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70 void resetIntegration()
override;
109 virtual std::shared_ptr<ManifoldPreintegration>
clone()
const {
110 return std::shared_ptr<ManifoldPreintegration>();
116 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
118 friend class boost::serialization::access;
119 template<
class ARCHIVE>
120 void serialize(ARCHIVE & ar,
const unsigned int ) {
121 namespace bs = ::boost::serialization;
123 ar & BOOST_SERIALIZATION_NVP(deltaXij_);
124 ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_);
125 ar & BOOST_SERIALIZATION_NVP(delPdelBiasAcc_);
126 ar & BOOST_SERIALIZATION_NVP(delPdelBiasOmega_);
127 ar & BOOST_SERIALIZATION_NVP(delVdelBiasAcc_);
128 ar & BOOST_SERIALIZATION_NVP(delVdelBiasOmega_);
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Matrix3 delRdelBiasOmega_
Jacobian of preintegrated rotation w.r.t. angular rate bias.
Matrix3 delVdelBiasAcc() const
Rot3 deltaRij() const override
ManifoldPreintegration()
Default constructor for serialization.
Matrix3 delPdelBiasOmega_
Jacobian of preintegrated position w.r.t. angular rate bias.
const Vector3 measuredOmega
const Rot3 & attitude(OptionalJacobian< 3, 9 > H={}) const
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Navigation state composing of attitude, position, and velocity.
Matrix3 delPdelBiasOmega() const
Vector3 deltaVij() const override
Matrix3 delRdelBiasOmega() const
Matrix3 delVdelBiasOmega() const
Matrix3 delPdelBiasAcc() const
Matrix< Scalar, Dynamic, Dynamic > C
virtual std::shared_ptr< ManifoldPreintegration > clone() const
const Point3 & position(OptionalJacobian< 3, 9 > H={}) const
Matrix3 delPdelBiasAcc_
Jacobian of preintegrated position w.r.t. acceleration bias.
Matrix3 delVdelBiasOmega_
Jacobian of preintegrated velocity w.r.t. angular rate bias.
const Velocity3 & velocity(OptionalJacobian< 3, 9 > H={}) const
static const Vector3 measuredAcc
Vector3 deltaPij() const override
Matrix3 delVdelBiasAcc_
Jacobian of preintegrated velocity w.r.t. acceleration bias.
NavState deltaXij() const override
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autogenerated on Sun Dec 22 2024 04:11:57