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 (const boost::shared_ptr< Params > &p) | |
| Default constructor, resets integration to zero. | |
| PreintegratedRotation (const boost::shared_ptr< Params > &p, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega) | |
| Explicit initialization of all class members. | |
Basic utilities | |
| void | resetIntegration () |
| Re-initialize PreintegratedMeasurements. | |
| bool | matchesParamsWith (const PreintegratedRotation &other) const |
| check parameters equality: checks whether shared pointer points to same Params object. | |
Access instance variables | |
| const boost::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 | |
| Rot3 | incrementalRotation (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > D_incrR_integratedOmega) const |
| Take the gyro measurement, correct it using the (constant) bias estimate and possibly the sensor pose, and then integrate it forward in time to yield an incremental rotation. More... | |
| void | integrateMeasurement (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > D_incrR_integratedOmega=boost::none, OptionalJacobian< 3, 3 > F=boost::none) |
| Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_. More... | |
| Rot3 | biascorrectedDeltaRij (const Vector3 &biasOmegaIncr, OptionalJacobian< 3, 3 > H=boost::none) const |
| Return a bias corrected version of the integrated rotation, with optional Jacobian. | |
| Vector3 | integrateCoriolis (const Rot3 &rot_i) const |
| Integrate coriolis correction in body frame rot_i. | |
Public Types | |
| typedef PreintegratedRotationParams | Params |
Protected Member Functions | |
| PreintegratedRotation () | |
| Default constructor for serialization. | |
Protected Attributes | |
| boost::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. | |
Friends | |
| class | boost::serialization::access |
| Serialization function. | |
Member Function Documentation
◆ incrementalRotation()
| Rot3 gtsam::PreintegratedRotation::incrementalRotation | ( | const Vector3 & | measuredOmega, |
| const Vector3 & | biasHat, | ||
| double | deltaT, | ||
| OptionalJacobian< 3, 3 > | D_incrR_integratedOmega | ||
| ) | const |
Take the gyro measurement, correct it using the (constant) bias estimate and possibly the sensor pose, and then integrate it forward in time to yield an incremental rotation.
◆ integrateMeasurement()
| void gtsam::PreintegratedRotation::integrateMeasurement | ( | const Vector3 & | measuredOmega, |
| const Vector3 & | biasHat, | ||
| double | deltaT, | ||
| OptionalJacobian< 3, 3 > | D_incrR_integratedOmega = boost::none, |
||
| OptionalJacobian< 3, 3 > | F = boost::none |
||
| ) |
Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_.
The documentation for this class was generated from the following files:
- /Users/dellaert/git/gtsam/gtsam/navigation/PreintegratedRotation.h
- /Users/dellaert/git/gtsam/gtsam/navigation/PreintegratedRotation.cpp
