gtsam::DiscreteScenario Class Reference

Detailed Description

A scenario defined by discrete ground-truth measurements over time.

This class stores time-stamped ground truth values for pose, angular velocity, linear velocity, and linear acceleration. When queried for a value at a specific time t, it performs linear interpolation for vector quantities and manifold interpolation for poses. If t is outside the range of the provided timestamps, the value at the nearest endpoint is returned (i.e., the data is clamped).

Inheritance diagram for gtsam::DiscreteScenario:

Public Member Functions
	DiscreteScenario (const std::map< double, Pose3 > &poses, const std::map< double, Vector3 > &angularVelocities_b, const std::map< double, Vector3 > &velocities_n, const std::map< double, Vector3 > &accelerations_n)
	Constructor.
double	duration () const
	The duration of time between the first timestamp and the last.
Scenario interface
Pose3	pose (double t) const override
	pose at time t
Vector3	omega_b (double t) const override
	angular velocity in body frame
Vector3	velocity_n (double t) const override
	velocity at time t, in nav frame
Vector3	acceleration_n (double t) const override
	acceleration in nav frame
Public Member Functions inherited from gtsam::Scenario
virtual	~Scenario ()
	virtual destructor
Rot3	rotation (double t) const
NavState	navState (double t) const
Gal3	gal3 (double t) const
Vector3	velocity_b (double t) const
Vector3	acceleration_b (double t) const

Static Public Member Functions
static DiscreteScenario	FromCSV (const std::string &csv_filepath)
	Named constructor to create a scenario from a CSV file.

Constructor & Destructor Documentation

DiscreteScenario()

gtsam::DiscreteScenario::DiscreteScenario ( const std::map< double, Pose3 > & poses, const std::map< double, Vector3 > & angularVelocities_b, const std::map< double, Vector3 > & velocities_n, const std::map< double, Vector3 > & accelerations_n )

inline

Constructor.

Parameters

poses	Map of timestamps to ground truth poses (nTb).
angularVelocities_b	Map of timestamps to ground truth angular velocities in body frame.
velocities_n	Map of timestamps to ground truth linear velocities in nav frame.
accelerations_n	Map of timestamps to ground truth linear accelerations in nav frame.

Member Function Documentation

acceleration_n()

Vector3 gtsam::DiscreteScenario::acceleration_n ( double t ) const

overridevirtual

acceleration in nav frame

Implements gtsam::Scenario.

FromCSV()

DiscreteScenario gtsam::DiscreteScenario::FromCSV ( const std::string & csv_filepath )

static

Named constructor to create a scenario from a CSV file.

The CSV file should contain a header row followed by data rows. All timestamps will be normalized so that the first timestamp in the file corresponds to t=0 for the scenario.

CSV is expected to contain the following columns: t,q_w,q_x,q_y,q_z,v_x,v_y,v_z,p_x,p_y,p_z,w_x,w_y,w_z,a_x,a_y,a_z Other columns will be ignored.

Parameters

csv_filepath

Path to the CSV file.

Returns

A constructed DiscreteScenario.

Exceptions

runtime_error

if file cannot be opened or is malformed.

omega_b()

Vector3 gtsam::DiscreteScenario::omega_b ( double t ) const

overridevirtual

angular velocity in body frame

Implements gtsam::Scenario.

pose()

Pose3 gtsam::DiscreteScenario::pose ( double t ) const

overridevirtual

pose at time t

Implements gtsam::Scenario.

velocity_n()

Vector3 gtsam::DiscreteScenario::velocity_n ( double t ) const

overridevirtual

velocity at time t, in nav frame

Implements gtsam::Scenario.

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

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