Public Member Functions | Public Attributes | List of all members
gtsam.examples.ImuFactorExample.ImuFactorExample Class Reference
Inheritance diagram for gtsam.examples.ImuFactorExample.ImuFactorExample:
Inheritance graph
[legend]

Public Member Functions

def __init__ (self, str twist_scenario="sick_twist")
 
def addPrior (self, int i, gtsam.NonlinearFactorGraph graph)
 
def optimize (self, gtsam.NonlinearFactorGraph graph, gtsam.Values initial)
 
def plot (self, gtsam.Values values, str title="Estimated Trajectory", int fignum=POSES_FIG+1, bool show=False)
 
def run (self, int T=12, bool compute_covariances=False, bool verbose=True)
 
- Public Member Functions inherited from gtsam.examples.PreintegrationExample.PreintegrationExample
def __init__ (self, Optional[np.ndarray] twist=None, Optional[gtsam.imuBias.ConstantBias] bias=None, Optional[gtsam.PreintegrationParams] params=None, float dt=1e-2)
 
def plotGroundTruthPose (self, float t, float scale=0.3, float time_interval=0.01)
 
def plotImu (self, float t, Sequence measuredOmega, Sequence measuredAcc)
 
def run (self, int T=12)
 

Public Attributes

 priorNoise
 
 velNoise
 
 velocity
 
- Public Attributes inherited from gtsam.examples.PreintegrationExample.PreintegrationExample
 actualBias
 
 axes
 
 colors
 
 dt
 
 labels
 
 maxDim
 
 params
 
 runner
 
 scenario
 

Additional Inherited Members

- Static Public Member Functions inherited from gtsam.examples.PreintegrationExample.PreintegrationExample
def defaultParams (float g)
 

Detailed Description

Class to run example of the Imu Factor.

Definition at line 55 of file ImuFactorExample.py.

Constructor & Destructor Documentation

◆ __init__()

def gtsam.examples.ImuFactorExample.ImuFactorExample.__init__ (   self,
str   twist_scenario = "sick_twist" 
)

Definition at line 57 of file ImuFactorExample.py.

Member Function Documentation

◆ addPrior()

def gtsam.examples.ImuFactorExample.ImuFactorExample.addPrior (   self,
int  i,
gtsam.NonlinearFactorGraph  graph 
)
Add a prior on the navigation state at time `i`.

Definition at line 88 of file ImuFactorExample.py.

◆ optimize()

def gtsam.examples.ImuFactorExample.ImuFactorExample.optimize (   self,
gtsam.NonlinearFactorGraph  graph,
gtsam.Values  initial 
)
Optimize using Levenberg-Marquardt optimization.

Definition at line 96 of file ImuFactorExample.py.

◆ plot()

def gtsam.examples.ImuFactorExample.ImuFactorExample.plot (   self,
gtsam.Values  values,
str   title = "Estimated Trajectory",
int   fignum = POSES_FIG + 1,
bool   show = False 
)
Plot poses in values.

Args:
    values: The values object with the poses to plot.
    title: The title of the plot.
    fignum: The matplotlib figure number.
POSES_FIG is a value from the PreintegrationExample which we simply increment to generate a new figure.
    show: Flag indicating whether to display the figure.

Definition at line 105 of file ImuFactorExample.py.

◆ run()

def gtsam.examples.ImuFactorExample.ImuFactorExample.run (   self,
int   T = 12,
bool   compute_covariances = False,
bool   verbose = True 
)
Main runner.

Args:
    T: Total trajectory time.
    compute_covariances: Flag indicating whether to compute marginal covariances.
    verbose: Flag indicating if printing should be verbose.

Definition at line 136 of file ImuFactorExample.py.

Member Data Documentation

◆ priorNoise

gtsam.examples.ImuFactorExample.ImuFactorExample.priorNoise

Definition at line 59 of file ImuFactorExample.py.

◆ velNoise

gtsam.examples.ImuFactorExample.ImuFactorExample.velNoise

Definition at line 60 of file ImuFactorExample.py.

◆ velocity

gtsam.examples.ImuFactorExample.ImuFactorExample.velocity

Definition at line 58 of file ImuFactorExample.py.


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


gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:52:55