Public Member Functions | |
| def | __init__ (self, np.ndarray y, np.ndarray d, np.ndarray Sigma, int i=-1) |
Public Attributes | |
| cal_idx | |
| d | |
| Sigma | |
| y | |
Static Public Attributes | |
| int | |
Define a measurement ---------- cal_idx is a index corresponding to the cal_idx-th calibration related to the measurement. Let's consider the case of 2 uncalibrated sensor with two associated calibration state in State.S = [S0, S1], and a single calibrated sensor. cal_idx = 0 indicates a measurement coming from the sensor that has calibration S0, cal_idx = 1 indicates a measurement coming from the sensor that has calibration S1. cal_idx = -1 indicates that the measurement is coming from a calibrated sensor ----------
| def gtsam.examples.EqF.Measurement.__init__ | ( | self, | |
| np.ndarray | y, | ||
| np.ndarray | d, | ||
| np.ndarray | Sigma, | ||
| int | i = -1 |
||
| ) |
Initialize measurement :param y: A numpy array with size 3 and norm 1 representing the direction measurement in the sensor frame :param d: A numpy array with size 3 and norm 1 representing the direction in the global frame :param Sigma: A numpy array with shape (3, 3) representing the noise covariance of the direction measurement :param i: index of the corresponding calibration state