WnoaInterpolator.h File Reference

Interpolator class implementation for interpolating poses and velocities between two bordering states, either during or after a factor graph solve. More...

Go to the source code of this file.

Classes
struct	gtsam::PoseVelocity< PoseType >
	Simple container for a pose and its corresponding velocity. More...
struct	gtsam::TimestampedPoseVelocity< PoseType >
	Timestamped pose and velocity container. More...
class	gtsam::Interpolator< PoseType >
	Interpolator for poses and velocities under a motion prior. More...
struct	gtsam::Interpolator< PoseType >::StateJacobians

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Typedefs
using	gtsam::StateDataInterval
	Type alias for a pair of optional bordering states for an interpolated state.
typedef std::map< Key, Matrix >	gtsam::InterpCovarianceMap
	Type alias for a map from variable keys to interpolated state covariances.

Detailed Description

Interpolator class implementation for interpolating poses and velocities between two bordering states, either during or after a factor graph solve.

Interpolator assumes the WNOA motion prior by default.

Date

June 20, 2025

Author

Zi Cong Guo

Connor Holmes

Sven Lilge