Go to the documentation of this file.
42 std::optional<Vector3> omega_coriolis)
43 : gyroscopeCovariance(gyroscope_covariance) {
45 omegaCoriolis = *omega_coriolis;
51 virtual void print(
const std::string&
s)
const;
63 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
65 friend class boost::serialization::access;
66 template<
class ARCHIVE>
67 void serialize(ARCHIVE & ar,
const unsigned int ) {
68 namespace bs = ::boost::serialization;
69 ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance);
73 bool omegaCoriolisFlag = omegaCoriolis.has_value();
74 ar & boost::serialization::make_nvp(
"omegaCoriolisFlag", omegaCoriolisFlag);
75 if (omegaCoriolisFlag) {
76 ar & BOOST_SERIALIZATION_NVP(*omegaCoriolis);
81 #ifdef GTSAM_USE_QUATERNIONS
99 std::shared_ptr<Params>
p_;
119 double deltaTij,
const Rot3& deltaRij,
120 const Matrix3& delRdelBiasOmega)
121 : p_(
p), deltaTij_(deltaTij), deltaRij_(deltaRij), delRdelBiasOmega_(delRdelBiasOmega) {}
129 void resetIntegration();
133 return p_ ==
other.p_;
139 const std::shared_ptr<Params>&
params()
const {
149 return delRdelBiasOmega_;
155 void print(
const std::string&
s)
const;
172 OptionalJacobian<3, 3>
F = {});
175 Rot3 biascorrectedDeltaRij(
const Vector3& biasOmegaIncr,
176 OptionalJacobian<3, 3>
H = {})
const;
179 Vector3 integrateCoriolis(
const Rot3& rot_i)
const;
184 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
186 friend class boost::serialization::access;
187 template <
class ARCHIVE>
188 void serialize(ARCHIVE& ar,
const unsigned int ) {
189 ar& BOOST_SERIALIZATION_NVP(p_);
190 ar& BOOST_SERIALIZATION_NVP(deltaTij_);
191 ar& BOOST_SERIALIZATION_NVP(deltaRij_);
192 ar& BOOST_SERIALIZATION_NVP(delRdelBiasOmega_);
196 #ifdef GTSAM_USE_QUATERNIONS
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static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
const Matrix3 & delRdelBiasOmega() const
Array< double, 1, 3 > e(1./3., 0.5, 2.)
typedef and functions to augment Eigen's MatrixXd
const Rot3 & deltaRij() const
bool matchesParamsWith(const PreintegratedRotation &other) const
check parameters equality: checks whether shared pointer points to same Params object.
PreintegratedRotationParams(const Matrix3 &gyroscope_covariance, std::optional< Vector3 > omega_coriolis)
std::optional< Pose3 > getBodyPSensor() const
double deltaTij_
Time interval from i to j.
PreintegratedRotationParams Params
static Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0))
Matrix3 delRdelBiasOmega_
Jacobian of preintegrated rotation w.r.t. angular rate bias.
PreintegratedRotation()
Default constructor for serialization.
PreintegratedRotation(const std::shared_ptr< Params > &p)
Default constructor, resets integration to zero.
PreintegratedRotationParams()
static const double deltaT
std::optional< Vector3 > getOmegaCoriolis() const
void print(const Matrix &A, const string &s, ostream &stream)
const Matrix3 & getGyroscopeCovariance() const
Matrix3 gyroscopeCovariance
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
static const Vector3 measuredOmega(w, 0, 0)
void setGyroscopeCovariance(const Matrix3 &cov)
std::optional< Pose3 > body_P_sensor
The pose of the sensor in the body frame.
Vector::Scalar omega(const Vector &t, const Vector &s, RealScalar angle)
void setOmegaCoriolis(const Vector3 &omega)
virtual ~PreintegratedRotationParams()
const double & deltaTij() const
PreintegratedRotation(const std::shared_ptr< Params > &p, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega)
Explicit initialization of all class members.
const std::shared_ptr< Params > & params() const
std::optional< Vector3 > omegaCoriolis
Coriolis constant.
void setBodyPSensor(const Pose3 &pose)
#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW
Rot3 deltaRij_
Preintegrated relative orientation (in frame i)
std::shared_ptr< Params > p_
Parameters.
gtsam
Author(s):
autogenerated on Tue Jun 25 2024 03:02:08