Detailed Description

PreintegrationBase is the base class for PreintegratedMeasurements (in ImuFactor) and CombinedPreintegratedMeasurements (in CombinedImuFactor).

It includes the definitions of the preintegrated variables and the methods to access, print, and compare them.

Inheritance diagram for gtsam::PreintegrationBase:

Main functionality
class	boost::serialization::access
	Serialization function.

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.

virtual void	update (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt, Matrix9 A, Matrix93 B, Matrix93 *C)=0
	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. More...

virtual void	integrateMeasurement (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt)
	Version without derivatives. More...

virtual Vector9	biasCorrectedDelta (const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H=boost::none) const =0
	Given the estimate of the bias, return a NavState tangent vector summarizing the preintegrated IMU measurements so far. More...

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.

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.

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...

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const PreintegrationBase &pim)

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

Public Member Functions
Constructors
	PreintegrationBase (const boost::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())
	Constructor, initializes the variables in the base class. More...

Basic utilities
Re-initialize PreintegratedMeasurements and set new bias
virtual void	resetIntegration ()=0

void	resetIntegrationAndSetBias (const Bias &biasHat)

bool	matchesParamsWith (const PreintegrationBase &other) const
	check parameters equality: checks whether shared pointer points to same Params object.

const boost::shared_ptr< Params > &	params () const
	shared pointer to params

Params &	p () const
	const reference to params

Instance variables access
const imuBias::ConstantBias &	biasHat () const

double	deltaTij () const

virtual Vector3	deltaPij () const =0

virtual Vector3	deltaVij () const =0

virtual Rot3	deltaRij () const =0

virtual NavState	deltaXij () const =0

Vector6	biasHatVector () const

Public Types
typedef imuBias::ConstantBias	Bias

typedef PreintegrationParams	Params

Protected Member Functions
	PreintegrationBase ()
	Default constructor for serialization.

virtual	~PreintegrationBase ()
	Virtual destructor for serialization.

Protected Attributes
boost::shared_ptr< Params >	p_

Bias	biasHat_
	Acceleration and gyro bias used for preintegration.

double	deltaTij_
	Time interval from i to j.

Constructor & Destructor Documentation

◆ PreintegrationBase()

gtsam::PreintegrationBase::PreintegrationBase	(	const boost::shared_ptr< Params > &	p,
		const imuBias::ConstantBias &	biasHat = `imuBias::ConstantBias()`
	)

Constructor, initializes the variables in the base class.

Parameters

p	Parameters, typically fixed in a single application
bias	Current estimate of acceleration and rotation rate biases

Member Function Documentation

◆ biasCorrectedDelta()

virtual Vector9 gtsam::PreintegrationBase::biasCorrectedDelta	(	const imuBias::ConstantBias &	bias_i,
		OptionalJacobian< 9, 6 >	H = `boost::none`
	)		const

pure virtual

Given the estimate of the bias, return a NavState tangent vector summarizing the preintegrated IMU measurements so far.

Implemented in gtsam::ManifoldPreintegration, and gtsam::TangentPreintegration.

◆ computeErrorAndJacobians()

Vector9 gtsam::PreintegrationBase::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.

preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j

◆ integrateMeasurement()

void gtsam::PreintegrationBase::integrateMeasurement	(	const Vector3 &	measuredAcc,
		const Vector3 &	measuredOmega,
		const double	dt
	)

virtual

Version without derivatives.

Reimplemented in gtsam::PreintegratedCombinedMeasurements, and gtsam::PreintegratedImuMeasurements.

◆ print()

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

virtual

Reimplemented in gtsam::PreintegratedImuMeasurements.

◆ resetIntegration()

virtual void gtsam::PreintegrationBase::resetIntegration ( )

pure virtual

Implemented in gtsam::PreintegratedCombinedMeasurements, and gtsam::PreintegratedImuMeasurements.

◆ update()

virtual void gtsam::PreintegrationBase::update	(	const Vector3 &	measuredAcc,
		const Vector3 &	measuredOmega,
		const double	dt,
		Matrix9 *	A,
		Matrix93 *	B,
		Matrix93 *	C
	)

pure virtual

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.

Implemented in gtsam::ManifoldPreintegration, and gtsam::TangentPreintegration.

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

/Users/dellaert/git/github/gtsam/navigation/PreintegrationBase.h
/Users/dellaert/git/github/gtsam/navigation/PreintegrationBase.cpp

Detailed Description

Main functionality

Testable

Public Member Functions

Public Types

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ PreintegrationBase()

Member Function Documentation

◆ biasCorrectedDelta()

◆ computeErrorAndJacobians()

◆ integrateMeasurement()

◆ print()

◆ resetIntegration()

◆ update()