Detailed Description

Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor.

Inheritance diagram for gtsam::PreintegratedRotationParams:

Public Member Functions
	PreintegratedRotationParams (const Matrix3 &gyroscope_covariance, std::optional< Vector3 > omega_coriolis={}, std::optional< Pose3 > body_P_sensor={})
virtual void	print (const std::string &s) const
virtual bool	equals (const PreintegratedRotationParams &other, double tol=1e-9) const
void	setGyroscopeCovariance (const Matrix3 &cov)
void	setOmegaCoriolis (const Vector3 &omega)
void	setBodyPSensor (const Pose3 &pose)
const Matrix3 &	getGyroscopeCovariance () const
std::optional< Vector3 >	getOmegaCoriolis () const
std::optional< Pose3 >	getBodyPSensor () const

Public Attributes
Matrix3	gyroscopeCovariance
	Continuous-time "Covariance" of gyroscope measurements The units for stddev are σ = rad/s/√Hz.
std::optional< Vector3 >	omegaCoriolis
	Navigation-frame angular velocity in radians per second.
std::optional< Pose3 >	body_P_sensor
	The pose of the sensor in the body frame.

Member Data Documentation

std::optional<Vector3> gtsam::PreintegratedRotationParams::omegaCoriolis

Navigation-frame angular velocity in radians per second.

When present, prediction uses the exact rotating-frame transition.

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