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def | __init__ (self, Optional[np.ndarray] twist=None, Optional[gtsam.imuBias.ConstantBias] bias=None, Optional[gtsam.PreintegrationParams] params=None, float dt=1e-2) |
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def | plotGroundTruthPose (self, float t, float scale=0.3, float time_interval=0.01) |
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def | plotImu (self, float t, Sequence measuredOmega, Sequence measuredAcc) |
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def | run (self, int T=12) |
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Base class for all preintegration examples.
Definition at line 28 of file PreintegrationExample.py.
◆ __init__()
Initialize with given twist, a pair(angularVelocityVector, velocityVector).
Definition at line 42 of file PreintegrationExample.py.
◆ defaultParams()
def gtsam.examples.PreintegrationExample.PreintegrationExample.defaultParams |
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float |
g | ) |
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static |
◆ plotGroundTruthPose()
def gtsam.examples.PreintegrationExample.PreintegrationExample.plotGroundTruthPose |
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self, |
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float |
t, |
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float |
scale = 0.3 , |
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float |
time_interval = 0.01 |
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) |
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Plot ground truth pose, as well as prediction from integrated IMU measurements.
Args:
t: Time at which the pose was obtained.
scale: The scaling factor for the pose axes.
time_interval: The time to wait before showing the plot.
Definition at line 129 of file PreintegrationExample.py.
◆ plotImu()
def gtsam.examples.PreintegrationExample.PreintegrationExample.plotImu |
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self, |
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float |
t, |
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Sequence |
measuredOmega, |
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Sequence |
measuredAcc |
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Plot IMU measurements.
Args:
t: The time at which the measurement was recoreded.
measuredOmega: Measured angular velocity.
measuredAcc: Measured linear acceleration.
Definition at line 88 of file PreintegrationExample.py.
◆ run()
def gtsam.examples.PreintegrationExample.PreintegrationExample.run |
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self, |
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int |
T = 12 |
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◆ actualBias
gtsam.examples.PreintegrationExample.PreintegrationExample.actualBias |
◆ axes
gtsam.examples.PreintegrationExample.PreintegrationExample.axes |
◆ colors
gtsam.examples.PreintegrationExample.PreintegrationExample.colors |
◆ dt
gtsam.examples.PreintegrationExample.PreintegrationExample.dt |
◆ labels
gtsam.examples.PreintegrationExample.PreintegrationExample.labels |
◆ maxDim
gtsam.examples.PreintegrationExample.PreintegrationExample.maxDim |
◆ params
gtsam.examples.PreintegrationExample.PreintegrationExample.params |
◆ runner
gtsam.examples.PreintegrationExample.PreintegrationExample.runner |
◆ scenario
gtsam.examples.PreintegrationExample.PreintegrationExample.scenario |
The documentation for this class was generated from the following file: