imuFactorTesting.h File Reference

Common testing infrastructure. More...

#include <gtsam/navigation/ImuBias.h>
#include <gtsam/inference/Symbol.h>

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Classes
struct	testing::ImuMeasurement
struct	testing::SomeMeasurements

Namespaces
	testing

Typedefs
typedef imuBias::ConstantBias	Bias

Functions
template<typename PIM >
void	testing::integrateMeasurements (const vector< ImuMeasurement > &measurements, PIM *pim)
static const Vector3	kGravityAlongNavZDown (0, 0, kGravity)
static const Vector3	kNonZeroOmegaCoriolis (0, 0.1, 0.1)
static const Vector3	kZeroOmegaCoriolis (0, 0, 0)

Variables
static const double	kAccelSigma = 0.1 / 60
static const double	kGravity = 10
static const double	kGyroSigma = radians(0.5) / 60
static const Vector3	kZero = Z_3x1
static const Bias	kZeroBias
static const Bias	kZeroBiasHat
auto	radians = [](double t) { return t * M_PI / 180; }

Detailed Description

Common testing infrastructure.

Author

Frank Dellaert

Definition in file imuFactorTesting.h.

Typedef Documentation

typedef imuBias::ConstantBias Bias

Definition at line 32 of file imuFactorTesting.h.

Function Documentation

static const Vector3 kGravityAlongNavZDown ( 0  , 0  , kGravity    )

static

static const Vector3 kNonZeroOmegaCoriolis ( 0  , 0.  1, 0.  1  )

static

static const Vector3 kZeroOmegaCoriolis ( 0  , 0  , 0    )

static

Variable Documentation

const double kAccelSigma = 0.1 / 60

static

Definition at line 45 of file imuFactorTesting.h.

const double kGravity = 10

static

Definition at line 38 of file imuFactorTesting.h.

const double kGyroSigma = radians(0.5) / 60

static

Definition at line 44 of file imuFactorTesting.h.

const Vector3 kZero = Z_3x1

static

Definition at line 31 of file imuFactorTesting.h.

const Bias kZeroBias

static

Definition at line 33 of file imuFactorTesting.h.

const Bias kZeroBiasHat

static

Definition at line 33 of file imuFactorTesting.h.

auto radians = [](double t) { return t * M_PI / 180; }

Definition at line 43 of file imuFactorTesting.h.