#include <PreintegratedRotation.h>
Public Member Functions | |
virtual bool | equals (const PreintegratedRotationParams &other, double tol=1e-9) const |
std::optional< Pose3 > | getBodyPSensor () const |
const Matrix3 & | getGyroscopeCovariance () const |
std::optional< Vector3 > | getOmegaCoriolis () 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< Pose3 > | body_P_sensor |
The pose of the sensor in the body frame. More... | |
Matrix3 | gyroscopeCovariance |
std::optional< Vector3 > | omegaCoriolis |
Coriolis constant. More... | |
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.
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Definition at line 64 of file PreintegratedRotation.h.
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inline |
Definition at line 66 of file PreintegratedRotation.h.
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inlinevirtual |
Definition at line 74 of file PreintegratedRotation.h.
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virtual |
Reimplemented in gtsam::PreintegrationCombinedParams, and gtsam::PreintegrationParams.
Definition at line 36 of file PreintegratedRotation.cpp.
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Definition at line 85 of file PreintegratedRotation.h.
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inline |
Definition at line 83 of file PreintegratedRotation.h.
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inline |
Definition at line 84 of file PreintegratedRotation.h.
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virtual |
Reimplemented in gtsam::PreintegrationCombinedParams, and gtsam::PreintegrationParams.
Definition at line 28 of file PreintegratedRotation.cpp.
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inline |
Definition at line 81 of file PreintegratedRotation.h.
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inline |
Definition at line 79 of file PreintegratedRotation.h.
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inline |
Definition at line 80 of file PreintegratedRotation.h.
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.
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.
std::optional<Vector3> gtsam::PreintegratedRotationParams::omegaCoriolis |
Coriolis constant.
Definition at line 61 of file PreintegratedRotation.h.