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| PreintegratedImuMeasurements () |
| Default constructor for serialization and wrappers.
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| PreintegratedImuMeasurements (const boost::shared_ptr< PreintegrationParams > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias()) |
| Constructor, initializes the class with no measurements. More...
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| PreintegratedImuMeasurements (const PreintegrationType &base, const Matrix9 &preintMeasCov) |
| Construct preintegrated directly from members: base class and preintMeasCov. More...
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| ~PreintegratedImuMeasurements () override |
| Virtual destructor.
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void | print (const std::string &s="Preintegrated Measurements:") const override |
| print More...
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bool | equals (const PreintegratedImuMeasurements &expected, double tol=1e-9) const |
| equals
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void | resetIntegration () override |
| Re-initialize PreintegratedIMUMeasurements. More...
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void | integrateMeasurement (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt) override |
| Add a single IMU measurement to the preintegration. More...
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void | integrateMeasurements (const Matrix &measuredAccs, const Matrix &measuredOmegas, const Matrix &dts) |
| Add multiple measurements, in matrix columns.
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Matrix | preintMeasCov () const |
| Return pre-integrated measurement covariance.
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| ManifoldPreintegration (const boost::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias()) |
| Constructor, initializes the variables in the base class. More...
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void | resetIntegration () override |
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NavState | deltaXij () const override |
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Rot3 | deltaRij () const override |
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Vector3 | deltaPij () const override |
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Vector3 | deltaVij () const override |
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Matrix3 | delRdelBiasOmega () const |
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Matrix3 | delPdelBiasAcc () const |
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Matrix3 | delPdelBiasOmega () const |
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Matrix3 | delVdelBiasAcc () const |
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Matrix3 | delVdelBiasOmega () const |
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bool | equals (const ManifoldPreintegration &other, double tol) const |
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void | update (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt, Matrix9 *A, Matrix93 *B, Matrix93 *C) override |
| Update preintegrated measurements and get derivatives It takes measured quantities in the j frame Modifies preintegrated quantities in place after correcting for bias and possibly sensor pose NOTE(frank): implementation is different in two versions. More...
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Vector9 | biasCorrectedDelta (const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H=boost::none) const override |
| Given the estimate of the bias, return a NavState tangent vector summarizing the preintegrated IMU measurements so far NOTE(frank): implementation is different in two versions. More...
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virtual boost::shared_ptr< ManifoldPreintegration > | clone () const |
| Dummy clone for MATLAB.
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| PreintegrationBase (const boost::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias()) |
| Constructor, initializes the variables in the base class. More...
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void | resetIntegrationAndSetBias (const Bias &biasHat) |
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bool | matchesParamsWith (const PreintegrationBase &other) const |
| check parameters equality: checks whether shared pointer points to same Params object.
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const boost::shared_ptr< Params > & | params () const |
| shared pointer to params
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Params & | p () const |
| const reference to params
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const imuBias::ConstantBias & | biasHat () const |
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double | deltaTij () const |
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Vector6 | biasHatVector () const |
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std::pair< Vector3, Vector3 > | correctMeasurementsBySensorPose (const Vector3 &unbiasedAcc, const Vector3 &unbiasedOmega, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedAcc=boost::none, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedOmega=boost::none, OptionalJacobian< 3, 3 > correctedOmega_H_unbiasedOmega=boost::none) const |
| Subtract estimate and correct for sensor pose Compute the derivatives due to non-identity body_P_sensor (rotation and centrifugal acc) Ignore D_correctedOmega_measuredAcc as it is trivially zero.
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NavState | predict (const NavState &state_i, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 9 > H1=boost::none, OptionalJacobian< 9, 6 > H2=boost::none) const |
| Predict state at time j.
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Vector9 | computeError (const NavState &state_i, const NavState &state_j, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 9 > H1, OptionalJacobian< 9, 9 > H2, OptionalJacobian< 9, 6 > H3) const |
| Calculate error given navStates.
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Vector9 | computeErrorAndJacobians (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H1=boost::none, OptionalJacobian< 9, 3 > H2=boost::none, OptionalJacobian< 9, 6 > H3=boost::none, OptionalJacobian< 9, 3 > H4=boost::none, OptionalJacobian< 9, 6 > H5=boost::none) const |
| Compute errors w.r.t. More...
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