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29 ManifoldPreintegration::ManifoldPreintegration(
30 const std::shared_ptr<Params>&
p,
const Bias& biasHat) :
69 Matrix3 D_correctedAcc_acc, D_correctedAcc_omega, D_correctedOmega_omega;
72 acc,
omega, D_correctedAcc_acc, D_correctedAcc_omega,
73 D_correctedOmega_omega);
85 *
C *= D_correctedOmega_omega;
87 *
C += *
B * D_correctedAcc_omega;
88 *
B *= D_correctedAcc_acc;
94 oldRij.
rotate(acc, D_acc_R);
98 Matrix3 D_incrR_integratedOmega;
100 const Matrix3 incrRt = incrR.
transpose();
103 double dt22 = 0.5 *
dt *
dt;
104 const Matrix3 dRij = oldRij.
matrix();
116 Matrix3 D_correctedRij_bias;
119 H ? &D_correctedRij_bias : 0);
124 Matrix3 D_dR_correctedRij;
134 Matrix36 D_dR_bias, D_dP_bias, D_dV_bias;
135 D_dR_bias << Z_3x3, D_dR_correctedRij * D_correctedRij_bias;
138 (*H) << D_dR_bias, D_dP_bias, D_dV_bias;
void update(const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt, Matrix9 *A, Matrix93 *B, Matrix93 *C) override
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static Eigen::Block< Vector9, 3, 1 > dR(Vector9 &v)
Matrix3 delRdelBiasOmega_
Jacobian of preintegrated rotation w.r.t. angular rate bias.
const Vector3 & gyroscope() const
Matrix< SCALARB, Dynamic, Dynamic, opt_B > B
static Eigen::Block< Vector9, 3, 1 > dP(Vector9 &v)
Rot3 deltaRij() const override
bool equals(const ConstantBias &expected, double tol=1e-5) const
std::pair< Vector3, Vector3 > correctMeasurementsBySensorPose(const Vector3 &unbiasedAcc, const Vector3 &unbiasedOmega, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedAcc={}, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedOmega={}, OptionalJacobian< 3, 3 > correctedOmega_H_unbiasedOmega={}) const
bool equal_with_abs_tol(const Eigen::DenseBase< MATRIX > &A, const Eigen::DenseBase< MATRIX > &B, double tol=1e-9)
Vector3 correctAccelerometer(const Vector3 &measurement, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
NavState update(const Vector3 &b_acceleration, const Vector3 &b_omega, const double dt, OptionalJacobian< 9, 9 > F={}, OptionalJacobian< 9, 3 > G1={}, OptionalJacobian< 9, 3 > G2={}) const
Matrix3 delPdelBiasOmega_
Jacobian of preintegrated position w.r.t. angular rate bias.
static Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0))
Bias biasHat_
Acceleration and gyro bias used for preintegration.
Matrix< SCALARA, Dynamic, Dynamic, opt_A > A
const Vector3 measuredOmega
const Rot3 & attitude(OptionalJacobian< 3, 9 > H={}) const
Point3 rotate(const Point3 &p, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
const Vector3 & accelerometer() const
Vector3 deltaVij() const override
Params & p() const
const reference to params
std::shared_ptr< Params > p_
static Eigen::Block< Vector9, 3, 1 > dV(Vector9 &v)
void resetIntegration() override
Matrix< Scalar, Dynamic, Dynamic > C
bool equals(const NavState &other, double tol=1e-8) const
equals
Matrix3 delPdelBiasAcc_
Jacobian of preintegrated position w.r.t. acceleration bias.
static Rot3 Expmap(const Vector3 &v, OptionalJacobian< 3, 3 > H={})
double deltaTij_
Time interval from i to j.
Matrix3 delVdelBiasOmega_
Jacobian of preintegrated velocity w.r.t. angular rate bias.
Matrix3 transpose() const
static Vector3 Logmap(const Rot3 &R, OptionalJacobian< 3, 3 > H={})
static const Vector3 measuredAcc
Vector3 deltaPij() const override
Vector3 correctGyroscope(const Vector3 &measurement, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
Matrix3 delVdelBiasAcc_
Jacobian of preintegrated velocity w.r.t. acceleration bias.
Class expmap(const TangentVector &v) const
Vector9 biasCorrectedDelta(const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H={}) const override
bool equals(const ManifoldPreintegration &other, double tol) const
gtsam
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autogenerated on Sun Dec 22 2024 04:11:57