Public Member Functions | Private Attributes | List of all members
gtsam::AcceleratingScenario Class Reference

Accelerating from an arbitrary initial state, with optional rotation. More...

#include <Scenario.h>

Inheritance diagram for gtsam::AcceleratingScenario:
Inheritance graph
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Public Member Functions

 AcceleratingScenario (const Rot3 &nRb, const Point3 &p0, const Vector3 &v0, const Vector3 &a_n, const Vector3 &omega_b=Vector3::Zero())
 
Vector3 acceleration_n (double t) const override
 acceleration in nav frame More...
 
Vector3 omega_b (double t) const override
 angular velocity in body frame More...
 
Pose3 pose (double t) const override
 pose at time t More...
 
Vector3 velocity_n (double t) const override
 velocity at time t, in nav frame More...
 
- Public Member Functions inherited from gtsam::Scenario
Vector3 acceleration_b (double t) const
 
NavState navState (double t) const
 
Rot3 rotation (double t) const
 
Vector3 velocity_b (double t) const
 
virtual ~Scenario ()
 virtual destructor More...
 

Private Attributes

const Vector3 a_n_
 
const Rot3 nRb_
 
const Vector3 omega_b_
 
const Vector3 p0_
 
const Vector3 v0_
 

Detailed Description

Accelerating from an arbitrary initial state, with optional rotation.

Definition at line 83 of file Scenario.h.

Constructor & Destructor Documentation

gtsam::AcceleratingScenario::AcceleratingScenario ( const Rot3 nRb,
const Point3 p0,
const Vector3 v0,
const Vector3 a_n,
const Vector3 omega_b = Vector3::Zero() 
)
inline

Construct scenario with constant acceleration in navigation frame and optional angular velocity in body: rotating while translating...

Definition at line 87 of file Scenario.h.

Member Function Documentation

Vector3 gtsam::AcceleratingScenario::acceleration_n ( double  t) const
inlineoverridevirtual

acceleration in nav frame

Implements gtsam::Scenario.

Definition at line 97 of file Scenario.h.

Vector3 gtsam::AcceleratingScenario::omega_b ( double  t) const
inlineoverridevirtual

angular velocity in body frame

Implements gtsam::Scenario.

Definition at line 95 of file Scenario.h.

Pose3 gtsam::AcceleratingScenario::pose ( double  t) const
inlineoverridevirtual

pose at time t

Implements gtsam::Scenario.

Definition at line 92 of file Scenario.h.

Vector3 gtsam::AcceleratingScenario::velocity_n ( double  t) const
inlineoverridevirtual

velocity at time t, in nav frame

Implements gtsam::Scenario.

Definition at line 96 of file Scenario.h.

Member Data Documentation

const Vector3 gtsam::AcceleratingScenario::a_n_
private

Definition at line 101 of file Scenario.h.

const Rot3 gtsam::AcceleratingScenario::nRb_
private

Definition at line 100 of file Scenario.h.

const Vector3 gtsam::AcceleratingScenario::omega_b_
private

Definition at line 101 of file Scenario.h.

const Vector3 gtsam::AcceleratingScenario::p0_
private

Definition at line 101 of file Scenario.h.

const Vector3 gtsam::AcceleratingScenario::v0_
private

Definition at line 101 of file Scenario.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:03