gtsam::PreintegratedAhrsMeasurements Class Reference

#include <AHRSFactor.h>

Inheritance diagram for gtsam::PreintegratedAhrsMeasurements:

Public Member Functions
const Vector3 &	biasHat () const
bool	equals (const PreintegratedAhrsMeasurements &, double tol=1e-9) const
	equals More...
void	integrateMeasurement (const Vector3 &measuredOmega, double deltaT)
Params &	p () const
Vector3	predict (const Vector3 &bias, OptionalJacobian< 3, 3 > H={}) const
	PreintegratedAhrsMeasurements ()
	Default constructor, only for serialization and wrappers. More...
	PreintegratedAhrsMeasurements (const std::shared_ptr< Params > &p, const Vector3 &bias_hat, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega, const Matrix3 &preint_meas_cov)
	PreintegratedAhrsMeasurements (const std::shared_ptr< Params > &p, const Vector3 &biasHat)
	PreintegratedAhrsMeasurements (const Vector3 &biasHat, const Matrix3 &measuredOmegaCovariance)
const Matrix3 &	preintMeasCov () const
void	print (const std::string &s="Preintegrated Measurements: ") const
	print More...
void	resetIntegration ()
	Reset inetgrated quantities to zero. More...
Public Member Functions inherited from gtsam::PreintegratedRotation
	PreintegratedRotation (const std::shared_ptr< Params > &p)
	Default constructor, resets integration to zero. More...
	PreintegratedRotation (const std::shared_ptr< Params > &p, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega)
	Explicit initialization of all class members. More...
void	resetIntegration ()
	Re-initialize PreintegratedMeasurements. More...
bool	matchesParamsWith (const PreintegratedRotation &other) const
	check parameters equality: checks whether shared pointer points to same Params object. More...
const std::shared_ptr< Params > &	params () const
const double &	deltaTij () const
const Rot3 &	deltaRij () const
const Matrix3 &	delRdelBiasOmega () const
void	print (const std::string &s) const
bool	equals (const PreintegratedRotation &other, double tol) const
void	integrateGyroMeasurement (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > F={})
	Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_. More...
Rot3	biascorrectedDeltaRij (const Vector3 &biasOmegaIncr, OptionalJacobian< 3, 3 > H={}) const
	Return a bias corrected version of the integrated rotation. More...
Vector3	integrateCoriolis (const Rot3 &rot_i) const
	Integrate coriolis correction in body frame rot_i. More...

Static Public Member Functions
static Vector	DeltaAngles (const Vector &msr_gyro_t, const double msr_dt, const Vector3 &delta_angles)

Protected Attributes
Vector3	biasHat_
	Angular rate bias values used during preintegration. More...
Matrix3	preintMeasCov_
	Covariance matrix of the preintegrated measurements (first-order propagation from measurementCovariance) More...
Protected Attributes inherited from gtsam::PreintegratedRotation
Matrix3	delRdelBiasOmega_
	Jacobian of preintegrated rotation w.r.t. angular rate bias. More...
Rot3	deltaRij_
	Preintegrated relative orientation (in frame i) More...
double	deltaTij_
	Time interval from i to j. More...
std::shared_ptr< Params >	p_
	Parameters. More...

Friends
class	AHRSFactor

Additional Inherited Members
Public Types inherited from gtsam::PreintegratedRotation
typedef PreintegratedRotationParams	Params
Protected Member Functions inherited from gtsam::PreintegratedRotation
	PreintegratedRotation ()
	Default constructor for serialization. More...

Detailed Description

PreintegratedAHRSMeasurements accumulates (integrates) the Gyroscope measurements (rotation rates) and the corresponding covariance matrix. Can be built incrementally so as to avoid costly integration at time of factor construction.

Definition at line 36 of file AHRSFactor.h.

Constructor & Destructor Documentation

PreintegratedAhrsMeasurements() [1/4]

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( )

inline

Default constructor, only for serialization and wrappers.

Definition at line 48 of file AHRSFactor.h.

PreintegratedAhrsMeasurements() [2/4]

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( const std::shared_ptr< Params > &  p, const Vector3 &  biasHat  )

inline

Default constructor, initialize with no measurements

Parameters

bias	Current estimate of acceleration and rotation rate biases

Definition at line 54 of file AHRSFactor.h.

