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gtsam::PreintegrationCombinedParams Struct Reference
Detailed Description
Parameters for pre-integration using PreintegratedCombinedMeasurements: Usage: Create just a single Params and pass a shared pointer to the constructor.
Inheritance diagram for gtsam::PreintegrationCombinedParams:
Public Member Functions | |
| PreintegrationCombinedParams () | |
| Default constructor makes uninitialized params struct. | |
| PreintegrationCombinedParams (const Vector3 &n_gravity_) | |
| See two named constructors below for good values of n_gravity in body frame. | |
| void | print (const std::string &s="") const override |
| bool | equals (const PreintegratedRotationParams &other, double tol) const override |
| void | setBiasAccCovariance (const Matrix3 &cov) |
| void | setBiasOmegaCovariance (const Matrix3 &cov) |
| const Matrix3 & | getBiasAccCovariance () const |
| const Matrix3 & | getBiasOmegaCovariance () const |
| Public Member Functions inherited from gtsam::PreintegrationParams | |
| PreintegrationParams () | |
| Default constructor for serialization only; fresh params use Logmap. | |
| PreintegrationParams (const Vector3 &n_gravity_) | |
| The Params constructor insists on getting the navigation frame gravity vector For convenience, two commonly used conventions are provided by named constructors below. | |
| void | print (const std::string &s="") const override |
| bool | equals (const PreintegratedRotationParams &other, double tol) const override |
| void | setAccelerometerCovariance (const Matrix3 &cov) |
| void | setIntegrationCovariance (const Matrix3 &cov) |
| const Matrix3 & | getAccelerometerCovariance () const |
| const Matrix3 & | getIntegrationCovariance () const |
| const Vector3 & | getGravity () const |
| void | setImuFactorErrorMode (ImuFactorErrorMode mode) |
| Select the nonlinear error chart used by IMU factors. | |
| ImuFactorErrorMode | getImuFactorErrorMode () const |
| Return the nonlinear error chart used by IMU factors. | |
| Public Member Functions inherited from gtsam::PreintegratedRotationParams | |
| PreintegratedRotationParams (const Matrix3 &gyroscope_covariance, std::optional< Vector3 > omega_coriolis={}, std::optional< Pose3 > body_P_sensor={}) | |
| 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 |
Static Public Member Functions | |
| static std::shared_ptr< PreintegrationCombinedParams > | MakeSharedD (double g=9.81) |
| static std::shared_ptr< PreintegrationCombinedParams > | MakeSharedU (double g=9.81) |
| Static Public Member Functions inherited from gtsam::PreintegrationParams | |
| static std::shared_ptr< PreintegrationParams > | MakeSharedD (double g=9.81) |
| static std::shared_ptr< PreintegrationParams > | MakeSharedU (double g=9.81) |
Public Attributes | |
| Matrix3 | biasAccCovariance |
| continuous-time "Covariance" describing accelerometer bias random walk | |
| Matrix3 | biasOmegaCovariance |
| continuous-time "Covariance" describing gyroscope bias random walk | |
| Public Attributes inherited from gtsam::PreintegrationParams | |
| Matrix3 | accelerometerCovariance |
| Continuous-time "Covariance" of accelerometer The units for stddev are σ = m/s²/√Hz. | |
| Matrix3 | integrationCovariance |
| continuous-time "Covariance" describing integration uncertainty | |
| Vector3 | n_gravity |
| Gravity vector in nav frame. | |
| Public Attributes inherited from gtsam::PreintegratedRotationParams | |
| 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. | |
Additional Inherited Members | |
| Protected Attributes inherited from gtsam::PreintegrationParams | |
| bool | use2ndOrderCoriolis |
| Retained only for source and archive compatibility. | |
Constructor & Destructor Documentation
◆ PreintegrationCombinedParams()
|
inline |
Default constructor makes uninitialized params struct.
Used for serialization.
Member Function Documentation
◆ equals()
|
overridevirtual |
Reimplemented from gtsam::PreintegratedRotationParams.
◆ print()
|
overridevirtual |
Reimplemented from gtsam::PreintegratedRotationParams.
The documentation for this struct was generated from the following files:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/navigation/PreintegrationCombinedParams.h
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/navigation/CombinedImuFactor.cpp
