gtsam  4.1.0
gtsam
gtsam::PreintegratedRotationParams Struct Reference

Detailed Description

Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor.

+ Inheritance diagram for gtsam::PreintegratedRotationParams:

Public Member Functions

 PreintegratedRotationParams (const Matrix3 &gyroscope_covariance, boost::optional< Vector3 > omega_coriolis)
 
virtual void print (const std::string &s) const
 
virtual bool equals (const PreintegratedRotationParams &other, double tol=1e-9) const
 
void setGyroscopeCovariance (const Matrix3 &cov)
 
void setOmegaCoriolis (const Vector3 &omega)
 
void setBodyPSensor (const Pose3 &pose)
 
const Matrix3 & getGyroscopeCovariance () const
 
boost::optional< Vector3 > getOmegaCoriolis () const
 
boost::optional< Pose3getBodyPSensor () const
 

Public Attributes

Matrix3 gyroscopeCovariance
 continuous-time "Covariance" of gyroscope measurements
 
boost::optional< Vector3 > omegaCoriolis
 Coriolis constant.
 
boost::optional< Pose3body_P_sensor
 The pose of the sensor in the body frame.
 

Friends

class boost::serialization::access
 Serialization function.
 

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