CombinedImuFactor.h File Reference

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Classes
class	gtsam::PreintegratedCombinedMeasurementsT< PreintegrationType >
	PreintegratedCombinedMeasurements integrates the IMU measurements (rotation rates and accelerations) and the corresponding covariance matrix. More...
class	gtsam::CombinedImuFactorT< PIM >
	CombinedImuFactor is a 6-ways factor involving previous state (pose and velocity of the vehicle, as well as bias at previous time step), and current state (pose, velocity, bias at current time step). More...
struct	gtsam::traits< PreintegrationCombinedParams >
struct	gtsam::traits< PreintegratedCombinedMeasurementsT< PreintegrationType > >
struct	gtsam::traits< CombinedImuFactorT< PIM > >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
typedef ManifoldPreintegration	gtsam::DefaultPreintegrationType
using	gtsam::PreintegratedCombinedMeasurements = PreintegratedCombinedMeasurementsT<DefaultPreintegrationType>
using	gtsam::CombinedImuFactor = CombinedImuFactorT<>

Functions
template<class PIM>
GTSAM_EXPORT std::ostream &	gtsam::operator<< (std::ostream &os, const CombinedImuFactorT< PIM > &f)
template<class PIM>
Vector	gtsam::internal::combinedImuError (const PIM &pim, const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, const imuBias::ConstantBias &bias_j, const Vector3 &n_gravity, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3, OptionalMatrixType H4, OptionalMatrixType H5, OptionalMatrixType H6, Matrix93 *D_r_gvec)
	Shared 15-dof error and block-Jacobian assembly for CombinedImuFactorT and CombinedImuFactorWithGravityT: rows 0-8 are the preintegration error for the given gravity vector, rows 9-14 the bias random walk.

Detailed Description

Author

Luca Carlone

Stephen Williams

Richard Roberts

Vadim Indelman

David Jensen

Frank Dellaert

Varun Agrawal

Function Documentation

combinedImuError()

template<class PIM>

Vector gtsam::internal::combinedImuError	(	const PIM &	pim,
		const Pose3 &	pose_i,
		const Vector3 &	vel_i,
		const Pose3 &	pose_j,
		const Vector3 &	vel_j,
		const imuBias::ConstantBias &	bias_i,
		const imuBias::ConstantBias &	bias_j,
		const Vector3 &	n_gravity,
		OptionalMatrixType	H1,
		OptionalMatrixType	H2,
		OptionalMatrixType	H3,
		OptionalMatrixType	H4,
		OptionalMatrixType	H5,
		OptionalMatrixType	H6,
		Matrix93 *	D_r_gvec )

Shared 15-dof error and block-Jacobian assembly for CombinedImuFactorT and CombinedImuFactorWithGravityT: rows 0-8 are the preintegration error for the given gravity vector, rows 9-14 the bias random walk.

If D_r_gvec is given, it receives the 9x3 Jacobian of the preintegration rows wrt the gravity vector (the bias rows have a zero gravity Jacobian).