navigation/expressions.h
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1 
8 #pragma once
9 
10 #include <gtsam/geometry/Rot3.h>
13 #include <gtsam/slam/expressions.h>
14 
15 namespace gtsam {
16 
19 
20 namespace internal {
21 // define getters that return a value rather than a reference
23  return X.attitude(H);
24 }
26  return X.position(H);
27 }
29  return X.velocity(H);
30 }
31 } // namespace internal
32 
33 // overloads for getters
34 inline Rot3_ attitude(const NavState_& X) {
35  return Rot3_(internal::attitude, X);
36 }
37 inline Point3_ position(const NavState_& X) {
38  return Point3_(internal::position, X);
39 }
40 inline Velocity3_ velocity(const NavState_& X) {
42 }
43 
44 } // namespace gtsam
H
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Definition: gnuplot_common_settings.hh:74
gtsam::NavState_
Expression< NavState > NavState_
Definition: navigation/expressions.h:17
gtsam::Velocity3
Vector3 Velocity3
Velocity is currently typedef'd to Vector3.
Definition: NavState.h:28
gtsam::position
Point3_ position(const NavState_ &X)
Definition: navigation/expressions.h:37
gtsam::NavState
Definition: NavState.h:34
X
#define X
Definition: icosphere.cpp:20
Rot3.h
3D rotation represented as a rotation matrix or quaternion
gtsam::attitude
Rot3_ attitude(const NavState_ &X)
Definition: navigation/expressions.h:34
gtsam::Expression
Definition: Expression.h:47
gtsam::internal::attitude
Rot3 attitude(const NavState &X, OptionalJacobian< 3, 9 > H)
Definition: navigation/expressions.h:22
expressions.h
Common expressions, both linear and non-linear.
gtsam::Rot3
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Definition: Rot3.h:58
NavState.h
Navigation state composing of attitude, position, and velocity.
gtsam::internal::velocity
Velocity3 velocity(const NavState &X, OptionalJacobian< 3, 9 > H)
Definition: navigation/expressions.h:28
gtsam::Point3_
Expression< Point3 > Point3_
Definition: slam/expressions.h:36
gtsam
traits
Definition: SFMdata.h:40
gtsam::OptionalJacobian
Definition: OptionalJacobian.h:38
expressions.h
Common expressions for solving geometry/slam/sfm problems.
gtsam::internal::position
Point3 position(const NavState &X, OptionalJacobian< 3, 9 > H)
Definition: navigation/expressions.h:25
gtsam::Rot3_
Expression< Rot3 > Rot3_
Definition: slam/expressions.h:38
gtsam::Point3
Vector3 Point3
Definition: Point3.h:38
internal
Definition: BandTriangularSolver.h:13
gtsam::Velocity3_
Expression< Velocity3 > Velocity3_
Definition: navigation/expressions.h:18
gtsam::velocity
Velocity3_ velocity(const NavState_ &X)
Definition: navigation/expressions.h:40


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autogenerated on Sat Nov 16 2024 04:02:17