Detailed Description

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

Inheritance diagram for gtsam::PreintegrationParams:

Public Member Functions
	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< Pose3 >	getBodyPSensor () const

Static Public Member Functions
static boost::shared_ptr< PreintegrationParams >	MakeSharedD (double g=9.81)

static boost::shared_ptr< PreintegrationParams >	MakeSharedU (double g=9.81)

Public Attributes
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< Pose3 >	body_P_sensor
	The pose of the sensor in the body frame.

Protected Member Functions
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int)

Member Function Documentation

bool gtsam::PreintegrationParams::equals	(	const PreintegratedRotationParams &	other,
		double	tol
	)		const

overridevirtual

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

overridevirtual

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