#include <iostream>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/inference/Key.h>
#include <gtsam/linear/GaussianFactorGraph.h>
Go to the source code of this file.
Functions | |
gtsam::Vector | ECEF_omega_earth (Vector3(0.0, 0.0, 7.292115e-5)) |
int | main () |
gtsam::Pose3 | predictionErrorPose (const Pose3 &p1, const Vector3 &v1, const imuBias::ConstantBias &b1, const Pose3 &p2, const Vector3 &v2, const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &factor) |
gtsam::Vector3 | predictionErrorVel (const Pose3 &p1, const Vector3 &v1, const imuBias::ConstantBias &b1, const Pose3 &p2, const Vector3 &v2, const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &factor) |
gtsam::Vector | world_omega_earth (world_R_ECEF.matrix() *ECEF_omega_earth) |
Variables | |
gtsam::Rot3 | world_R_ECEF (0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471) |
gtsam::Vector ECEF_omega_earth | ( | Vector3(0.0, 0.0, 7.292115e-5) | ) |
int main | ( | ) |
Definition at line 48 of file timeInertialNavFactor_GlobalVelocity.cpp.
gtsam::Pose3 predictionErrorPose | ( | const Pose3 & | p1, |
const Vector3 & | v1, | ||
const imuBias::ConstantBias & | b1, | ||
const Pose3 & | p2, | ||
const Vector3 & | v2, | ||
const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > & | factor | ||
) |
Definition at line 38 of file timeInertialNavFactor_GlobalVelocity.cpp.
gtsam::Vector3 predictionErrorVel | ( | const Pose3 & | p1, |
const Vector3 & | v1, | ||
const imuBias::ConstantBias & | b1, | ||
const Pose3 & | p2, | ||
const Vector3 & | v2, | ||
const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > & | factor | ||
) |
Definition at line 42 of file timeInertialNavFactor_GlobalVelocity.cpp.
gtsam::Vector world_omega_earth | ( | world_R_ECEF.matrix() * | ECEF_omega_earth | ) |
gtsam::Rot3 world_R_ECEF(0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471) |