Functions | Variables
timeInertialNavFactor_GlobalVelocity.cpp File Reference
#include <iostream>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/inference/Key.h>
#include <gtsam/linear/GaussianFactorGraph.h>
Include dependency graph for timeInertialNavFactor_GlobalVelocity.cpp:

Go to the source code of this file.

Functions

gtsam::Vector ECEF_omega_earth (Vector3(0.0, 0.0, 7.292115e-5))
 
int main ()
 
gtsam::Pose3 predictionErrorPose (const Pose3 &p1, const Vector3 &v1, const imuBias::ConstantBias &b1, const Pose3 &p2, const Vector3 &v2, const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &factor)
 
gtsam::Vector3 predictionErrorVel (const Pose3 &p1, const Vector3 &v1, const imuBias::ConstantBias &b1, const Pose3 &p2, const Vector3 &v2, const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &factor)
 
gtsam::Vector world_omega_earth (world_R_ECEF.matrix() *ECEF_omega_earth)
 

Variables

gtsam::Rot3 world_R_ECEF (0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471)
 

Function Documentation

◆ ECEF_omega_earth()

gtsam::Vector ECEF_omega_earth ( Vector3(0.0, 0.0, 7.292115e-5)  )

◆ main()

int main ( void  )

Definition at line 48 of file timeInertialNavFactor_GlobalVelocity.cpp.

◆ predictionErrorPose()

gtsam::Pose3 predictionErrorPose ( const Pose3 p1,
const Vector3 v1,
const imuBias::ConstantBias b1,
const Pose3 p2,
const Vector3 v2,
const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &  factor 
)

Definition at line 38 of file timeInertialNavFactor_GlobalVelocity.cpp.

◆ predictionErrorVel()

gtsam::Vector3 predictionErrorVel ( const Pose3 p1,
const Vector3 v1,
const imuBias::ConstantBias b1,
const Pose3 p2,
const Vector3 v2,
const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &  factor 
)

Definition at line 42 of file timeInertialNavFactor_GlobalVelocity.cpp.

◆ world_omega_earth()

gtsam::Vector world_omega_earth ( world_R_ECEF.matrix() *  ECEF_omega_earth)

Variable Documentation

◆ world_R_ECEF

gtsam::Rot3 world_R_ECEF(0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471)


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autogenerated on Tue Jul 4 2023 02:40:57