gtsam::PreintegratedAhrsMeasurements Class Reference

Detailed Description

PreintegratedAHRSMeasurements accumulates (integrates) the Gyroscope measurements (rotation rates) and the corresponding covariance matrix.

Can be built incrementally so as to avoid costly integration at time of factor construction.

Inheritance diagram for gtsam::PreintegratedAhrsMeasurements:

Public Member Functions
	PreintegratedAhrsMeasurements ()
	Default constructor, only for serialization and wrappers.
	PreintegratedAhrsMeasurements (const boost::shared_ptr< Params > &p, const Vector3 &biasHat)
	Default constructor, initialize with no measurements. More...
	PreintegratedAhrsMeasurements (const boost::shared_ptr< Params > &p, const Vector3 &bias_hat, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega, const Matrix3 &preint_meas_cov)
	Non-Default constructor, initialize with measurements. More...
Params &	p () const
const Vector3 &	biasHat () const
const Matrix3 &	preintMeasCov () const
void	print (const std::string &s="Preintegrated Measurements: ") const
	print
bool	equals (const PreintegratedAhrsMeasurements &, double tol=1e-9) const
	equals
void	resetIntegration ()
	Reset inetgrated quantities to zero.
void	integrateMeasurement (const Vector3 &measuredOmega, double deltaT)
	Add a single Gyroscope measurement to the preintegration. More...
Vector3	predict (const Vector3 &bias, OptionalJacobian< 3, 3 > H=boost::none) const
	Predict bias-corrected incremental rotation TODO: The matrix Hbias is the derivative of predict? Unit-test?
	PreintegratedAhrsMeasurements (const Vector3 &biasHat, const Matrix3 &measuredOmegaCovariance)
Public Member Functions inherited from gtsam::PreintegratedRotation
	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.
void	resetIntegration ()
	Re-initialize PreintegratedMeasurements.
bool	matchesParamsWith (const PreintegratedRotation &other) const
	check parameters equality: checks whether shared pointer points to same Params object.
const boost::shared_ptr< Params > &	params () const
const double &	deltaTij () const
const Rot3 &	deltaRij () const
const Matrix3 &	delRdelBiasOmega () const
void	print (const std::string &s) const
bool	equals (const PreintegratedRotation &other, double tol) const
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.

Static Public Member Functions
static Vector	DeltaAngles (const Vector &msr_gyro_t, const double msr_dt, const Vector3 &delta_angles)

Protected Attributes
Vector3	biasHat_
	Angular rate bias values used during preintegration.
Matrix3	preintMeasCov_
	Covariance matrix of the preintegrated measurements (first-order propagation from measurementCovariance)
Protected Attributes inherited from gtsam::PreintegratedRotation
boost::shared_ptr< Params >	p_
	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	AHRSFactor
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Public Types inherited from gtsam::PreintegratedRotation
typedef PreintegratedRotationParams	Params
Protected Member Functions inherited from gtsam::PreintegratedRotation
	PreintegratedRotation ()
	Default constructor for serialization.

Constructor & Destructor Documentation

PreintegratedAhrsMeasurements() [1/3]

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( const boost::shared_ptr< Params > &  p, const Vector3 &  biasHat  )

inline

Default constructor, initialize with no measurements.

Parameters

bias	Current estimate of acceleration and rotation rate biases

PreintegratedAhrsMeasurements() [2/3]

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( const boost::shared_ptr< Params > &  p, const Vector3 &  bias_hat, double  deltaTij, const Rot3 &  deltaRij, const Matrix3 &  delRdelBiasOmega, const Matrix3 &  preint_meas_cov  )

inline

Non-Default constructor, initialize with measurements.

Parameters

p	Parameters for AHRS pre-integration
bias_hat	Current estimate of acceleration and rotation rate biases
deltaTij	Delta time in pre-integration
deltaRij	Delta rotation in pre-integration
delRdelBiasOmega	Jacobian of rotation wrt. to gyro bias
preint_meas_cov	Pre-integration covariance

PreintegratedAhrsMeasurements() [3/3]

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( const Vector3 &  biasHat, const Matrix3 &  measuredOmegaCovariance  )

inline

Deprecated:

constructor

Member Function Documentation

integrateMeasurement()

void gtsam::PreintegratedAhrsMeasurements::integrateMeasurement	(	const Vector3 &	measuredOmega,
		double	deltaT
	)

Add a single Gyroscope measurement to the preintegration.

Parameters

measureOmedga	Measured angular velocity (in body frame)
deltaT	Time step

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

• /Users/dellaert/git/github/gtsam/navigation/AHRSFactor.h
• /Users/dellaert/git/github/gtsam/navigation/AHRSFactor.cpp