gtsam
4.0.0
gtsam

Scenario with constant twist 3D trajectory.
Note that a plane flying level does not feel any acceleration: gravity is being perfectly compensated by the lift generated by the wings, and drag is compensated by thrust. The accelerometer will add the gravity component back in, as modeled by the specificForce method in ScenarioRunner.
Public Member Functions  
ConstantTwistScenario (const Vector3 &w, const Vector3 &v, const Pose3 &nTb0=Pose3())  
Construct scenario with constant twist [w,v].  
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 
Vector3  velocity_b (double t) const 
Vector3  acceleration_b (double t) const 