual ~PreintegratedRotationParams ()
 

Static Public Member Functions

static std::shared_ptr< PreintegrationCombinedParamsMakeSharedD (double g=9.81)
 
static std::shared_ptr< PreintegrationCombinedParamsMakeSharedU (double g=9.81)
 
- Static Public Member Functions inherited from gtsam::PreintegrationParams
static std::shared_ptr< PreintegrationParamsMakeSharedD (double g=9.81)
 
static std::shared_ptr< PreintegrationParamsMakeSharedU (double g=9.81)
 

Public Attributes

Matrix3 biasAccCovariance
 
Matrix6 biasAccOmegaInt
 covariance of bias used as initial estimate. More...
 
Matrix3 biasOmegaCovariance
 
- Public Attributes inherited from gtsam::PreintegrationParams
Matrix3 accelerometerCovariance
 
Matrix3 integrationCovariance
 continuous-time "Covariance" describing integration uncertainty More...
 
Vector3 n_gravity
 Gravity vector in nav frame. More...
 
bool use2ndOrderCoriolis
 Whether to use second order Coriolis integration. More...
 
- Public Attributes inherited from gtsam::PreintegratedRotationParams
std::optional< Pose3body_P_sensor
 The pose of the sensor in the body frame. More...
 
Matrix3 gyroscopeCovariance
 
std::optional< Vector3omegaCoriolis
 Coriolis constant. More...
 

Detailed Description

Parameters for pre-integration using PreintegratedCombinedMeasurements: Usage: Create just a single Params and pass a shared pointer to the constructor

Definition at line 37 of file PreintegrationCombinedParams.h.

Constructor & Destructor Documentation

◆ PreintegrationCombinedParams() [1/2]

gtsam::PreintegrationCombinedParams::PreintegrationCombinedParams ( )
inline

Default constructor makes uninitialized params struct. Used for serialization.

Definition at line 46 of file PreintegrationCombinedParams.h.

◆ PreintegrationCombinedParams() [2/2]

gtsam::PreintegrationCombinedParams::PreintegrationCombinedParams ( const Vector3 n_gravity_)
inline

See two named constructors below for good values of n_gravity in body frame

Definition at line 53 of file PreintegrationCombinedParams.h.

Member Function Documentation

◆ equals()

bool gtsam::PreintegrationCombinedParams::equals ( const PreintegratedRotationParams other,
double  tol 
) const
overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

Definition at line 49 of file CombinedImuFactor.cpp.

◆ getBiasAccCovariance()

const Matrix3& gtsam::PreintegrationCombinedParams::getBiasAccCovariance ( ) const
inline

Definition at line 83 of file PreintegrationCombinedParams.h.

◆ getBiasAccOmegaInit()

const Matrix6& gtsam::PreintegrationCombinedParams::getBiasAccOmegaInit ( ) const
inline

Definition at line 85 of file PreintegrationCombinedParams.h.

◆ getBiasOmegaCovariance()

const Matrix3& gtsam::PreintegrationCombinedParams::getBiasOmegaCovariance ( ) const
inline

Definition at line 84 of file PreintegrationCombinedParams.h.

◆ MakeSharedD()

static std::shared_ptr<PreintegrationCombinedParams> gtsam::PreintegrationCombinedParams::MakeSharedD ( double  g = 9.81)
inlinestatic

Definition at line 61 of file PreintegrationCombinedParams.h.

◆ MakeSharedU()

static std::shared_ptr<PreintegrationCombinedParams> gtsam::PreintegrationCombinedParams::MakeSharedU ( double  g = 9.81)
inlinestatic

Definition at line 69 of file PreintegrationCombinedParams.h.

◆ print()

void gtsam::PreintegrationCombinedParams::print ( const std::string &  s = "") const
overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

Definition at line 38 of file CombinedImuFactor.cpp.

◆ setBiasAccCovariance()

void gtsam::PreintegrationCombinedParams::setBiasAccCovariance ( const Matrix3 &  cov)
inline

Definition at line 79 of file PreintegrationCombinedParams.h.

◆ setBiasAccOmegaInit()

void gtsam::PreintegrationCombinedParams::setBiasAccOmegaInit ( const Matrix6 &  cov)
inline

Definition at line 81 of file PreintegrationCombinedParams.h.

◆ setBiasOmegaCovariance()

void gtsam::PreintegrationCombinedParams::setBiasOmegaCovariance ( const Matrix3 &  cov)
inline

Definition at line 80 of file PreintegrationCombinedParams.h.

Member Data Documentation

◆ biasAccCovariance

Matrix3 gtsam::PreintegrationCombinedParams::biasAccCovariance

continuous-time "Covariance" describing accelerometer bias random walk

Definition at line 38 of file PreintegrationCombinedParams.h.

◆ biasAccOmegaInt

Matrix6 gtsam::PreintegrationCombinedParams::biasAccOmegaInt

covariance of bias used as initial estimate.

Definition at line 42 of file PreintegrationCombinedParams.h.

◆ biasOmegaCovariance

Matrix3 gtsam::PreintegrationCombinedParams::biasOmegaCovariance

continuous-time "Covariance" describing gyroscope bias random walk

Definition at line 40 of file PreintegrationCombinedParams.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:07