Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor.
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| 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.
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void | print (const std::string &s) const |
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bool | equals (const PreintegratedRotation::Params &other, double tol) const |
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void | setAccelerometerCovariance (const Matrix3 &cov) |
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void | setIntegrationCovariance (const Matrix3 &cov) |
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void | setUse2ndOrderCoriolis (bool flag) |
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const Matrix3 & | getAccelerometerCovariance () const |
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const Matrix3 & | getIntegrationCovariance () const |
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const Vector3 & | getGravity () const |
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bool | getUse2ndOrderCoriolis () const |
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void | setGyroscopeCovariance (const Matrix3 &cov) |
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void | setOmegaCoriolis (const Vector3 &omega) |
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void | setBodyPSensor (const Pose3 &pose) |
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const Matrix3 & | getGyroscopeCovariance () const |
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boost::optional< Vector3 > | getOmegaCoriolis () const |
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boost::optional< Pose3 > | getBodyPSensor () const |
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