gtsam::AcceleratingScenario Class Reference

Accelerating from an arbitrary initial state, with optional rotation. More...

#include <Scenario.h>

Inheritance diagram for gtsam::AcceleratingScenario:

Public Member Functions
	AcceleratingScenario (const Rot3 &nRb, const Point3 &p0, const Vector3 &v0, const Vector3 &a_n, const Vector3 &omega_b=Vector3::Zero())
Vector3	acceleration_n (double t) const override
	acceleration in nav frame More...
Vector3	omega_b (double t) const override
	angular velocity in body frame More...
Pose3	pose (double t) const override
	pose at time t More...
Vector3	velocity_n (double t) const override
	velocity at time t, in nav frame More...
Public Member Functions inherited from gtsam::Scenario
Vector3	acceleration_b (double t) const
NavState	navState (double t) const
Rot3	rotation (double t) const
Vector3	velocity_b (double t) const
virtual	~Scenario ()
	virtual destructor More...

Private Attributes
const Vector3	a_n_
const Rot3	nRb_
const Vector3	omega_b_
const Vector3	p0_
const Vector3	v0_

Detailed Description

Accelerating from an arbitrary initial state, with optional rotation.

Definition at line 83 of file Scenario.h.

Constructor & Destructor Documentation

AcceleratingScenario()

gtsam::AcceleratingScenario::AcceleratingScenario ( const Rot3 &  nRb, const Point3 &  p0, const Vector3 &  v0, const Vector3 &  a_n, const Vector3 &  omega_b = Vector3::Zero()  )

inline

Construct scenario with constant acceleration in navigation frame and optional angular velocity in body: rotating while translating...

Definition at line 87 of file Scenario.h.

Member Function Documentation

acceleration_n()

Vector3 gtsam::AcceleratingScenario::acceleration_n ( double  t ) const

inlineoverridevirtual

acceleration in nav frame

Implements gtsam::Scenario.

Definition at line 97 of file Scenario.h.

omega_b()

Vector3 gtsam::AcceleratingScenario::omega_b ( double  t ) const

inlineoverridevirtual

angular velocity in body frame

Implements gtsam::Scenario.

Definition at line 95 of file Scenario.h.

pose()

Pose3 gtsam::AcceleratingScenario::pose ( double  t ) const

inlineoverridevirtual

pose at time t

Implements gtsam::Scenario.

Definition at line 92 of file Scenario.h.

velocity_n()

Vector3 gtsam::AcceleratingScenario::velocity_n ( double  t ) const

inlineoverridevirtual

velocity at time t, in nav frame

Implements gtsam::Scenario.

Definition at line 96 of file Scenario.h.

Member Data Documentation

a_n_

const Vector3 gtsam::AcceleratingScenario::a_n_

private

Definition at line 101 of file Scenario.h.

nRb_

const Rot3 gtsam::AcceleratingScenario::nRb_

private

Definition at line 100 of file Scenario.h.

omega_b_

const Vector3 gtsam::AcceleratingScenario::omega_b_

private

Definition at line 101 of file Scenario.h.

p0_

const Vector3 gtsam::AcceleratingScenario::p0_

private

Definition at line 101 of file Scenario.h.

v0_

const Vector3 gtsam::AcceleratingScenario::v0_

private

Definition at line 101 of file Scenario.h.

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

• Scenario.h