gtsam::PreintegrationCombinedParams Struct Reference

Detailed Description

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

Inheritance diagram for gtsam::PreintegrationCombinedParams:

Public Member Functions
	PreintegrationCombinedParams ()
	Default constructor makes uninitialized params struct. More...
	PreintegrationCombinedParams (const Vector3 &n_gravity)
	See two named constructors below for good values of n_gravity in body frame.
void	print (const std::string &s="") const override
bool	equals (const PreintegratedRotationParams &other, double tol) const override
void	setBiasAccCovariance (const Matrix3 &cov)
void	setBiasOmegaCovariance (const Matrix3 &cov)
void	setBiasAccOmegaInt (const Matrix6 &cov)
const Matrix3 &	getBiasAccCovariance () const
const Matrix3 &	getBiasOmegaCovariance () const
const Matrix6 &	getBiasAccOmegaInt () const
Public Member Functions inherited from gtsam::PreintegrationParams
	PreintegrationParams ()
	Default constructor for serialization only.
	PreintegrationParams (const Vector3 &n_gravity)
	The Params constructor insists on getting the navigation frame gravity vector For convenience, two commonly used conventions are provided by named constructors below.
void	print (const std::string &s="") const override
bool	equals (const PreintegratedRotationParams &other, double tol) const override
void	setAccelerometerCovariance (const Matrix3 &cov)
void	setIntegrationCovariance (const Matrix3 &cov)
void	setUse2ndOrderCoriolis (bool flag)
const Matrix3 &	getAccelerometerCovariance () const
const Matrix3 &	getIntegrationCovariance () const
const Vector3 &	getGravity () const
bool	getUse2ndOrderCoriolis () const
Public Member Functions inherited from gtsam::PreintegratedRotationParams
	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< Pose3 >	getBodyPSensor () const

Static Public Member Functions
static boost::shared_ptr< PreintegrationCombinedParams >	MakeSharedD (double g=9.81)
static boost::shared_ptr< PreintegrationCombinedParams >	MakeSharedU (double g=9.81)
Static Public Member Functions inherited from gtsam::PreintegrationParams
static boost::shared_ptr< PreintegrationParams >	MakeSharedD (double g=9.81)
static boost::shared_ptr< PreintegrationParams >	MakeSharedU (double g=9.81)

Public Attributes
Matrix3	biasAccCovariance
	continuous-time "Covariance" describing accelerometer bias random walk
Matrix3	biasOmegaCovariance
	continuous-time "Covariance" describing gyroscope bias random walk
Matrix6	biasAccOmegaInt
	covariance of bias used for pre-integration
Public Attributes inherited from gtsam::PreintegrationParams
Matrix3	accelerometerCovariance
	Continuous-time "Covariance" of accelerometer The units for stddev are σ = m/s²/√Hz.
Matrix3	integrationCovariance
	continuous-time "Covariance" describing integration uncertainty
bool	use2ndOrderCoriolis
	Whether to use second order Coriolis integration.
Vector3	n_gravity
	Gravity vector in nav frame.
Public Attributes inherited from gtsam::PreintegratedRotationParams
Matrix3	gyroscopeCovariance
	Continuous-time "Covariance" of gyroscope measurements The units for stddev are σ = rad/s/√Hz.
boost::optional< Vector3 >	omegaCoriolis
	Coriolis constant.
boost::optional< Pose3 >	body_P_sensor
	The pose of the sensor in the body frame.

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Protected Member Functions inherited from gtsam::PreintegrationParams
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Constructor & Destructor Documentation

PreintegrationCombinedParams()

gtsam::PreintegrationCombinedParams::PreintegrationCombinedParams ( )

inline

Default constructor makes uninitialized params struct.

Used for serialization.

Member Function Documentation

equals()

bool gtsam::PreintegrationCombinedParams::equals ( const PreintegratedRotationParams &  other, double  tol  ) const

overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

print()

void gtsam::PreintegrationCombinedParams::print ( const std::string &  s = "" ) const

overridevirtual

Reimplemented from gtsam::PreintegratedRotationParams.

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

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