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12 #include <gtsam_unstable/dllexport.h>
34 bRn_(initial_bRn), x_g_(initial_x_g), x_a_(initial_x_a) {
60 const std::list<Vector>&
F,
const double g_e = 0,
bool flat=
false);
64 const Matrix&
F,
const double g_e = 0,
bool flat=
false);
82 void print(
const std::string&
s =
"")
const {
85 std::cout <<
s +
".x_g" << x_g_ << std::endl;
86 std::cout <<
s +
".x_a" << x_a_ << std::endl;
void print(const std::string &s="") const
typedef and functions to augment Eigen's VectorXd
Vector3 x_g_
gyroscope bias
static const Eigen::MatrixBase< Vector3 >::ConstantReturnType Z_3x1
void print(const std::string &s="") const
print
Vector3 x_a_
accelerometer bias
Rot3 bRn_
rotation from nav to body
3D rotation represented as a rotation matrix or quaternion
Vector3 b_g(double g_e) const
gravity in the body frame
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Mechanization_bRn2(const Rot3 &initial_bRn=Rot3(), const Vector3 &initial_x_g=Z_3x1, const Vector3 &initial_x_a=Z_3x1)
const Vector3 & x_a() const
const Vector3 & x_g() const
Mechanization_bRn2(const Mechanization_bRn2 &other)
Copy constructor.
Values initialize(const NonlinearFactorGraph &graph, bool useOdometricPath)
gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:12:21