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23 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
24 #include <boost/serialization/nvp.hpp>
39 static const size_t dimension = 6;
45 biasAcc_(0.0, 0.0, 0.0), biasGyro_(0.0, 0.0, 0.0) {
49 biasAcc_(biasAcc), biasGyro_(biasGyro) {
53 biasAcc_(
v.
head<3>()), biasGyro_(
v.
tail<3>()) {
61 v << biasAcc_, biasGyro_;
79 if (H1) (*H1) << -I_3x3, Z_3x3;
80 if (H2) (*H2) << I_3x3;
88 if (H1) (*H1) << Z_3x3, -I_3x3;
89 if (H2) (*H2) << I_3x3;
97 GTSAM_EXPORT
friend std::ostream&
operator<<(std::ostream&
os,
98 const ConstantBias&
bias);
101 void print(
const std::string&
s =
"")
const;
125 return ConstantBias(biasAcc_ +
v.head<3>(), biasGyro_ +
v.tail<3>());
130 return ConstantBias(biasAcc_ +
b.biasAcc_, biasGyro_ +
b.biasGyro_);
135 return ConstantBias(biasAcc_ -
b.biasAcc_, biasGyro_ -
b.biasGyro_);
145 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
147 friend class boost::serialization::access;
148 template<
class ARCHIVE>
149 void serialize(ARCHIVE & ar,
const unsigned int ) {
150 ar & BOOST_SERIALIZATION_NVP(biasAcc_);
151 ar & BOOST_SERIALIZATION_NVP(biasGyro_);
165 imuBias::ConstantBias> {
const Vector3 & gyroscope() const
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE FixedSegmentReturnType< internal::get_fixed_value< NType >::value >::Type tail(NType n)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
ConstantBias operator-() const
ConstantBias operator+(const Vector6 &v) const
VectorSpace provides both Testable and VectorSpaceTraits.
const Vector3 bias(1, 2, 3)
bool equals(const ConstantBias &expected, double tol=1e-5) const
bool equal_with_abs_tol(const Eigen::DenseBase< MATRIX > &A, const Eigen::DenseBase< MATRIX > &B, double tol=1e-9)
Vector3 correctAccelerometer(const Vector3 &measurement, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
ofstream os("timeSchurFactors.csv")
std::ostream & operator<<(std::ostream &os, const ConstantBias &bias)
ostream operator
void print(const Matrix &A, const string &s, ostream &stream)
Vector3 biasAcc_
The units for stddev are σ = m/s² or m √Hz/s²
const Vector3 & accelerometer() const
ConstantBias operator+(const ConstantBias &b) const
Special class for optional Jacobian arguments.
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE FixedSegmentReturnType< internal::get_fixed_value< NType >::value >::Type head(NType n)
ConstantBias(const Vector3 &biasAcc, const Vector3 &biasGyro)
Array< int, Dynamic, 1 > v
static ConstantBias Identity()
Vector3 correctGyroscope(const Vector3 &measurement, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
Vector3 biasGyro_
The units for stddev are σ = rad/s or rad √Hz/s.
ConstantBias(const Vector6 &v)
ConstantBias operator-(const ConstantBias &b) const
#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW
static Point2 measurement(323.0, 240.0)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:44