Classes
class	gtsam::ImuFactorWithGravityT< PIM, GRAVITY >
	ImuFactorWithGravityT is a 6-ways factor: in addition to the previous and current states (pose and velocity) and the bias estimate of ImuFactorT, it involves a GRAVITY variable so that gravity can be optimized instead of being fixed by the preintegration parameters. More...
struct	gtsam::traits< ImuFactorWithGravityT< PIM, GRAVITY > >
class	gtsam::ImuFactor2WithGravityT< PIM, GRAVITY >
	ImuFactor2WithGravityT is the NavState version of ImuFactorWithGravityT, just as ImuFactor2T is the NavState version of ImuFactorT: a 4-ways factor involving the previous and current NavStates, the bias estimate, and a GRAVITY variable so that gravity can be optimized instead of being fixed by the preintegration parameters. More...
struct	gtsam::traits< ImuFactor2WithGravityT< PIM, GRAVITY > >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
using	gtsam::ImuFactorWithGravityDirection
	ImuFactor variant with the gravity direction as an optimized Unit3 variable and a fixed, known magnitude (given at construction, defaulting to the norm of the gravity vector in the preintegration params).
using	gtsam::ImuFactorWithGravityVector
	ImuFactor variant with the gravity vector as a free Point3 variable, ie.
using	gtsam::ImuFactor2WithGravityDirection
	ImuFactor2 variant with the gravity direction as an optimized Unit3 variable and a fixed, known magnitude; see ImuFactorWithGravityDirection.
using	gtsam::ImuFactor2WithGravityVector
	ImuFactor2 variant with the gravity vector as a free Point3 variable, ie.

Functions
template<class PIM, class GRAVITY>
GTSAM_EXPORT std::ostream &	gtsam::operator<< (std::ostream &os, const ImuFactorWithGravityT< PIM, GRAVITY > &f)
template<class PIM, class GRAVITY>
GTSAM_EXPORT std::ostream &	gtsam::operator<< (std::ostream &os, const ImuFactor2WithGravityT< PIM, GRAVITY > &f)

Detailed Description

Classes