GalileanImuFactor.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/navigation/CombinedImuFactor.h>
#include <gtsam/navigation/GalileanPreintegration.h>
#include <gtsam/navigation/ImuFactor.h>
 
namespace gtsam {

using PreintegratedImuMeasurementsG =
    PreintegratedImuMeasurementsT<GalileanPreintegration>;

using GalileanImuFactor = ImuFactorT<PreintegratedImuMeasurementsG>;

using GalileanImuFactor2 = ImuFactor2T<PreintegratedImuMeasurementsG>;

using PreintegratedCombinedMeasurementsG =
    PreintegratedCombinedMeasurementsT<GalileanPreintegration>;

using GalileanCombinedImuFactor =
    CombinedImuFactorT<PreintegratedCombinedMeasurementsG>;
 
}  // namespace gtsam