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56 t_(0, 0, 0), v_(
Vector3::Zero()) {
68 R_(
R), t_(tv.
head<3>()), v_(tv.
tail<3>()) {
127 void print(
const std::string&
s =
"")
const;
130 bool equals(
const NavState&
other,
double tol = 1
e-8)
const;
139 return v.segment<3>(0);
142 return v.segment<3>(3);
145 return v.segment<3>(6);
148 return v.segment<3>(0);
151 return v.segment<3>(3);
154 return v.segment<3>(6);
163 Vector9 localCoordinates(
const NavState&
g,
164 OptionalJacobian<9, 9> H1 = {}, OptionalJacobian<9, 9> H2 =
174 const double dt, OptionalJacobian<9, 9>
F, OptionalJacobian<9, 3> G1,
175 OptionalJacobian<9, 3> G2)
const;
179 OptionalJacobian<9, 9>
H = {})
const;
184 const std::optional<Vector3>& omegaCoriolis,
bool use2ndOrderCoriolis =
185 false, OptionalJacobian<9, 9> H1 = {},
186 OptionalJacobian<9, 9> H2 = {})
const;
193 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
194 friend class boost::serialization::access;
195 template<
class ARCHIVE>
196 void serialize(ARCHIVE & ar,
const unsigned int ) {
197 ar & BOOST_SERIALIZATION_NVP(R_);
198 ar & BOOST_SERIALIZATION_NVP(t_);
199 ar & BOOST_SERIALIZATION_NVP(v_);
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static Eigen::Block< Vector9, 3, 1 > dR(Vector9 &v)
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE FixedSegmentReturnType< internal::get_fixed_value< NType >::value >::Type tail(NType n)
static Eigen::Block< const Vector9, 3, 1 > dV(const Vector9 &v)
Point3_ translation(const Pose3_ &pose)
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
Expression of a fixed-size or dynamic-size block.
typedef and functions to augment Eigen's VectorXd
Array< double, 1, 3 > e(1./3., 0.5, 2.)
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
Point3 t_
position n_t, in nav frame
Vector3 Velocity3
Velocity is currently typedef'd to Vector3.
NavState()
Default constructor.
static Eigen::Block< Vector9, 3, 1 > dP(Vector9 &v)
Point3_ position(const NavState_ &X)
std::pair< Point3, Velocity3 > PositionAndVelocity
NavState(const Rot3 &R, const Point3 &t, const Velocity3 &v)
Construct from attitude, position, velocity.
static const Velocity3 vel(0.4, 0.5, 0.6)
def retract(a, np.ndarray xi)
Both ManifoldTraits and Testable.
const Vector3 & v() const
Return velocity as Vector3. Computation-free.
ofstream os("timeSchurFactors.csv")
NavState(const Matrix3 &R, const Vector6 &tv)
Construct from SO(3) and R^6.
Rot3_ attitude(const NavState_ &X)
void print(const Matrix &A, const string &s, ostream &stream)
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Rot3 R_
Rotation nRb, rotates points/velocities in body to points/velocities in nav.
static Eigen::Block< const Vector9, 3, 1 > dP(const Vector9 &v)
gtsam::Quaternion toQuaternion() const
Velocity3 v_
velocity n_v in nav frame
Vector3 t() const
Return position as Vector3.
Vector3 bodyVelocity(const Pose3 &w_t_b, const Vector3 &vec_w, OptionalJacobian< 3, 6 > Hpose={}, OptionalJacobian< 3, 3 > Hvel={})
Matrix3 R() const
Return rotation matrix. Induces computation in quaternion mode.
Base class and basic functions for Manifold types.
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE FixedSegmentReturnType< internal::get_fixed_value< NType >::value >::Type head(NType n)
void g(const string &key, int i)
static Eigen::Block< Vector9, 3, 1 > dV(Vector9 &v)
Map< Matrix< T, Dynamic, Dynamic, ColMajor >, 0, OuterStride<> > matrix(T *data, int rows, int cols, int stride)
The quaternion class used to represent 3D orientations and rotations.
Rot3_ rotation(const Pose3_ &pose)
std::function< Vector9(const NavState &, const bool &)> coriolis
Array< int, Dynamic, 1 > v
Quaternion quaternion() const
Return quaternion. Induces computation in matrix mode.
static Eigen::Block< const Vector9, 3, 1 > dR(const Vector9 &v)
NavState(const Pose3 &pose, const Velocity3 &v)
Construct from pose and velocity.
Rot2 R(Rot2::fromAngle(0.1))
Velocity3_ velocity(const NavState_ &X)
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:03:11