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

#include <ScenarioRunner.h>

Public Types

typedef imuBias::ConstantBias Bias
 
typedef boost::shared_ptr< PreintegrationParamsSharedParams
 

Public Member Functions

Vector3 actualAngularVelocity (double t) const
 
Vector3 actualSpecificForce (double t) const
 
Matrix9 estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const
 Compute a Monte Carlo estimate of the predict covariance using N samples. More...
 
Matrix6 estimateNoiseCovariance (size_t N=1000) const
 Estimate covariance of sampled noise for sanity-check. More...
 
const Vector3gravity_n () const
 
const double & imuSampleTime () const
 
PreintegratedImuMeasurements integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const
 Integrate measurements for T seconds into a PIM. More...
 
Vector3 measuredAngularVelocity (double t) const
 
Vector3 measuredSpecificForce (double t) const
 
NavState predict (const PreintegratedImuMeasurements &pim, const Bias &estimatedBias=Bias()) const
 Predict predict given a PIM. More...
 
 ScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias())
 

Private Attributes

Sampler accSampler_
 
const Bias estimatedBias_
 
Sampler gyroSampler_
 
const double imuSampleTime_
 
const SharedParams p_
 
const Scenarioscenario_
 
const double sqrt_dt_
 

Detailed Description

Definition at line 39 of file ScenarioRunner.h.

Member Typedef Documentation

Definition at line 41 of file ScenarioRunner.h.

Definition at line 42 of file ScenarioRunner.h.

Constructor & Destructor Documentation

gtsam::ScenarioRunner::ScenarioRunner ( const Scenario scenario,
const SharedParams p,
double  imuSampleTime = 1.0 / 100.0,
const Bias bias = Bias() 
)
inline

Definition at line 54 of file ScenarioRunner.h.

Member Function Documentation

Vector3 gtsam::ScenarioRunner::actualAngularVelocity ( double  t) const
inline

Definition at line 70 of file ScenarioRunner.h.

Vector3 gtsam::ScenarioRunner::actualSpecificForce ( double  t) const
inline

Definition at line 75 of file ScenarioRunner.h.

Matrix9 gtsam::ScenarioRunner::estimateCovariance ( double  T,
size_t  N = 1000,
const Bias estimatedBias = Bias() 
) const

Compute a Monte Carlo estimate of the predict covariance using N samples.

Definition at line 57 of file ScenarioRunner.cpp.

Matrix6 gtsam::ScenarioRunner::estimateNoiseCovariance ( size_t  N = 1000) const

Estimate covariance of sampled noise for sanity-check.

Definition at line 87 of file ScenarioRunner.cpp.

const Vector3& gtsam::ScenarioRunner::gravity_n ( ) const
inline

Definition at line 67 of file ScenarioRunner.h.

const double& gtsam::ScenarioRunner::imuSampleTime ( ) const
inline

Definition at line 90 of file ScenarioRunner.h.

PreintegratedImuMeasurements gtsam::ScenarioRunner::integrate ( double  T,
const Bias estimatedBias = Bias(),
bool  corrupted = false 
) const

Integrate measurements for T seconds into a PIM.

Definition at line 32 of file ScenarioRunner.cpp.

Vector3 gtsam::ScenarioRunner::measuredAngularVelocity ( double  t) const
inline

Definition at line 81 of file ScenarioRunner.h.

Vector3 gtsam::ScenarioRunner::measuredSpecificForce ( double  t) const
inline

Definition at line 85 of file ScenarioRunner.h.

NavState gtsam::ScenarioRunner::predict ( const PreintegratedImuMeasurements pim,
const Bias estimatedBias = Bias() 
) const

Predict predict given a PIM.

Definition at line 51 of file ScenarioRunner.cpp.

Member Data Documentation

Sampler gtsam::ScenarioRunner::accSampler_
private

Definition at line 51 of file ScenarioRunner.h.

const Bias gtsam::ScenarioRunner::estimatedBias_
private

Definition at line 48 of file ScenarioRunner.h.

Sampler gtsam::ScenarioRunner::gyroSampler_
private

Definition at line 51 of file ScenarioRunner.h.

const double gtsam::ScenarioRunner::imuSampleTime_
private

Definition at line 47 of file ScenarioRunner.h.

const SharedParams gtsam::ScenarioRunner::p_
private

Definition at line 46 of file ScenarioRunner.h.

const Scenario& gtsam::ScenarioRunner::scenario_
private

Definition at line 45 of file ScenarioRunner.h.

const double gtsam::ScenarioRunner::sqrt_dt_
private

Definition at line 47 of file ScenarioRunner.h.


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


gtsam
Author(s):
autogenerated on Sat May 8 2021 02:58:27