gtsam::internal::IncrementalRotation Struct Reference

Detailed Description

Function object for incremental rotation.

Parameters

measuredOmega	The measured angular velocity (as given by the sensor)
deltaT	The time interval over which the rotation is integrated.
body_P_sensor	Optional transform between body and IMU.

Public Member Functions
Rot3	operator() (const Vector3 &bias, OptionalJacobian< 3, 3 > H_bias={}) const
	Integrate angular velocity, but corrected by bias.

Public Attributes
const Vector3 &	measuredOmega
const double	deltaT
const std::optional< Pose3 > &	body_P_sensor

Member Function Documentation

operator()()

Rot3 gtsam::internal::IncrementalRotation::operator()	(	const Vector3 &	bias,
		OptionalJacobian< 3, 3 >	H_bias = {} ) const

Integrate angular velocity, but corrected by bias.

Parameters

bias	The bias estimate
H_bias	Jacobian of the rotation w.r.t. bias.

Returns

The incremental rotation

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/navigation/PreintegratedRotation.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/navigation/PreintegratedRotation.cpp