Factor for IMU continuous preintegration version 1. More...

#include <Factor_ImuCPIv1.h>

Inheritance diagram for ov_init::Factor_ImuCPIv1:

Public Member Functions
bool	Evaluate (double const const parameters, double residuals, double *jacobians) const override
	Error residual and Jacobian calculation. More...

	Factor_ImuCPIv1 (double deltatime, Eigen::Vector3d &grav, Eigen::Vector3d &alpha, Eigen::Vector3d &beta, Eigen::Vector4d &q_KtoK1, Eigen::Vector3d &ba_lin, Eigen::Vector3d &bg_lin, Eigen::Matrix3d &J_q, Eigen::Matrix3d &J_beta, Eigen::Matrix3d &J_alpha, Eigen::Matrix3d &H_beta, Eigen::Matrix3d &H_alpha, Eigen::Matrix< double, 15, 15 > &covariance)
	Default constructor. More...

virtual	~Factor_ImuCPIv1 ()

Public Attributes
Eigen::Vector3d	alpha

Eigen::Vector3d	b_a_lin_save

Eigen::Vector3d	b_w_lin_save

Eigen::Vector3d	beta

double	dt

Eigen::Vector3d	grav_save

Eigen::Matrix3d	H_a

Eigen::Matrix3d	H_b

Eigen::Matrix3d	J_a

Eigen::Matrix3d	J_b

Eigen::Matrix3d	J_q

Eigen::Vector4d	q_breve

Eigen::Matrix< double, 15, 15 >	sqrtI_save

Detailed Description

Factor for IMU continuous preintegration version 1.

Definition at line 32 of file Factor_ImuCPIv1.h.

Constructor & Destructor Documentation

◆ Factor_ImuCPIv1()

Factor_ImuCPIv1::Factor_ImuCPIv1	(	double	deltatime,
		Eigen::Vector3d &	grav,
		Eigen::Vector3d &	alpha,
		Eigen::Vector3d &	beta,
		Eigen::Vector4d &	q_KtoK1,
		Eigen::Vector3d &	ba_lin,
		Eigen::Vector3d &	bg_lin,
		Eigen::Matrix3d &	J_q,
		Eigen::Matrix3d &	J_beta,
		Eigen::Matrix3d &	J_alpha,
		Eigen::Matrix3d &	H_beta,
		Eigen::Matrix3d &	H_alpha,
		Eigen::Matrix< double, 15, 15 > &	covariance
	)

Default constructor.

Definition at line 28 of file Factor_ImuCPIv1.cpp.

◆ ~Factor_ImuCPIv1()

virtual ov_init::Factor_ImuCPIv1::~Factor_ImuCPIv1 ( )

inlinevirtual

Definition at line 64 of file Factor_ImuCPIv1.h.

Member Function Documentation

◆ Evaluate()

bool Factor_ImuCPIv1::Evaluate	(	double const const	parameters,
		double *	residuals,
		double **	jacobians
	)		const

override

Error residual and Jacobian calculation.

This computes the error between the integrated preintegrated measurement and the current state estimate. This also takes into account the bias linearization point changes.

Definition at line 77 of file Factor_ImuCPIv1.cpp.

Member Data Documentation

◆ alpha

Eigen::Vector3d ov_init::Factor_ImuCPIv1::alpha

Definition at line 35 of file Factor_ImuCPIv1.h.

◆ b_a_lin_save

Eigen::Vector3d ov_init::Factor_ImuCPIv1::b_a_lin_save

Definition at line 42 of file Factor_ImuCPIv1.h.

◆ b_w_lin_save

Eigen::Vector3d ov_init::Factor_ImuCPIv1::b_w_lin_save

Definition at line 41 of file Factor_ImuCPIv1.h.

◆ beta

Eigen::Vector3d ov_init::Factor_ImuCPIv1::beta

Definition at line 36 of file Factor_ImuCPIv1.h.

◆ dt

double ov_init::Factor_ImuCPIv1::dt

Definition at line 38 of file Factor_ImuCPIv1.h.

◆ grav_save

Eigen::Vector3d ov_init::Factor_ImuCPIv1::grav_save

Definition at line 55 of file Factor_ImuCPIv1.h.

◆ H_a

Eigen::Matrix3d ov_init::Factor_ImuCPIv1::H_a

Definition at line 48 of file Factor_ImuCPIv1.h.

◆ H_b

Eigen::Matrix3d ov_init::Factor_ImuCPIv1::H_b

Definition at line 49 of file Factor_ImuCPIv1.h.

◆ J_a

Eigen::Matrix3d ov_init::Factor_ImuCPIv1::J_a

Definition at line 46 of file Factor_ImuCPIv1.h.

◆ J_b

Eigen::Matrix3d ov_init::Factor_ImuCPIv1::J_b

Definition at line 47 of file Factor_ImuCPIv1.h.

◆ J_q

Eigen::Matrix3d ov_init::Factor_ImuCPIv1::J_q

Definition at line 45 of file Factor_ImuCPIv1.h.

◆ q_breve

Eigen::Vector4d ov_init::Factor_ImuCPIv1::q_breve

Definition at line 37 of file Factor_ImuCPIv1.h.

◆ sqrtI_save

Eigen::Matrix<double, 15, 15> ov_init::Factor_ImuCPIv1::sqrtI_save

Definition at line 52 of file Factor_ImuCPIv1.h.

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

Public Member Functions

Public Attributes