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) |
Class to run example of the Imu Factor.
Definition at line 55 of file ImuFactorExample.py.
def gtsam.examples.ImuFactorExample.ImuFactorExample.__init__ | ( | self, | |
str | twist_scenario = "sick_twist" |
||
) |
Definition at line 57 of file ImuFactorExample.py.
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.
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.
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.
def gtsam.examples.ImuFactorExample.ImuFactorExample.run | ( | self, | |
int | T = 12 , |
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bool | compute_covariances = False , |
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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.
gtsam.examples.ImuFactorExample.ImuFactorExample.priorNoise |
Definition at line 59 of file ImuFactorExample.py.
gtsam.examples.ImuFactorExample.ImuFactorExample.velNoise |
Definition at line 60 of file ImuFactorExample.py.
gtsam.examples.ImuFactorExample.ImuFactorExample.velocity |
Definition at line 58 of file ImuFactorExample.py.