gtsam::ScenarioRunner Class Reference

#include <ScenarioRunner.h>

Inheritance diagram for gtsam::ScenarioRunner:

Public Types
typedef imuBias::ConstantBias	Bias
typedef std::shared_ptr< PreintegrationParams >	SharedParams

Public Member Functions
Vector3	actualAngularVelocity (double t) const
Vector3	actualSpecificForce (double t) const
Matrix9	estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const
	Compute a Monte Carlo estimate of the predict covariance using N samples. More...
Matrix6	estimateNoiseCovariance (size_t N=1000) const
	Estimate covariance of sampled noise for sanity-check. More...
const Vector3 &	gravity_n () const
const double &	imuSampleTime () const
PreintegratedImuMeasurements	integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const
	Integrate measurements for T seconds into a PIM. More...
Vector3	measuredAngularVelocity (double t) const
Vector3	measuredSpecificForce (double t) const
NavState	predict (const PreintegratedImuMeasurements &pim, const Bias &estimatedBias=Bias()) const
	Predict predict given a PIM. More...
const Scenario &	scenario () const
	ScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias())

Private Attributes
Sampler	accSampler_
const Bias	estimatedBias_
Sampler	gyroSampler_
const double	imuSampleTime_
const SharedParams	p_
const Scenario &	scenario_
const double	sqrt_dt_

Detailed Description

Definition at line 40 of file ScenarioRunner.h.

Member Typedef Documentation

Bias

typedef imuBias::ConstantBias gtsam::ScenarioRunner::Bias

Definition at line 42 of file ScenarioRunner.h.

SharedParams

typedef std::shared_ptr<PreintegrationParams> gtsam::ScenarioRunner::SharedParams

Definition at line 43 of file ScenarioRunner.h.

Constructor & Destructor Documentation

ScenarioRunner()

gtsam::ScenarioRunner::ScenarioRunner ( const Scenario &  scenario, const SharedParams &  p, double  imuSampleTime = 1.0 / 100.0, const Bias &  bias = Bias()  )

inline

Definition at line 55 of file ScenarioRunner.h.

Member Function Documentation

actualAngularVelocity()

Vector3 gtsam::ScenarioRunner::actualAngularVelocity ( double  t ) const

inline

Definition at line 73 of file ScenarioRunner.h.

actualSpecificForce()

Vector3 gtsam::ScenarioRunner::actualSpecificForce ( double  t ) const

inline

Definition at line 76 of file ScenarioRunner.h.

estimateCovariance()

Matrix9 gtsam::ScenarioRunner::estimateCovariance	(	double	T,
		size_t	N = 1000,
		const Bias &	estimatedBias = Bias()
	)		const

Compute a Monte Carlo estimate of the predict covariance using N samples.

Definition at line 55 of file ScenarioRunner.cpp.

estimateNoiseCovariance()

Matrix6 gtsam::ScenarioRunner::estimateNoiseCovariance

(

size_t

N = 1000

)

const

Estimate covariance of sampled noise for sanity-check.

Definition at line 85 of file ScenarioRunner.cpp.

gravity_n()

const Vector3& gtsam::ScenarioRunner::gravity_n ( ) const

inline

Definition at line 68 of file ScenarioRunner.h.

imuSampleTime()

const double& gtsam::ScenarioRunner::imuSampleTime ( ) const

inline

Definition at line 91 of file ScenarioRunner.h.

integrate()

PreintegratedImuMeasurements gtsam::ScenarioRunner::integrate	(	double	T,
		const Bias &	estimatedBias = Bias(),
		bool	corrupted = false
	)		const

Integrate measurements for T seconds into a PIM.

Definition at line 30 of file ScenarioRunner.cpp.

measuredAngularVelocity()

Vector3 gtsam::ScenarioRunner::measuredAngularVelocity ( double  t ) const

inline

Definition at line 82 of file ScenarioRunner.h.

measuredSpecificForce()

Vector3 gtsam::ScenarioRunner::measuredSpecificForce ( double  t ) const

inline

Definition at line 86 of file ScenarioRunner.h.

predict()

NavState gtsam::ScenarioRunner::predict	(	const PreintegratedImuMeasurements &	pim,
		const Bias &	estimatedBias = Bias()
	)		const

Predict predict given a PIM.

Definition at line 49 of file ScenarioRunner.cpp.

scenario()

const Scenario& gtsam::ScenarioRunner::scenario ( ) const

inline

Definition at line 70 of file ScenarioRunner.h.

Member Data Documentation

accSampler_

Sampler gtsam::ScenarioRunner::accSampler_

private

Definition at line 52 of file ScenarioRunner.h.

estimatedBias_

const Bias gtsam::ScenarioRunner::estimatedBias_

private

Definition at line 49 of file ScenarioRunner.h.

gyroSampler_

Sampler gtsam::ScenarioRunner::gyroSampler_

private

Definition at line 52 of file ScenarioRunner.h.

imuSampleTime_

const double gtsam::ScenarioRunner::imuSampleTime_

private

Definition at line 48 of file ScenarioRunner.h.

p_

const SharedParams gtsam::ScenarioRunner::p_

private

Definition at line 47 of file ScenarioRunner.h.

scenario_

const Scenario& gtsam::ScenarioRunner::scenario_

private

Definition at line 46 of file ScenarioRunner.h.

sqrt_dt_

const double gtsam::ScenarioRunner::sqrt_dt_

private

Definition at line 48 of file ScenarioRunner.h.

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

• ScenarioRunner.h
• ScenarioRunner.cpp