Inheritance diagram for gtsam.examples.PreintegrationExample.PreintegrationExample:

Public Member Functions
def	__init__ (self, Optional[np.ndarray] twist=None, Optional[gtsam.imuBias.ConstantBias] bias=None, Optional[gtsam.PreintegrationParams] params=None, float dt=1e-2)

def	plotGroundTruthPose (self, float t, float scale=0.3, float time_interval=0.01)

def	plotImu (self, float t, Sequence measuredOmega, Sequence measuredAcc)

def	run (self, int T=12)

Static Public Member Functions
def	defaultParams (float g)

Public Attributes
	actualBias

	axes

	colors

	dt

	labels

	maxDim

	params

	runner

	scenario

Detailed Description

Base class for all preintegration examples.

Definition at line 28 of file PreintegrationExample.py.

Constructor & Destructor Documentation

◆ init()

def gtsam.examples.PreintegrationExample.PreintegrationExample.__init__	(		self,
		Optional[np.ndarray]	twist = `None`,
		Optional[gtsam.imuBias.ConstantBias]	bias = `None`,
		Optional[gtsam.PreintegrationParams]	params = `None`,
		float	dt = `1e-2`
	)

Initialize with given twist, a pair(angularVelocityVector, velocityVector).

Definition at line 42 of file PreintegrationExample.py.

Member Function Documentation

◆ defaultParams()

def gtsam.examples.PreintegrationExample.PreintegrationExample.defaultParams ( float g )

static

Create default parameters with Z *up* and realistic noise parameters

Definition at line 31 of file PreintegrationExample.py.

◆ plotGroundTruthPose()

def gtsam.examples.PreintegrationExample.PreintegrationExample.plotGroundTruthPose	(		self,
		float	t,
		float	scale = `0.3`,
		float	time_interval = `0.01`
	)

Plot ground truth pose, as well as prediction from integrated IMU measurements.
Args:
    t: Time at which the pose was obtained.
    scale: The scaling factor for the pose axes.
    time_interval: The time to wait before showing the plot.

Definition at line 129 of file PreintegrationExample.py.

◆ plotImu()

def gtsam.examples.PreintegrationExample.PreintegrationExample.plotImu	(		self,
		float	t,
		Sequence	measuredOmega,
		Sequence	measuredAcc
	)

Plot IMU measurements.
Args:
    t: The time at which the measurement was recoreded.
    measuredOmega: Measured angular velocity.
    measuredAcc: Measured linear acceleration.

Definition at line 88 of file PreintegrationExample.py.

◆ run()

def gtsam.examples.PreintegrationExample.PreintegrationExample.run	(		self,
		int	T = `12`
	)

Simulate the loop.

Definition at line 151 of file PreintegrationExample.py.

Member Data Documentation

◆ actualBias

gtsam.examples.PreintegrationExample.PreintegrationExample.actualBias

Definition at line 71 of file PreintegrationExample.py.

◆ axes

gtsam.examples.PreintegrationExample.PreintegrationExample.axes

Definition at line 81 of file PreintegrationExample.py.

◆ colors

gtsam.examples.PreintegrationExample.PreintegrationExample.colors

Definition at line 62 of file PreintegrationExample.py.

◆ dt

gtsam.examples.PreintegrationExample.PreintegrationExample.dt

Definition at line 58 of file PreintegrationExample.py.

◆ labels

gtsam.examples.PreintegrationExample.PreintegrationExample.labels

Definition at line 61 of file PreintegrationExample.py.

◆ maxDim

gtsam.examples.PreintegrationExample.PreintegrationExample.maxDim

Definition at line 60 of file PreintegrationExample.py.

◆ params

gtsam.examples.PreintegrationExample.PreintegrationExample.params

Definition at line 65 of file PreintegrationExample.py.

◆ runner

gtsam.examples.PreintegrationExample.PreintegrationExample.runner

Definition at line 78 of file PreintegrationExample.py.

◆ scenario

gtsam.examples.PreintegrationExample.PreintegrationExample.scenario

Definition at line 57 of file PreintegrationExample.py.

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

PreintegrationExample.py

Public Member Functions

Static Public Member Functions

Public Attributes