Detailed Description

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

Inheritance diagram for gtsam::PreintegratedCombinedMeasurements::Params:

Public Member Functions
	Params (const Vector3 &n_gravity)
	See two named constructors below for good values of n_gravity in body frame.

Public Member Functions inherited from gtsam::PreintegrationParams
	PreintegrationParams (const Vector3 &n_gravity)
	The Params constructor insists on getting the navigation frame gravity vector For convenience, two commonly used conventions are provided by named constructors below.

void	print (const std::string &s) const

bool	equals (const PreintegratedRotation::Params &other, double tol) const

void	setAccelerometerCovariance (const Matrix3 &cov)

void	setIntegrationCovariance (const Matrix3 &cov)

void	setUse2ndOrderCoriolis (bool flag)

const Matrix3 &	getAccelerometerCovariance () const

const Matrix3 &	getIntegrationCovariance () const

const Vector3 &	getGravity () const

bool	getUse2ndOrderCoriolis () const

Public Member Functions inherited from gtsam::PreintegratedRotationParams
void	setGyroscopeCovariance (const Matrix3 &cov)

void	setOmegaCoriolis (const Vector3 &omega)

void	setBodyPSensor (const Pose3 &pose)

const Matrix3 &	getGyroscopeCovariance () const

boost::optional< Vector3 >	getOmegaCoriolis () const

boost::optional< Pose3 >	getBodyPSensor () const

Static Public Member Functions
static boost::shared_ptr< Params >	MakeSharedD (double g=9.81)

static boost::shared_ptr< Params >	MakeSharedU (double g=9.81)

Static Public Member Functions inherited from gtsam::PreintegrationParams
static boost::shared_ptr< PreintegrationParams >	MakeSharedD (double g=9.81)

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

Public Attributes
Matrix3	biasAccCovariance
	continuous-time "Covariance" describing accelerometer bias random walk

Matrix3	biasOmegaCovariance
	continuous-time "Covariance" describing gyroscope bias random walk

Matrix6	biasAccOmegaInt
	covariance of bias used for pre-integration

Public Attributes inherited from gtsam::PreintegrationParams
Matrix3	accelerometerCovariance
	continuous-time "Covariance" of accelerometer

Matrix3	integrationCovariance
	continuous-time "Covariance" describing integration uncertainty

bool	use2ndOrderCoriolis
	Whether to use second order Coriolis integration.

Vector3	n_gravity
	Gravity vector in nav frame.

Public Attributes inherited from gtsam::PreintegratedRotationParams
Matrix3	gyroscopeCovariance
	continuous-time "Covariance" of gyroscope measurements

boost::optional< Vector3 >	omegaCoriolis
	Coriolis constant.

boost::optional< Pose3 >	body_P_sensor
	The pose of the sensor in the body frame.

Additional Inherited Members
Protected Member Functions inherited from gtsam::PreintegrationParams
	PreintegrationParams ()
	Default constructor for serialization only: uninitialized!

template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

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

Public Member Functions