Detailed Description

Common estimator parameters shared by all four variants.

Public Attributes
std::shared_ptr< PreintegrationParams >	preintegrationParams
Pose3	body_P_imu = Pose3(Rot3(), Point3(0.30, 0.0, 0.15))
double	footholdProcessSigma = 1e-4
double	footholdInitSigma = 5e-1
Matrix3	contactCovariance
double	heightPriorSigma = 0.15
bool	useRobustContactNoise = false
	Enable robust contact noise for graph-based variants.
double	robustContactHuberK = 2.0
	Scalar-Huber threshold for robust contact factors in graph-based variants.
imuBias::ConstantBias	imuBias
	Constant IMU bias removed from the raw gyroscope and accelerometer data.
double	biasAccRandomWalkSigma = 5e-3
	Accelerometer bias random-walk sigma used by the combined smoother.
double	biasOmegaRandomWalkSigma = 1e-4
	Gyroscope bias random-walk sigma used by the combined smoother.
bool	useFullContactInitialization = true
	Run the one-time full-contact initializer when available.
bool	marginalizeLeavingFoot = true
	Replace a leaving foot by a fresh independent prior.

Member Data Documentation

Matrix3 gtsam::LeggedEstimatorParams::contactCovariance

Initial value:

=

(Vector3(0.03 * 0.03, 0.03 * 0.03, 0.02 * 0.02)).asDiagonal()

The documentation for this struct was generated from the following file: