Detailed Description

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

Inheritance diagram for gtsam::PreintegratedRotationParams:

Public Member Functions
	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

Public Attributes
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.

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

Public Member Functions