Classes
class	gtsam::CombinedImuFactorWithGravityT< PIM, GRAVITY >
	CombinedImuFactorWithGravityT is CombinedImuFactorT with an additional GRAVITY variable, so that gravity can be optimized instead of being fixed by the preintegration parameters. More...
struct	gtsam::traits< CombinedImuFactorWithGravityT< PIM, GRAVITY > >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
using	gtsam::CombinedImuFactorWithGravityDirection
	CombinedImuFactor variant optimizing the gravity direction (Unit3) with a fixed, known magnitude; see ImuFactorWithGravityDirection.
using	gtsam::CombinedImuFactorWithGravityVector
	CombinedImuFactor variant optimizing the free gravity vector (Point3); see ImuFactorWithGravityVector.

Functions
template<class PIM, class GRAVITY>
GTSAM_EXPORT std::ostream &	gtsam::operator<< (std::ostream &os, const CombinedImuFactorWithGravityT< PIM, GRAVITY > &f)

Detailed Description

Classes