#include <AHRSFactor.h>

Inheritance diagram for gtsam::PreintegratedAhrsMeasurements:

Public Member Functions
const Vector3 &	biasHat () const

bool	equals (const PreintegratedAhrsMeasurements &, double tol=1e-9) const
	equals More...

void	integrateMeasurement (const Vector3 &measuredOmega, double deltaT)

Params &	p () const

Vector3	predict (const Vector3 &bias, OptionalJacobian< 3, 3 > H=boost::none) const

	PreintegratedAhrsMeasurements ()
	Default constructor, only for serialization and wrappers. More...

	PreintegratedAhrsMeasurements (const boost::shared_ptr< Params > &p, const Vector3 &biasHat)

	PreintegratedAhrsMeasurements (const boost::shared_ptr< Params > &p, const Vector3 &bias_hat, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega, const Matrix3 &preint_meas_cov)

	PreintegratedAhrsMeasurements (const Vector3 &biasHat, const Matrix3 &measuredOmegaCovariance)

const Matrix3 &	preintMeasCov () const

void	print (const std::string &s="Preintegrated Measurements: ") const
	print More...

void	resetIntegration ()
	Reset inetgrated quantities to zero. More...

Public Member Functions inherited from gtsam::PreintegratedRotation
	PreintegratedRotation (const boost::shared_ptr< Params > &p)
	Default constructor, resets integration to zero. More...

	PreintegratedRotation (const boost::shared_ptr< Params > &p, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega)
	Explicit initialization of all class members. More...

void	resetIntegration ()
	Re-initialize PreintegratedMeasurements. More...

bool	matchesParamsWith (const PreintegratedRotation &other) const
	check parameters equality: checks whether shared pointer points to same Params object. More...

const boost::shared_ptr< Params > &	params () const

const double &	deltaTij () const

const Rot3 &	deltaRij () const

const Matrix3 &	delRdelBiasOmega () const

void	print (const std::string &s) const

bool	equals (const PreintegratedRotation &other, double tol) const

Rot3	incrementalRotation (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > D_incrR_integratedOmega) const

void	integrateMeasurement (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > D_incrR_integratedOmega=boost::none, OptionalJacobian< 3, 3 > F=boost::none)

Rot3	biascorrectedDeltaRij (const Vector3 &biasOmegaIncr, OptionalJacobian< 3, 3 > H=boost::none) const
	Return a bias corrected version of the integrated rotation, with optional Jacobian. More...

Vector3	integrateCoriolis (const Rot3 &rot_i) const
	Integrate coriolis correction in body frame rot_i. More...

Static Public Member Functions
static Vector	DeltaAngles (const Vector &msr_gyro_t, const double msr_dt, const Vector3 &delta_angles)

Protected Attributes
Vector3	biasHat_
	Angular rate bias values used during preintegration. More...

Matrix3	preintMeasCov_
	Covariance matrix of the preintegrated measurements (first-order propagation from measurementCovariance) More...

Protected Attributes inherited from gtsam::PreintegratedRotation
Matrix3	delRdelBiasOmega_
	Jacobian of preintegrated rotation w.r.t. angular rate bias. More...

Rot3	deltaRij_
	Preintegrated relative orientation (in frame i) More...

double	deltaTij_
	Time interval from i to j. More...

boost::shared_ptr< Params >	p_
	Parameters. More...

Private Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Friends
class	AHRSFactor

class	boost::serialization::access

Additional Inherited Members
Public Types inherited from gtsam::PreintegratedRotation
typedef PreintegratedRotationParams	Params

Protected Member Functions inherited from gtsam::PreintegratedRotation
	PreintegratedRotation ()
	Default constructor for serialization. More...

Detailed Description

PreintegratedAHRSMeasurements accumulates (integrates) the Gyroscope measurements (rotation rates) and the corresponding covariance matrix. Can be built incrementally so as to avoid costly integration at time of factor construction.

Definition at line 34 of file AHRSFactor.h.

Constructor & Destructor Documentation

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( )

inline

Default constructor, only for serialization and wrappers.

Definition at line 46 of file AHRSFactor.h.

