#include <ImuBias.h>

Public Member Functions
const Vector3 &	accelerometer () const

	ConstantBias ()

	ConstantBias (const Vector3 &biasAcc, const Vector3 &biasGyro)

	ConstantBias (const Vector6 &v)

Vector3	correctAccelerometer (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const

Vector3	correctGyroscope (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const

const Vector3 &	gyroscope () const

Vector6	vector () const

Static Public Attributes
static const size_t	dimension = 6
	dimension of the variable - used to autodetect sizes More...

Private Attributes
Vector3	biasAcc_
	The units for stddev are σ = m/s² or m √Hz/s² More...

Vector3	biasGyro_
	The units for stddev are σ = rad/s or rad √Hz/s. More...

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const ConstantBias &bias)
	ostream operator More...

void	print (const std::string &s="") const
	print with optional string More...

bool	equals (const ConstantBias &expected, double tol=1e-5) const

Group
ConstantBias	operator- () const

ConstantBias	operator+ (const Vector6 &v) const

ConstantBias	operator+ (const ConstantBias &b) const

ConstantBias	operator- (const ConstantBias &b) const

static ConstantBias	identity ()

Deprecated
ConstantBias	inverse ()

ConstantBias	compose (const ConstantBias &q)

ConstantBias	between (const ConstantBias &q)

Vector6	localCoordinates (const ConstantBias &q)

ConstantBias	retract (const Vector6 &v)

static Vector6	Logmap (const ConstantBias &p)

static ConstantBias	Expmap (const Vector6 &v)

Advanced Interface
class	boost::serialization::access

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

Detailed Description

Definition at line 30 of file ImuBias.h.

Constructor & Destructor Documentation

gtsam::imuBias::ConstantBias::ConstantBias ( )

inline

Definition at line 39 of file ImuBias.h.

gtsam::imuBias::ConstantBias::ConstantBias	(	const Vector3 &	biasAcc,
		const Vector3 &	biasGyro
	)

inline

Definition at line 43 of file ImuBias.h.

gtsam::imuBias::ConstantBias::ConstantBias ( const Vector6 & v )

inlineexplicit

Definition at line 47 of file ImuBias.h.

Member Function Documentation

const Vector3& gtsam::imuBias::ConstantBias::accelerometer ( ) const

inline

get accelerometer bias

Definition at line 59 of file ImuBias.h.

ConstantBias gtsam::imuBias::ConstantBias::between ( const ConstantBias & q )

inline

Definition at line 142 of file ImuBias.h.

ConstantBias gtsam::imuBias::ConstantBias::compose ( const ConstantBias & q )

inline

Definition at line 139 of file ImuBias.h.

Vector3 gtsam::imuBias::ConstantBias::correctAccelerometer	(	const Vector3 &	measurement,
		OptionalJacobian< 3, 6 >	H1 = `boost::none`,
		OptionalJacobian< 3, 3 >	H2 = `boost::none`
	)		const

inline

Correct an accelerometer measurement using this bias model, and optionally compute Jacobians

Definition at line 69 of file ImuBias.h.

Vector3 gtsam::imuBias::ConstantBias::correctGyroscope	(	const Vector3 &	measurement,
		OptionalJacobian< 3, 6 >	H1 = `boost::none`,
		OptionalJacobian< 3, 3 >	H2 = `boost::none`
	)		const

inline

Correct a gyroscope measurement using this bias model, and optionally compute Jacobians

Definition at line 78 of file ImuBias.h.

bool gtsam::imuBias::ConstantBias::equals	(	const ConstantBias &	expected,
		double	tol = `1e-5`
	)		const

inline

equality up to tolerance

Definition at line 98 of file ImuBias.h.

static ConstantBias gtsam::imuBias::ConstantBias::Expmap ( const Vector6 & v )

inlinestatic

Definition at line 154 of file ImuBias.h.

const Vector3& gtsam::imuBias::ConstantBias::gyroscope ( ) const

inline

get gyroscope bias

Definition at line 64 of file ImuBias.h.

static ConstantBias gtsam::imuBias::ConstantBias::identity ( )

inlinestatic

identity for group operation

Definition at line 108 of file ImuBias.h.

ConstantBias gtsam::imuBias::ConstantBias::inverse ( )

inline

Definition at line 136 of file ImuBias.h.

Vector6 gtsam::imuBias::ConstantBias::localCoordinates ( const ConstantBias & q )

inline

Definition at line 145 of file ImuBias.h.

static Vector6 gtsam::imuBias::ConstantBias::Logmap ( const ConstantBias & p )

inlinestatic

Definition at line 151 of file ImuBias.h.

ConstantBias gtsam::imuBias::ConstantBias::operator+ ( const Vector6 & v ) const

inline

addition of vector on right

Definition at line 118 of file ImuBias.h.

ConstantBias gtsam::imuBias::ConstantBias::operator+ ( const ConstantBias & b ) const

inline

addition

Definition at line 123 of file ImuBias.h.

ConstantBias gtsam::imuBias::ConstantBias::operator- ( ) const

inline

inverse

Definition at line 113 of file ImuBias.h.

ConstantBias gtsam::imuBias::ConstantBias::operator- ( const ConstantBias & b ) const

inline

subtraction

Definition at line 128 of file ImuBias.h.

void gtsam::imuBias::ConstantBias::print ( const std::string & s = "" ) const

print with optional string

Definition at line 75 of file ImuBias.cpp.

ConstantBias gtsam::imuBias::ConstantBias::retract ( const Vector6 & v )

inline

Definition at line 148 of file ImuBias.h.

template<class ARCHIVE >

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

inlineprivate

Definition at line 167 of file ImuBias.h.

Vector6 gtsam::imuBias::ConstantBias::vector ( ) const

inline

return the accelerometer and gyro biases in a single vector

Definition at line 52 of file ImuBias.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 165 of file ImuBias.h.

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const ConstantBias &	bias
	)

friend

ostream operator

Definition at line 68 of file ImuBias.cpp.

Member Data Documentation

Vector3 gtsam::imuBias::ConstantBias::biasAcc_

private

The units for stddev are σ = m/s² or m √Hz/s²

Definition at line 32 of file ImuBias.h.

Vector3 gtsam::imuBias::ConstantBias::biasGyro_

private

The units for stddev are σ = rad/s or rad √Hz/s.

Definition at line 33 of file ImuBias.h.

const size_t gtsam::imuBias::ConstantBias::dimension = 6

static

dimension of the variable - used to autodetect sizes

Definition at line 37 of file ImuBias.h.

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

Public Member Functions

Static Public Attributes

Private Attributes

Testable

Group

Deprecated

Advanced Interface

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation