#include <CombinedImuFactor.h>

Inheritance diagram for gtsam::PreintegratedCombinedMeasurements:

Public Types
typedef PreintegrationCombinedParams	Params

Public Types inherited from gtsam::PreintegrationBase
typedef imuBias::ConstantBias	Bias

typedef PreintegrationParams	Params

Public Member Functions
Constructors
	PreintegratedCombinedMeasurements ()
	Default constructor only for serialization and wrappers. More...

	PreintegratedCombinedMeasurements (const std::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias(), const Eigen::Matrix< double, 15, 15 > &preintMeasCov=Eigen::Matrix< double, 15, 15 >::Zero())

	PreintegratedCombinedMeasurements (const PreintegrationType &base, const Eigen::Matrix< double, 15, 15 > &preintMeasCov)

	~PreintegratedCombinedMeasurements () override
	Virtual destructor. More...

Basic utilities
void	resetIntegration () override
	Re-initialize PreintegratedCombinedMeasurements. More...

void	resetIntegration (const gtsam::Matrix6 &Q_init)
	Re-initialize PreintegratedCombinedMeasurements with initial bias covariance estimate. More...

Params &	p () const
	const reference to params, shadows definition in base class More...

Access instance variables
Return pre-integrated measurement covariance
Matrix	preintMeasCov () const

Testable
print
void	print (const std::string &s="Preintegrated Measurements:") const override

bool	equals (const PreintegratedCombinedMeasurements &expected, double tol=1e-9) const
	equals More...

Main functionality
void	integrateMeasurement (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt) override

Public Member Functions inherited from gtsam::ManifoldPreintegration
	ManifoldPreintegration (const std::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())

void	resetIntegration () override

NavState	deltaXij () const override

Rot3	deltaRij () const override

Vector3	deltaPij () const override

Vector3	deltaVij () const override

Matrix3	delRdelBiasOmega () const

Matrix3	delPdelBiasAcc () const

Matrix3	delPdelBiasOmega () const

Matrix3	delVdelBiasAcc () const

Matrix3	delVdelBiasOmega () const

bool	equals (const ManifoldPreintegration &other, double tol) const

void	update (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt, Matrix9 A, Matrix93 B, Matrix93 *C) override

Vector9	biasCorrectedDelta (const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H={}) const override

virtual std::shared_ptr< ManifoldPreintegration >	clone () const

Public Member Functions inherited from gtsam::PreintegrationBase
	PreintegrationBase (const std::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())

void	resetIntegrationAndSetBias (const Bias &biasHat)

bool	matchesParamsWith (const PreintegrationBase &other) const
	check parameters equality: checks whether shared pointer points to same Params object. More...

const std::shared_ptr< Params > &	params () const
	shared pointer to params More...

Params &	p () const
	const reference to params More...

const imuBias::ConstantBias &	biasHat () const

double	deltaTij () const

Vector6	biasHatVector () const

std::pair< Vector3, Vector3 >	correctMeasurementsBySensorPose (const Vector3 &unbiasedAcc, const Vector3 &unbiasedOmega, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedAcc={}, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedOmega={}, OptionalJacobian< 3, 3 > correctedOmega_H_unbiasedOmega={}) const

NavState	predict (const NavState &state_i, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 9 > H1={}, OptionalJacobian< 9, 6 > H2={}) const
	Predict state at time j. More...

Vector9	computeError (const NavState &state_i, const NavState &state_j, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 9 > H1, OptionalJacobian< 9, 9 > H2, OptionalJacobian< 9, 6 > H3) const
	Calculate error given navStates. More...

Vector9	computeErrorAndJacobians (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H1={}, OptionalJacobian< 9, 3 > H2={}, OptionalJacobian< 9, 6 > H3={}, OptionalJacobian< 9, 3 > H4={}, OptionalJacobian< 9, 6 > H5={}) const

Protected Attributes
Eigen::Matrix< double, 15, 15 >	preintMeasCov_

Protected Attributes inherited from gtsam::ManifoldPreintegration
Matrix3	delPdelBiasAcc_
	Jacobian of preintegrated position w.r.t. acceleration bias. More...

Matrix3	delPdelBiasOmega_
	Jacobian of preintegrated position w.r.t. angular rate bias. More...

Matrix3	delRdelBiasOmega_
	Jacobian of preintegrated rotation w.r.t. angular rate bias. More...

NavState	deltaXij_

Matrix3	delVdelBiasAcc_
	Jacobian of preintegrated velocity w.r.t. acceleration bias. More...

Matrix3	delVdelBiasOmega_
	Jacobian of preintegrated velocity w.r.t. angular rate bias. More...

Protected Attributes inherited from gtsam::PreintegrationBase
Bias	biasHat_
	Acceleration and gyro bias used for preintegration. More...

double	deltaTij_
	Time interval from i to j. More...

std::shared_ptr< Params >	p_

Friends
class	CombinedImuFactor

Additional Inherited Members
Protected Member Functions inherited from gtsam::ManifoldPreintegration
	ManifoldPreintegration ()
	Default constructor for serialization. More...

Protected Member Functions inherited from gtsam::PreintegrationBase
	PreintegrationBase ()
	Default constructor for serialization. More...

virtual	~PreintegrationBase ()
	Virtual destructor for serialization. More...