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements	(	const boost::shared_ptr< Params > &	p,
		const Vector3 &	biasHat
	)

inline

Default constructor, initialize with no measurements

Parameters

bias	Current estimate of acceleration and rotation rate biases

Definition at line 52 of file AHRSFactor.h.

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements	(	const boost::shared_ptr< Params > &	p,
		const Vector3 &	bias_hat,
		double	deltaTij,
		const Rot3 &	deltaRij,
		const Matrix3 &	delRdelBiasOmega,
		const Matrix3 &	preint_meas_cov
	)

inline

Non-Default constructor, initialize with measurements

Parameters

p	Parameters for AHRS pre-integration
bias_hat	Current estimate of acceleration and rotation rate biases
deltaTij	Delta time in pre-integration
deltaRij	Delta rotation in pre-integration
delRdelBiasOmega	Jacobian of rotation wrt. to gyro bias
preint_meas_cov	Pre-integration covariance

Definition at line 67 of file AHRSFactor.h.

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements	(	const Vector3 &	biasHat,
		const Matrix3 &	measuredOmegaCovariance
	)

inline

Deprecated:: constructor

Definition at line 108 of file AHRSFactor.h.

Member Function Documentation

const Vector3& gtsam::PreintegratedAhrsMeasurements::biasHat ( ) const

inline

Definition at line 79 of file AHRSFactor.h.

Vector gtsam::PreintegratedAhrsMeasurements::DeltaAngles	(	const Vector &	msr_gyro_t,
		const double	msr_dt,
		const Vector3 &	delta_angles
	)

static

Definition at line 73 of file AHRSFactor.cpp.

bool gtsam::PreintegratedAhrsMeasurements::equals	(	const PreintegratedAhrsMeasurements &	other,
		double	tol = `1e-9`
	)		const

equals

Definition at line 37 of file AHRSFactor.cpp.

void gtsam::PreintegratedAhrsMeasurements::integrateMeasurement	(	const Vector3 &	measuredOmega,
		double	deltaT
	)

Add a single Gyroscope measurement to the preintegration.

Parameters

measureOmedga	Measured angular velocity (in body frame)
deltaT	Time step

Definition at line 50 of file AHRSFactor.cpp.

Params& gtsam::PreintegratedAhrsMeasurements::p ( ) const

inline

Definition at line 78 of file AHRSFactor.h.

Vector3 gtsam::PreintegratedAhrsMeasurements::predict	(	const Vector3 &	bias,
		OptionalJacobian< 3, 3 >	H = `boost::none`
	)		const

Predict bias-corrected incremental rotation TODO: The matrix Hbias is the derivative of predict? Unit-test?

Definition at line 63 of file AHRSFactor.cpp.

const Matrix3& gtsam::PreintegratedAhrsMeasurements::preintMeasCov ( ) const

inline

Definition at line 80 of file AHRSFactor.h.

void gtsam::PreintegratedAhrsMeasurements::print ( const std::string & s = "Preintegrated Measurements: " ) const

print

Definition at line 30 of file AHRSFactor.cpp.

void gtsam::PreintegratedAhrsMeasurements::resetIntegration ( )

Reset inetgrated quantities to zero.

Definition at line 44 of file AHRSFactor.cpp.

template<class ARCHIVE >

void gtsam::PreintegratedAhrsMeasurements::serialize	(	ARCHIVE &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 121 of file AHRSFactor.h.

Friends And Related Function Documentation

friend class AHRSFactor

friend

Definition at line 41 of file AHRSFactor.h.

friend class boost::serialization::access

friend

Serialization function

Definition at line 119 of file AHRSFactor.h.

Member Data Documentation

Vector3 gtsam::PreintegratedAhrsMeasurements::biasHat_

protected

Angular rate bias values used during preintegration.

Definition at line 38 of file AHRSFactor.h.

Matrix3 gtsam::PreintegratedAhrsMeasurements::preintMeasCov_

protected

Covariance matrix of the preintegrated measurements (first-order propagation from measurementCovariance)

Definition at line 39 of file AHRSFactor.h.

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation