Left-invariant Galilean IMU preintegration with bias correction. More...

Classes
class	gtsam::GalileanPreintegration
	IMU preintegration on Gal(3) using GTSAM's left-invariant local error. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Detailed Description

Left-invariant Galilean IMU preintegration with bias correction.

This class implements the direct-product model developed in "Left-Invariant Galilean IMU Preintegration in Inertial and Rotating Frames." It combines exact held-input Gal(3) increments with the physical six-axis IMU bias on Gal(3) x R^6, using the standard left-invariant error and a right-applied first-order bias correction.

The model retains Delama et al.'s held-input Galilean composition and uses the endpoint and rotating-frame structure of Brossard et al., but it is not either prior formulation. See navigation/doc/GalileanImuFactor.ipynb for the conventions, derivation, and detailed comparison.

Classes

Namespaces

Detailed Description