Detailed Description

PreintegratedCombinedMeasurements integrates the IMU measurements (rotation rates and accelerations) and the corresponding covariance matrix. The measurements are then used to build the CombinedImuFactor. Integration is done incrementally (ideally, one integrates the measurement as soon as it is received from the IMU) so as to avoid costly integration at time of factor construction.

Definition at line 66 of file CombinedImuFactor.h.

Member Typedef Documentation

◆ Params

typedef PreintegrationCombinedParams gtsam::PreintegratedCombinedMeasurements::Params

Definition at line 69 of file CombinedImuFactor.h.

Constructor & Destructor Documentation

◆ PreintegratedCombinedMeasurements() [1/3]

gtsam::PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements ( )

inline

Default constructor only for serialization and wrappers.

Definition at line 87 of file CombinedImuFactor.h.

◆ PreintegratedCombinedMeasurements() [2/3]

gtsam::PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements	(	const std::shared_ptr< Params > &	p,
		const imuBias::ConstantBias &	biasHat = `imuBias::ConstantBias()`,
		const Eigen::Matrix< double, 15, 15 > &	preintMeasCov = `Eigen::Matrix<double, 15, 15>::Zero()`
	)

inline

Default constructor, initializes the class with no measurements

Parameters

p	Parameters, typically fixed in a single application
biasHat	Current estimate of acceleration and rotation rate biases
preintMeasCov	Covariance matrix used in noise model.

Definition at line 95 of file CombinedImuFactor.h.

◆ PreintegratedCombinedMeasurements() [3/3]

gtsam::PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements	(	const PreintegrationType &	base,
		const Eigen::Matrix< double, 15, 15 > &	preintMeasCov
	)

inline

Construct preintegrated directly from members: base class and preintMeasCov

Parameters

base	PreintegrationType instance
preintMeasCov	Covariance matrix used in noise model.

Definition at line 108 of file CombinedImuFactor.h.

◆ ~PreintegratedCombinedMeasurements()

gtsam::PreintegratedCombinedMeasurements::~PreintegratedCombinedMeasurements ( )

inlineoverride

Virtual destructor.

Definition at line 114 of file CombinedImuFactor.h.

Member Function Documentation

◆ equals()

bool gtsam::PreintegratedCombinedMeasurements::equals	(	const PreintegratedCombinedMeasurements &	expected,
		double	tol = `1e-9`
	)		const

equals

Definition at line 69 of file CombinedImuFactor.cpp.

◆ integrateMeasurement()

void gtsam::PreintegratedCombinedMeasurements::integrateMeasurement	(	const Vector3 &	measuredAcc,
		const Vector3 &	measuredOmega,
		const double	dt
	)

overridevirtual

Add a single IMU measurement to the preintegration. Both accelerometer and gyroscope measurements are taken to be in the sensor frame and conversion to the body frame is handled by body_P_sensor in PreintegrationParams.

Parameters

measuredAcc	Measured acceleration (as given by the sensor)
measuredOmega	Measured angular velocity (as given by the sensor)
dt	Time interval between two consecutive IMU measurements

Reimplemented from gtsam::PreintegrationBase.

Definition at line 106 of file CombinedImuFactor.cpp.

◆ p()

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

inline

const reference to params, shadows definition in base class

Definition at line 133 of file CombinedImuFactor.h.

◆ preintMeasCov()

Matrix gtsam::PreintegratedCombinedMeasurements::preintMeasCov ( ) const

inline

Definition at line 139 of file CombinedImuFactor.h.

◆ print()

void gtsam::PreintegratedCombinedMeasurements::print ( const std::string & s = "Preintegrated Measurements:" ) const

overridevirtual

Reimplemented from gtsam::PreintegrationBase.

Definition at line 63 of file CombinedImuFactor.cpp.

◆ resetIntegration() [1/2]

void gtsam::PreintegratedCombinedMeasurements::resetIntegration ( )

overridevirtual

Re-initialize PreintegratedCombinedMeasurements.

Implements gtsam::PreintegrationBase.

Definition at line 76 of file CombinedImuFactor.cpp.

◆ resetIntegration() [2/2]

void gtsam::PreintegratedCombinedMeasurements::resetIntegration ( const gtsam::Matrix6 & Q_init )

Re-initialize PreintegratedCombinedMeasurements with initial bias covariance estimate.

Parameters

Q_init The initial bias covariance estimates as a 6x6 matrix.

Definition at line 83 of file CombinedImuFactor.cpp.

Friends And Related Function Documentation

◆ CombinedImuFactor

friend class CombinedImuFactor

friend

Definition at line 80 of file CombinedImuFactor.h.

Member Data Documentation

◆ preintMeasCov_

Eigen::Matrix<double, 15, 15> gtsam::PreintegratedCombinedMeasurements::preintMeasCov_

protected

Definition at line 78 of file CombinedImuFactor.h.

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

Public Types

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Params

Constructor & Destructor Documentation

◆ PreintegratedCombinedMeasurements() [1/3]

◆ PreintegratedCombinedMeasurements() [2/3]

◆ PreintegratedCombinedMeasurements() [3/3]

◆ ~PreintegratedCombinedMeasurements()

Member Function Documentation

◆ equals()

◆ integrateMeasurement()

◆ p()

◆ preintMeasCov()

◆ print()

◆ resetIntegration() [1/2]

◆ resetIntegration() [2/2]

Friends And Related Function Documentation

◆ CombinedImuFactor

Member Data Documentation

◆ preintMeasCov_