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70 const std::shared_ptr<Params>&
p,
74 const Matrix3& delRdelBiasOmega,
75 const Matrix3& preint_meas_cov) :
78 preintMeasCov_(preint_meas_cov) {}
80 Params&
p()
const {
return *std::static_pointer_cast<Params>(p_);}
85 void print(
const std::string&
s =
"Preintegrated Measurements: ")
const;
91 void resetIntegration();
110 static Vector DeltaAngles(
const Vector& msr_gyro_t,
const double msr_dt,
115 const Matrix3& measuredOmegaCovariance)
117 p_->gyroscopeCovariance = measuredOmegaCovariance;
123 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
125 friend class boost::serialization::access;
126 template<
class ARCHIVE>
127 void serialize(ARCHIVE & ar,
const unsigned int ) {
129 ar & BOOST_SERIALIZATION_NVP(p_);
130 ar & BOOST_SERIALIZATION_NVP(biasHat_);
148 using Base::evaluateError;
151 #if !defined(_MSC_VER) && __GNUC__ == 4 && __GNUC_MINOR__ > 5
152 typedef typename std::shared_ptr<AHRSFactor> shared_ptr;
206 const PreintegratedAhrsMeasurements& pim,
const Vector3& omegaCoriolis,
211 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
213 friend class boost::serialization::access;
214 template<
class ARCHIVE>
215 void serialize(ARCHIVE & ar,
const unsigned int ) {
218 & boost::serialization::make_nvp(
"NoiseModelFactor3",
219 boost::serialization::base_object<Base>(*
this));
220 ar & BOOST_SERIALIZATION_NVP(_PIM_);
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PreintegratedAhrsMeasurements(const std::shared_ptr< Params > &p, const Vector3 &bias_hat, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega, const Matrix3 &preint_meas_cov)
std::shared_ptr< This > shared_ptr
Array< double, 1, 3 > e(1./3., 0.5, 2.)
const PreintegratedAhrsMeasurements & preintegratedMeasurements() const
Access the preintegrated measurements.
const Vector3 & biasHat() const
const Vector3 bias(1, 2, 3)
static Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0))
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
static const double deltaT
Vector3 biasHat_
Angular rate bias values used during preintegration.
void print(const Matrix &A, const string &s, ostream &stream)
const Vector3 measuredOmega
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
gtsam::enable_if_t< needs_eigen_aligned_allocator< T >::value, std::shared_ptr< T > > make_shared(Args &&... args)
Matrix3 preintMeasCov_
Covariance matrix of the preintegrated measurements (first-order propagation from measurementCovarian...
PreintegratedAhrsMeasurements _PIM_
PreintegratedAhrsMeasurements(const std::shared_ptr< Params > &p, const Vector3 &biasHat)
NoiseModelFactorN< Rot3, Rot3, Vector3 > Base
Non-linear factor base classes.
const Matrix3 & preintMeasCov() const
PreintegratedAhrsMeasurements()
Default constructor, only for serialization and wrappers.
std::shared_ptr< AHRSFactor > shared_ptr
Matrix * OptionalMatrixType
PreintegratedAhrsMeasurements(const Vector3 &biasHat, const Matrix3 &measuredOmegaCovariance)
std::uint64_t Key
Integer nonlinear key type.
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:01:48