gtsam::PreintegratedRotation Class Reference

Detailed Description

PreintegratedRotation is the base class for all PreintegratedMeasurements classes (in AHRSFactor, ImuFactor, and CombinedImuFactor).

It includes the definitions of the preintegrated rotation.

Inheritance diagram for gtsam::PreintegratedRotation:

Public Member Functions
Constructors
	PreintegratedRotation ()
	Default constructor for serialization.
	PreintegratedRotation (const std::shared_ptr< Params > &p)
	Default constructor, resets integration to zero.
	PreintegratedRotation (const std::shared_ptr< Params > &p, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega)
	Explicit initialization of all class members.
Basic utilities
bool	matchesParamsWith (const PreintegratedRotation &other) const
	check parameters equality: checks whether shared pointer points to same Params object.
Access instance variables
const std::shared_ptr< Params > &	params () const
const double &	deltaTij () const
const Rot3 &	deltaRij () const
const Matrix3 &	delRdelBiasOmega () const
Testable
void	print (const std::string &s) const
bool	equals (const PreintegratedRotation &other, double tol) const
Main functionality
void	resetIntegration ()
	Re-initialize PreintegratedMeasurements.
void	integrateGyroMeasurement (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > F={})
	Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_.
Rot3	biascorrectedDeltaRij (const Vector3 &biasOmegaIncr, OptionalJacobian< 3, 3 > H={}) const
	Return a bias corrected version of the integrated rotation.

Public Types
typedef PreintegratedRotationParams	Params

Protected Attributes
std::shared_ptr< Params >	p_
	Parameters.
double	deltaTij_
	Time interval from i to j.
Rot3	deltaRij_
	Preintegrated relative orientation (in frame i).
Matrix3	delRdelBiasOmega_
	Jacobian of preintegrated rotation w.r.t. angular rate bias.

Member Function Documentation

biascorrectedDeltaRij()

Rot3 gtsam::PreintegratedRotation::biascorrectedDeltaRij	(	const Vector3 &	biasOmegaIncr,
		OptionalJacobian< 3, 3 >	H = {} ) const

Return a bias corrected version of the integrated rotation.

Parameters

biasOmegaIncr	An increment with respect to biasHat used above.
H	optional Jacobian of the correction w.r.t. the bias increment.

Note

The key functionality of this class used in optimizing the bias.

integrateGyroMeasurement()

void gtsam::PreintegratedRotation::integrateGyroMeasurement	(	const Vector3 &	measuredOmega,
		const Vector3 &	biasHat,
		double	deltaT,
		OptionalJacobian< 3, 3 >	F = {} )

Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_.

Parameters

measuredOmega	The measured angular velocity (as given by the sensor)
bias	The biasHat estimate
deltaT	The time interval
F	optional Jacobian of internal compose, used in AhrsFactor.

---

The documentation for this class 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