gtsam::PreintegratedRotation Class Reference

#include <PreintegratedRotation.h>

Inheritance diagram for gtsam::PreintegratedRotation:

Public Types
typedef PreintegratedRotationParams	Params

Public Member Functions
Constructors
	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...
Basic utilities
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...
Access instance variables
const std::shared_ptr< Params > &	params () const
const double &	deltaTij () const
const Rot3 &	deltaRij () const
const Matrix3 &	delRdelBiasOmega () const
Testable
void	print (const std::string &s) const
bool	equals (const PreintegratedRotation &other, double tol) const
Main functionality
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...

Protected Member Functions
	PreintegratedRotation ()
	Default constructor for serialization. More...

Protected Attributes
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...

Detailed Description

PreintegratedRotation is the base class for all PreintegratedMeasurements classes (in AHRSFactor, ImuFactor, and CombinedImuFactor). It includes the definitions of the preintegrated rotation.

Definition at line 117 of file PreintegratedRotation.h.

Member Typedef Documentation

Params

typedef PreintegratedRotationParams gtsam::PreintegratedRotation::Params

Definition at line 119 of file PreintegratedRotation.h.

Constructor & Destructor Documentation

PreintegratedRotation() [1/3]

gtsam::PreintegratedRotation::PreintegratedRotation ( )

inlineprotected

Default constructor for serialization.

Definition at line 130 of file PreintegratedRotation.h.

PreintegratedRotation() [2/3]

gtsam::PreintegratedRotation::PreintegratedRotation ( const std::shared_ptr< Params > &  p )

inlineexplicit

Default constructor, resets integration to zero.

Definition at line 137 of file PreintegratedRotation.h.

PreintegratedRotation() [3/3]

gtsam::PreintegratedRotation::PreintegratedRotation ( const std::shared_ptr< Params > &  p, double  deltaTij, const Rot3 &  deltaRij, const Matrix3 &  delRdelBiasOmega  )

inline

Explicit initialization of all class members.

Definition at line 142 of file PreintegratedRotation.h.

Member Function Documentation

biascorrectedDeltaRij()

Rot3 gtsam::PreintegratedRotation::biascorrectedDeltaRij	(	const Vector3 &	biasOmegaIncr,
		OptionalJacobian< 3, 3 >	H = {}
	)		const

Return a bias corrected version of the integrated rotation.

Parameters

biasOmegaIncr	An increment with respect to biasHat used above.
H	optional Jacobian of the correction w.r.t. the bias increment.

Note

The key functionality of this class used in optimizing the bias.

Definition at line 130 of file PreintegratedRotation.cpp.

delRdelBiasOmega()

const Matrix3& gtsam::PreintegratedRotation::delRdelBiasOmega ( ) const

inline

Definition at line 166 of file PreintegratedRotation.h.

deltaRij()

const Rot3& gtsam::PreintegratedRotation::deltaRij ( ) const

inline

Definition at line 165 of file PreintegratedRotation.h.

deltaTij()

const double& gtsam::PreintegratedRotation::deltaTij ( ) const

inline

Definition at line 164 of file PreintegratedRotation.h.

equals()

bool gtsam::PreintegratedRotation::equals	(	const PreintegratedRotation &	other,
		double	tol
	)		const

Definition at line 63 of file PreintegratedRotation.cpp.

integrateCoriolis()

Vector3 gtsam::PreintegratedRotation::integrateCoriolis

(

const Rot3 &

rot_i

)

const

Integrate coriolis correction in body frame rot_i.

Definition at line 139 of file PreintegratedRotation.cpp.

integrateGyroMeasurement()

void gtsam::PreintegratedRotation::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_.

Parameters

measuredOmega	The measured angular velocity (as given by the sensor)
bias	The biasHat estimate
deltaT	The time interval
F	optional Jacobian of internal compose, used in AhrsFactor.

Definition at line 97 of file PreintegratedRotation.cpp.

matchesParamsWith()

bool gtsam::PreintegratedRotation::matchesParamsWith ( const PreintegratedRotation &  other ) const

inline

check parameters equality: checks whether shared pointer points to same Params object.

Definition at line 156 of file PreintegratedRotation.h.

params()

const std::shared_ptr<Params>& gtsam::PreintegratedRotation::params ( ) const

inline

Definition at line 163 of file PreintegratedRotation.h.

print()

void gtsam::PreintegratedRotation::print

(

const std::string &

s

)

const

Definition at line 57 of file PreintegratedRotation.cpp.

resetIntegration()

void gtsam::PreintegratedRotation::resetIntegration

(

)

Re-initialize PreintegratedMeasurements.

Definition at line 51 of file PreintegratedRotation.cpp.

Member Data Documentation

delRdelBiasOmega_

Matrix3 gtsam::PreintegratedRotation::delRdelBiasOmega_

protected

Jacobian of preintegrated rotation w.r.t. angular rate bias.

Definition at line 127 of file PreintegratedRotation.h.

deltaRij_

Rot3 gtsam::PreintegratedRotation::deltaRij_

protected

Preintegrated relative orientation (in frame i)

Definition at line 126 of file PreintegratedRotation.h.

deltaTij_

double gtsam::PreintegratedRotation::deltaTij_

protected

Time interval from i to j.

Definition at line 125 of file PreintegratedRotation.h.

p_

std::shared_ptr<Params> gtsam::PreintegratedRotation::p_

protected

Parameters.

Definition at line 123 of file PreintegratedRotation.h.

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

• PreintegratedRotation.h
• PreintegratedRotation.cpp