gtsam.examples.EqF.State Class Reference

Public Member Functions
def	__init__ (self, Rot3 R=Rot3.Identity(), np.ndarray b=np.zeros(3), List[Rot3] S=None)

Static Public Member Functions
def	identity (int n)

Public Attributes
	b
	R
	S

Detailed Description

Define the state of the Biased Attitude System
----------
R is a rotation matrix representing the attitude of the body
b is a 3-vector representing the gyroscope bias
S is a list of rotation matrix, each representing the calibration of the corresponding direction sensor
----------
Let's assume we want to use three known direction a, b, and c, where only the sensor that measure b is
uncalibrated (we'd like to estimate the calibration states). Therefore, the system's d list looks like
d = [b, a, c], and the S list should look like S = [Sb]. The association between d and S is done via indeces.
In general S[i] correspond to the calibration state of the sensor that measure the direcion d[i]
----------

Definition at line 31 of file EqF.py.

Constructor & Destructor Documentation

__init__()

def gtsam.examples.EqF.State.__init__	(		self,
		Rot3	R = Rot3.Identity(),
		np.ndarray	b = np.zeros(3),
		List[Rot3]	S = None
	)

Initialize State

:param R: A SO3 element representing the attitude of the system as a rotation matrix
:param b: A numpy array with size 3 representing the gyroscope bias
:param S: A list of SO3 elements representing the calibration states for "uncalibrated" sensors,
if no sensor require a calibration state, than S will be initialized as an empty list

Definition at line 54 of file EqF.py.

Member Function Documentation

identity()

def gtsam.examples.EqF.State.identity ( int  n )

static

Return a identity state  with n calibration states

:param n: number of elements in list B associated with calibration states
:return: The identity element of the State

Definition at line 95 of file EqF.py.

Member Data Documentation

b

gtsam.examples.EqF.State.b

Definition at line 75 of file EqF.py.

R

gtsam.examples.EqF.State.R

Definition at line 69 of file EqF.py.

S

gtsam.examples.EqF.State.S

Definition at line 78 of file EqF.py.

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

• EqF.py