NavState.h File Reference

Navigation state composing of attitude, position, and velocity. More...

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Classes
class	gtsam::NavState
	Navigation state: Pose (rotation, translation) + velocity Following Barrau20icra, this class belongs to the Lie group SE_2(3). More...
struct	gtsam::NavState::AutonomousFlow
struct	gtsam::traits< NavState >
struct	gtsam::traits< const NavState >
struct	gtsam::Bearing< NavState, Point3 >
struct	gtsam::Range< NavState, Point3 >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Functions
GTSAM_EXPORT NavState	gtsam::internal::navStateComponentWiseRetract (const NavState &state, const Vector9 &v, OptionalJacobian< 9, 9 > H1={}, OptionalJacobian< 9, 9 > H2={})
	Component-wise NavState retraction independent of the optimization chart.
GTSAM_EXPORT Vector9	gtsam::internal::navStateComponentWiseLocalCoordinates (const NavState &state, const NavState &other, OptionalJacobian< 9, 9 > H1={}, OptionalJacobian< 9, 9 > H2={})
	Component-wise NavState local coordinates independent of optimization.

Detailed Description

Navigation state composing of attitude, position, and velocity.

Authors

Frank Dellaert, Varun Agrawal, Fan Jiang

Date

July 2015