Inheritance diagram for gtsam.examples.ImuFactorExample.ImuFactorExample:
Public Member Functions | |
| def | __init__ (self, str twist_scenario="sick_twist") |
| def | addPrior (self, int i, gtsam.NonlinearFactorGraph graph) |
| def | optimize (self, gtsam.NonlinearFactorGraph graph, gtsam.Values initial) |
| def | plot (self, gtsam.Values values, str title="Estimated Trajectory", int fignum=POSES_FIG+1, bool show=False) |
| def | run (self, int T=12, bool compute_covariances=False, bool verbose=True) |
 Public Member Functions inherited from gtsam.examples.PreintegrationExample.PreintegrationExample | |
| def | __init__ (self, Optional[np.ndarray] twist=None, Optional[gtsam.imuBias.ConstantBias] bias=None, Optional[gtsam.PreintegrationParams] params=None, float dt=1e-2) |
| def | plotGroundTruthPose (self, float t, float scale=0.3, float time_interval=0.01) |
| def | plotImu (self, float t, Sequence measuredOmega, Sequence measuredAcc) |
| def | run (self, int T=12) |
Public Attributes | |
| priorNoise | |
| velNoise | |
| velocity | |
| Public Attributes inherited from gtsam.examples.PreintegrationExample.PreintegrationExample | |
| actualBias | |
| axes | |
| colors | |
| dt | |
| labels | |
| maxDim | |
| params | |
| runner | |
| scenario | |
Additional Inherited Members | |
| Static Public Member Functions inherited from gtsam.examples.PreintegrationExample.PreintegrationExample | |
| def | defaultParams (float g) |
Detailed Description
Class to run example of the Imu Factor.
Definition at line 55 of file ImuFactorExample.py.
Constructor & Destructor Documentation
◆ __init__()
| def gtsam.examples.ImuFactorExample.ImuFactorExample.__init__ | ( | self, | |
| str | twist_scenario = "sick_twist" |
||
| ) |
Definition at line 57 of file ImuFactorExample.py.
Member Function Documentation
◆ addPrior()
| def gtsam.examples.ImuFactorExample.ImuFactorExample.addPrior | ( | self, | |
| int | i, | ||
| gtsam.NonlinearFactorGraph | graph | ||
| ) |
Add a prior on the navigation state at time `i`.
Definition at line 88 of file ImuFactorExample.py.
◆ optimize()
| def gtsam.examples.ImuFactorExample.ImuFactorExample.optimize | ( | self, | |
| gtsam.NonlinearFactorGraph | graph, | ||
| gtsam.Values | initial | ||
| ) |
Optimize using Levenberg-Marquardt optimization.
Definition at line 96 of file ImuFactorExample.py.
◆ plot()
| def gtsam.examples.ImuFactorExample.ImuFactorExample.plot | ( | self, | |
| gtsam.Values | values, | ||
| str | title = "Estimated Trajectory", |
||
| int | fignum = POSES_FIG + 1, |
||
| bool | show = False |
||
| ) |
Plot poses in values.
Args:
values: The values object with the poses to plot.
title: The title of the plot.
fignum: The matplotlib figure number.
POSES_FIG is a value from the PreintegrationExample which we simply increment to generate a new figure.
show: Flag indicating whether to display the figure.
Definition at line 105 of file ImuFactorExample.py.
◆ run()
| def gtsam.examples.ImuFactorExample.ImuFactorExample.run | ( | self, | |
| int | T = 12, |
||
| bool | compute_covariances = False, |
||
| bool | verbose = True |
||
| ) |
Main runner.
Args:
T: Total trajectory time.
compute_covariances: Flag indicating whether to compute marginal covariances.
verbose: Flag indicating if printing should be verbose.
Definition at line 136 of file ImuFactorExample.py.
Member Data Documentation
◆ priorNoise
| gtsam.examples.ImuFactorExample.ImuFactorExample.priorNoise |
Definition at line 59 of file ImuFactorExample.py.
◆ velNoise
| gtsam.examples.ImuFactorExample.ImuFactorExample.velNoise |
Definition at line 60 of file ImuFactorExample.py.
◆ velocity
| gtsam.examples.ImuFactorExample.ImuFactorExample.velocity |
Definition at line 58 of file ImuFactorExample.py.
The documentation for this class was generated from the following file: