Public Member Functions | Public Attributes | List of all members
gtsam::PreintegratedRotationParams Struct Reference

#include <PreintegratedRotation.h>

Inheritance diagram for gtsam::PreintegratedRotationParams:
Inheritance graph
[legend]

Public Member Functions

virtual bool equals (const PreintegratedRotationParams &other, double tol=1e-9) const
 
std::optional< Pose3getBodyPSensor () const
 
const Matrix3 & getGyroscopeCovariance () const
 
std::optional< Vector3getOmegaCoriolis () const
 
 PreintegratedRotationParams ()
 
 PreintegratedRotationParams (const Matrix3 &gyroscope_covariance, std::optional< Vector3 > omega_coriolis)
 
virtual void print (const std::string &s) const
 
void setBodyPSensor (const Pose3 &pose)
 
void setGyroscopeCovariance (const Matrix3 &cov)
 
void setOmegaCoriolis (const Vector3 &omega)
 
virtual ~PreintegratedRotationParams ()
 

Public Attributes

std::optional< Pose3body_P_sensor
 The pose of the sensor in the body frame. More...
 
Matrix3 gyroscopeCovariance
 
std::optional< Vector3omegaCoriolis
 Coriolis constant. More...
 

Detailed Description

Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor

Definition at line 57 of file PreintegratedRotation.h.

Constructor & Destructor Documentation

◆ PreintegratedRotationParams() [1/2]

gtsam::PreintegratedRotationParams::PreintegratedRotationParams ( )
inline

Definition at line 64 of file PreintegratedRotation.h.

◆ PreintegratedRotationParams() [2/2]

gtsam::PreintegratedRotationParams::PreintegratedRotationParams ( const Matrix3 &  gyroscope_covariance,
std::optional< Vector3 omega_coriolis 
)
inline

Definition at line 66 of file PreintegratedRotation.h.

◆ ~PreintegratedRotationParams()

virtual gtsam::PreintegratedRotationParams::~PreintegratedRotationParams ( )
inlinevirtual

Definition at line 74 of file PreintegratedRotation.h.

Member Function Documentation

◆ equals()

bool gtsam::PreintegratedRotationParams::equals ( const PreintegratedRotationParams other,
double  tol = 1e-9 
) const
virtual

◆ getBodyPSensor()

std::optional<Pose3> gtsam::PreintegratedRotationParams::getBodyPSensor ( ) const
inline

Definition at line 85 of file PreintegratedRotation.h.

◆ getGyroscopeCovariance()

const Matrix3& gtsam::PreintegratedRotationParams::getGyroscopeCovariance ( ) const
inline

Definition at line 83 of file PreintegratedRotation.h.

◆ getOmegaCoriolis()

std::optional<Vector3> gtsam::PreintegratedRotationParams::getOmegaCoriolis ( ) const
inline

Definition at line 84 of file PreintegratedRotation.h.

◆ print()

void gtsam::PreintegratedRotationParams::print ( const std::string &  s) const
virtual

◆ setBodyPSensor()

void gtsam::PreintegratedRotationParams::setBodyPSensor ( const Pose3 pose)
inline

Definition at line 81 of file PreintegratedRotation.h.

◆ setGyroscopeCovariance()

void gtsam::PreintegratedRotationParams::setGyroscopeCovariance ( const Matrix3 &  cov)
inline

Definition at line 79 of file PreintegratedRotation.h.

◆ setOmegaCoriolis()

void gtsam::PreintegratedRotationParams::setOmegaCoriolis ( const Vector3 omega)
inline

Definition at line 80 of file PreintegratedRotation.h.

Member Data Documentation

◆ body_P_sensor

std::optional<Pose3> gtsam::PreintegratedRotationParams::body_P_sensor

The pose of the sensor in the body frame.

Definition at line 62 of file PreintegratedRotation.h.

◆ gyroscopeCovariance

Matrix3 gtsam::PreintegratedRotationParams::gyroscopeCovariance

Continuous-time "Covariance" of gyroscope measurements The units for stddev are σ = rad/s/√Hz

Definition at line 60 of file PreintegratedRotation.h.

◆ omegaCoriolis

std::optional<Vector3> gtsam::PreintegratedRotationParams::omegaCoriolis

Coriolis constant.

Definition at line 61 of file PreintegratedRotation.h.


The documentation for this struct was generated from the following files:


gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:52:42