gtsam::ScenarioRunner Class Reference

Inheritance diagram for gtsam::ScenarioRunner:

Public Member Functions
	ScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias())
const Vector3 &	gravity_n () const
const Scenario &	scenario () const
Vector3	actualAngularVelocity (double t) const
	Ideal gyroscope measurement expressed in the sensor frame.
Vector3	actualSpecificForce (double t) const
	Ideal accelerometer measurement expressed in the sensor frame.
Vector3	measuredAngularVelocity (double t) const
Vector3	measuredSpecificForce (double t) const
	Specific force measured by accelerometer, corrupted by bias and noise.
double	imuSampleTime () const
	The IMU sample time (i.e. the time between two IMU measurements).
PreintegratedImuMeasurements	integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const
	Integrate measurements for T seconds into a PIM.
NavState	predict (const PreintegratedImuMeasurements &pim, const Bias &estimatedBias=Bias()) const
	Predict predict given a PIM.
Matrix9	estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const
	Compute a Monte Carlo estimate of the predict covariance using N samples.
Matrix6	estimateNoiseCovariance (size_t N=1000) const
	Estimate covariance of sampled noise for sanity-check.

Public Types
typedef imuBias::ConstantBias	Bias
typedef std::shared_ptr< PreintegrationParams >	SharedParams

Protected Attributes
const Scenario &	scenario_
const SharedParams	p_
const double	imuSampleTime_
const double	sqrt_dt_
const Bias	estimatedBias_
Sampler	gyroSampler_
Sampler	accSampler_

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