gtsam::PreintegrationParams Struct Reference

#include <PreintegrationParams.h>

Inheritance diagram for gtsam::PreintegrationParams:

Public Member Functions
bool	equals (const PreintegratedRotationParams &other, double tol) const override
const Matrix3 &	getAccelerometerCovariance () const
const Vector3 &	getGravity () const
const Matrix3 &	getIntegrationCovariance () const
bool	getUse2ndOrderCoriolis () const
	PreintegrationParams ()
	Default constructor for serialization only. More...
	PreintegrationParams (const Vector3 &n_gravity_)
void	print (const std::string &s="") const override
void	setAccelerometerCovariance (const Matrix3 &cov)
void	setIntegrationCovariance (const Matrix3 &cov)
void	setUse2ndOrderCoriolis (bool flag)
Public Member Functions inherited from gtsam::PreintegratedRotationParams
std::optional< Pose3 >	getBodyPSensor () const
const Matrix3 &	getGyroscopeCovariance () const
std::optional< Vector3 >	getOmegaCoriolis () const
	PreintegratedRotationParams ()
	PreintegratedRotationParams (const Matrix3 &gyroscope_covariance, std::optional< Vector3 > omega_coriolis)
void	setBodyPSensor (const Pose3 &pose)
void	setGyroscopeCovariance (const Matrix3 &cov)
void	setOmegaCoriolis (const Vector3 &omega)
virtual	~PreintegratedRotationParams ()

Static Public Member Functions
static std::shared_ptr< PreintegrationParams >	MakeSharedD (double g=9.81)
static std::shared_ptr< PreintegrationParams >	MakeSharedU (double g=9.81)

Public Attributes
Matrix3	accelerometerCovariance
Matrix3	integrationCovariance
	continuous-time "Covariance" describing integration uncertainty More...
Vector3	n_gravity
	Gravity vector in nav frame. More...
bool	use2ndOrderCoriolis
	Whether to use second order Coriolis integration. More...
Public Attributes inherited from gtsam::PreintegratedRotationParams
std::optional< Pose3 >	body_P_sensor
	The pose of the sensor in the body frame. More...
Matrix3	gyroscopeCovariance
std::optional< Vector3 >	omegaCoriolis
	Coriolis constant. More...

Detailed Description

Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor

Definition at line 25 of file PreintegrationParams.h.

Constructor & Destructor Documentation

PreintegrationParams() [1/2]

gtsam::PreintegrationParams::PreintegrationParams ( )

inline

Default constructor for serialization only.

Definition at line 34 of file PreintegrationParams.h.

PreintegrationParams() [2/2]

gtsam::PreintegrationParams::PreintegrationParams ( const Vector3 &  n_gravity_ )

inline

The Params constructor insists on getting the navigation frame gravity vector For convenience, two commonly used conventions are provided by named constructors below

Definition at line 43 of file PreintegrationParams.h.

Member Function Documentation

equals()

bool gtsam::PreintegrationParams::equals ( const PreintegratedRotationParams &  other, double  tol  ) const

overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

Definition at line 41 of file PreintegrationParams.cpp.

getAccelerometerCovariance()

const Matrix3& gtsam::PreintegrationParams::getAccelerometerCovariance ( ) const

inline

Definition at line 67 of file PreintegrationParams.h.

getGravity()

const Vector3& gtsam::PreintegrationParams::getGravity ( ) const

inline

Definition at line 69 of file PreintegrationParams.h.

getIntegrationCovariance()

const Matrix3& gtsam::PreintegrationParams::getIntegrationCovariance ( ) const

inline

Definition at line 68 of file PreintegrationParams.h.

getUse2ndOrderCoriolis()

bool gtsam::PreintegrationParams::getUse2ndOrderCoriolis ( ) const

inline

Definition at line 70 of file PreintegrationParams.h.

MakeSharedD()

static std::shared_ptr<PreintegrationParams> gtsam::PreintegrationParams::MakeSharedD ( double  g = 9.81 )

inlinestatic

Definition at line 51 of file PreintegrationParams.h.

MakeSharedU()

static std::shared_ptr<PreintegrationParams> gtsam::PreintegrationParams::MakeSharedU ( double  g = 9.81 )

inlinestatic

Definition at line 56 of file PreintegrationParams.h.

print()

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

overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

Definition at line 29 of file PreintegrationParams.cpp.

setAccelerometerCovariance()

void gtsam::PreintegrationParams::setAccelerometerCovariance ( const Matrix3 &  cov )

inline

Definition at line 63 of file PreintegrationParams.h.

setIntegrationCovariance()

void gtsam::PreintegrationParams::setIntegrationCovariance ( const Matrix3 &  cov )

inline

Definition at line 64 of file PreintegrationParams.h.

setUse2ndOrderCoriolis()

void gtsam::PreintegrationParams::setUse2ndOrderCoriolis ( bool  flag )

inline

Definition at line 65 of file PreintegrationParams.h.

Member Data Documentation

accelerometerCovariance

Matrix3 gtsam::PreintegrationParams::accelerometerCovariance

Continuous-time "Covariance" of accelerometer The units for stddev are σ = m/s²/√Hz

Definition at line 28 of file PreintegrationParams.h.

integrationCovariance

Matrix3 gtsam::PreintegrationParams::integrationCovariance

continuous-time "Covariance" describing integration uncertainty

Definition at line 29 of file PreintegrationParams.h.

n_gravity

Vector3 gtsam::PreintegrationParams::n_gravity

Gravity vector in nav frame.

Definition at line 31 of file PreintegrationParams.h.

use2ndOrderCoriolis

bool gtsam::PreintegrationParams::use2ndOrderCoriolis

Whether to use second order Coriolis integration.

Definition at line 30 of file PreintegrationParams.h.

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

• PreintegrationParams.h
• PreintegrationParams.cpp