Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const ConstantBias &bias)
	ostream operator

void	print (const std::string &s="") const
	print with optional string

bool	equals (const ConstantBias &expected, double tol=1e-5) const
	equality up to tolerance

Group
ConstantBias	operator- () const
	inverse

ConstantBias	operator+ (const Vector6 &v) const
	addition of vector on right

ConstantBias	operator+ (const ConstantBias &b) const
	addition

ConstantBias	operator- (const ConstantBias &b) const
	subtraction

static ConstantBias	identity ()
	identity for group operation

Deprecated
ConstantBias	inverse ()

ConstantBias	compose (const ConstantBias &q)

ConstantBias	between (const ConstantBias &q)

Vector6	localCoordinates (const ConstantBias &q)

ConstantBias	retract (const Vector6 &v)

static Vector6	Logmap (const ConstantBias &p)

static ConstantBias	Expmap (const Vector6 &v)

Public Member Functions
	ConstantBias (const Vector3 &biasAcc, const Vector3 &biasGyro)

	ConstantBias (const Vector6 &v)

Vector6	vector () const
	return the accelerometer and gyro biases in a single vector

const Vector3 &	accelerometer () const
	get accelerometer bias

const Vector3 &	gyroscope () const
	get gyroscope bias

Vector3	correctAccelerometer (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
	Correct an accelerometer measurement using this bias model, and optionally compute Jacobians.

Vector3	correctGyroscope (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
	Correct a gyroscope measurement using this bias model, and optionally compute Jacobians.

Static Public Attributes
static const size_t	dimension = 6
	dimension of the variable - used to autodetect sizes

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

Advanced Interface

Testable