gtsam 4.1.1
gtsam
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< Pose3getBodyPSensor () const
 

Static Public Member Functions

static boost::shared_ptr< PreintegrationCombinedParamsMakeSharedD (double g=9.81)
 
static boost::shared_ptr< PreintegrationCombinedParamsMakeSharedU (double g=9.81)
 
- Static Public Member Functions inherited from gtsam::PreintegrationParams
static boost::shared_ptr< PreintegrationParamsMakeSharedD (double g=9.81)
 
static boost::shared_ptr< PreintegrationParamsMakeSharedU (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< Pose3body_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

◆ print()

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

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