gtsam  4.1.0
gtsam
gtsam::imuBias::ConstantBias Class Reference

Testable

GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const ConstantBias &bias)
 ostream operator
 
void print (const std::string &s="") const
 print with optional string
 
bool equals (const ConstantBias &expected, double tol=1e-5) const
 equality up to tolerance
 

Group

ConstantBias operator- () const
 inverse
 
ConstantBias operator+ (const Vector6 &v) const
 addition of vector on right
 
ConstantBias operator+ (const ConstantBias &b) const
 addition
 
ConstantBias operator- (const ConstantBias &b) const
 subtraction
 
static ConstantBias identity ()
 identity for group operation
 

Deprecated

ConstantBias inverse ()
 
ConstantBias compose (const ConstantBias &q)
 
ConstantBias between (const ConstantBias &q)
 
Vector6 localCoordinates (const ConstantBias &q)
 
ConstantBias retract (const Vector6 &v)
 
static Vector6 Logmap (const ConstantBias &p)
 
static ConstantBias Expmap (const Vector6 &v)
 

Advanced Interface

class boost::serialization::access
 Serialization function.
 

Public Member Functions

 ConstantBias (const Vector3 &biasAcc, const Vector3 &biasGyro)
 
 ConstantBias (const Vector6 &v)
 
Vector6 vector () const
 return the accelerometer and gyro biases in a single vector
 
const Vector3 & accelerometer () const
 get accelerometer bias
 
const Vector3 & gyroscope () const
 get gyroscope bias
 
Vector3 correctAccelerometer (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
 Correct an accelerometer measurement using this bias model, and optionally compute Jacobians.
 
Vector3 correctGyroscope (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
 Correct a gyroscope measurement using this bias model, and optionally compute Jacobians.
 

Static Public Attributes

static const size_t dimension = 6
 dimension of the variable - used to autodetect sizes
 

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