gtsam  4.1.0
gtsam
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 Rot3deltaRij () 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.
 
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_.
 
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< Paramsp_
 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.
 

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