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32 #ifdef GTSAM_TANGENT_PREINTEGRATION
107 preintMeasCov_(preintMeasCov) {
115 void print(
const std::string&
s =
"Preintegrated Measurements:")
const override;
121 void resetIntegration()
override;
143 #ifdef GTSAM_TANGENT_PREINTEGRATION
149 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
150 friend class boost::serialization::access;
152 template<
class ARCHIVE>
153 void serialize(ARCHIVE & ar,
const unsigned int ) {
154 namespace bs = ::boost::serialization;
156 ar & BOOST_SERIALIZATION_NVP(preintMeasCov_);
174 imuBias::ConstantBias> {
186 using Base::evaluateError;
189 #if !defined(_MSC_VER) && __GNUC__ == 4 && __GNUC_MINOR__ > 5
190 typedef typename std::shared_ptr<ImuFactor>
shared_ptr;
239 #ifdef GTSAM_TANGENT_PREINTEGRATION
246 static shared_ptr Merge(
const shared_ptr& f01,
const shared_ptr& f12);
251 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
252 friend class boost::serialization::access;
253 template<
class ARCHIVE>
254 void serialize(ARCHIVE & ar,
const unsigned int ) {
256 ar & boost::serialization::make_nvp(
"NoiseModelFactor5",
257 boost::serialization::base_object<Base>(*
this));
258 ar & BOOST_SERIALIZATION_NVP(_PIM_);
279 using Base::evaluateError;
323 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
325 friend class boost::serialization::access;
326 template<
class ARCHIVE>
327 void serialize(ARCHIVE & ar,
const unsigned int ) {
329 ar & boost::serialization::make_nvp(
"NoiseModelFactor3",
330 boost::serialization::base_object<Base>(*
this));
331 ar & BOOST_SERIALIZATION_NVP(_PIM_);
std::shared_ptr< This > shared_ptr
Annotation indicating that a class derives from another given type.
NoiseModelFactorN< Pose3, Vector3, Pose3, Vector3, imuBias::ConstantBias > Base
Array< double, 1, 3 > e(1./3., 0.5, 2.)
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
std::shared_ptr< ImuFactor > shared_ptr
PreintegratedImuMeasurements _PIM_
Matrix9 preintMeasCov_
(first-order propagation from measurementCovariance).
ofstream os("timeSchurFactors.csv")
void integrateMeasurements(const vector< ImuMeasurement > &measurements, PIM *pim)
std::shared_ptr< Factor > shared_ptr
A shared_ptr to this class.
PreintegratedImuMeasurements(const PreintegrationType &base, const Matrix9 &preintMeasCov)
KeyFormatter DefaultKeyFormatter
Assign default key formatter.
PreintegratedImuMeasurements _PIM_
PreintegratedImuMeasurements()
Default constructor for serialization and wrappers.
void print(const Matrix &A, const string &s, ostream &stream)
std::function< std::string(Key)> KeyFormatter
Typedef for a function to format a key, i.e. to convert it to a string.
Matrix preintMeasCov() const
Return pre-integrated measurement covariance.
static const Vector3 measuredOmega(w, 0, 0)
PreintegratedImuMeasurements(const std::shared_ptr< PreintegrationParams > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())
ManifoldPreintegration PreintegrationType
Non-linear factor base classes.
Matrix * OptionalMatrixType
static const Vector3 measuredAcc
EIGEN_DEVICE_FUNC Derived & setZero(Index size)
~PreintegratedImuMeasurements() override
Virtual destructor.
NoiseModelFactorN< NavState, NavState, imuBias::ConstantBias > Base
const PreintegratedImuMeasurements & preintegratedMeasurements() const
std::uint64_t Key
Integer nonlinear key type.
const PreintegratedImuMeasurements & preintegratedMeasurements() const
gtsam
Author(s):
autogenerated on Tue Jun 25 2024 03:01:01