PreintegratedAhrsMeasurements() [3/4]

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( const std::shared_ptr< Params > &  p, const Vector3 &  bias_hat, double  deltaTij, const Rot3 &  deltaRij, const Matrix3 &  delRdelBiasOmega, const Matrix3 &  preint_meas_cov  )

inline

Non-Default constructor, initialize with measurements

Parameters

p	Parameters for AHRS pre-integration
bias_hat	Current estimate of acceleration and rotation rate biases
deltaTij	Delta time in pre-integration
deltaRij	Delta rotation in pre-integration
delRdelBiasOmega	Jacobian of rotation wrt. to gyro bias
preint_meas_cov	Pre-integration covariance

Definition at line 69 of file AHRSFactor.h.

PreintegratedAhrsMeasurements() [4/4]

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( const Vector3 &  biasHat, const Matrix3 &  measuredOmegaCovariance  )

inline

Deprecated:

constructor, but used in tests.

Definition at line 114 of file AHRSFactor.h.

Member Function Documentation

biasHat()

const Vector3& gtsam::PreintegratedAhrsMeasurements::biasHat ( ) const

inline

Definition at line 81 of file AHRSFactor.h.

DeltaAngles()

Vector gtsam::PreintegratedAhrsMeasurements::DeltaAngles ( const Vector &  msr_gyro_t, const double  msr_dt, const Vector3 &  delta_angles  )

static

Definition at line 74 of file AHRSFactor.cpp.

equals()

bool gtsam::PreintegratedAhrsMeasurements::equals	(	const PreintegratedAhrsMeasurements &	other,
		double	tol = 1e-9
	)		const

equals

Definition at line 37 of file AHRSFactor.cpp.

integrateMeasurement()

void gtsam::PreintegratedAhrsMeasurements::integrateMeasurement	(	const Vector3 &	measuredOmega,
		double	deltaT
	)

Add a single Gyroscope measurement to the preintegration. Measurements are taken to be in the sensor frame and conversion to the body frame is handled by body_P_sensor in PreintegratedRotationParams (if provided).

Parameters

measuredOmega	Measured angular velocity (as given by the sensor)
deltaT	Time step

Definition at line 50 of file AHRSFactor.cpp.

p()

Params& gtsam::PreintegratedAhrsMeasurements::p ( ) const

inline

Definition at line 80 of file AHRSFactor.h.

predict()

Vector3 gtsam::PreintegratedAhrsMeasurements::predict	(	const Vector3 &	bias,
		OptionalJacobian< 3, 3 >	H = {}
	)		const

Predict bias-corrected incremental rotation TODO: The matrix Hbias is the derivative of predict? Unit-test?

Definition at line 64 of file AHRSFactor.cpp.

preintMeasCov()

const Matrix3& gtsam::PreintegratedAhrsMeasurements::preintMeasCov ( ) const

inline

Definition at line 82 of file AHRSFactor.h.

print()

void gtsam::PreintegratedAhrsMeasurements::print

(

const std::string &

s = "Preintegrated Measurements: "

)

const

print

Definition at line 30 of file AHRSFactor.cpp.

resetIntegration()

void gtsam::PreintegratedAhrsMeasurements::resetIntegration

(

)

Reset inetgrated quantities to zero.

Definition at line 44 of file AHRSFactor.cpp.

Friends And Related Function Documentation

AHRSFactor

friend class AHRSFactor

friend

Definition at line 43 of file AHRSFactor.h.

Member Data Documentation

biasHat_

Vector3 gtsam::PreintegratedAhrsMeasurements::biasHat_

protected

Angular rate bias values used during preintegration.

Definition at line 40 of file AHRSFactor.h.

preintMeasCov_

Matrix3 gtsam::PreintegratedAhrsMeasurements::preintMeasCov_

protected

Covariance matrix of the preintegrated measurements (first-order propagation from measurementCovariance)

Definition at line 41 of file AHRSFactor.h.

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The documentation for this class was generated from the following files:

• AHRSFactor.h
• AHRSFactor.cpp