gtsam::AcceleratingScenario Class Reference
Detailed Description
Accelerating from an arbitrary initial state, with optional rotation.
Inheritance diagram for gtsam::AcceleratingScenario:
Public Member Functions | |
| AcceleratingScenario (const Rot3 &nRb, const Point3 &p0, const Vector3 &v0, const Vector3 &a_n, const Vector3 &omega_b=Vector3::Zero()) | |
| Construct scenario with constant acceleration in navigation frame and optional angular velocity in body: rotating while translating... | |
| Pose3 | pose (double t) const override |
| pose at time t More... | |
| Vector3 | omega_b (double t) const override |
| angular velocity in body frame More... | |
| Vector3 | velocity_n (double t) const override |
| velocity at time t, in nav frame More... | |
| Vector3 | acceleration_n (double t) const override |
| acceleration in nav frame More... | |
| Public Member Functions inherited from gtsam::Scenario | |
| virtual | ~Scenario () |
| virtual destructor | |
| virtual Pose3 | pose (double t) const =0 |
| pose at time t More... | |
| virtual Vector3 | omega_b (double t) const =0 |
| angular velocity in body frame More... | |
| virtual Vector3 | velocity_n (double t) const =0 |
| velocity at time t, in nav frame More... | |
| virtual Vector3 | acceleration_n (double t) const =0 |
| acceleration in nav frame More... | |
| Rot3 | rotation (double t) const |
| NavState | navState (double t) const |
| Vector3 | velocity_b (double t) const |
| Vector3 | acceleration_b (double t) const |
Member Function Documentation
◆ acceleration_n()
|
inlineoverridevirtual |
acceleration in nav frame
Implements gtsam::Scenario.
◆ omega_b()
|
inlineoverridevirtual |
angular velocity in body frame
Implements gtsam::Scenario.
◆ pose()
|
inlineoverridevirtual |
pose at time t
Implements gtsam::Scenario.
◆ velocity_n()
|
inlineoverridevirtual |
velocity at time t, in nav frame
Implements gtsam::Scenario.
The documentation for this class was generated from the following file:
- /Users/dellaert/git/github/gtsam/navigation/Scenario.h
