gtsam::Scenario Class Reference

Detailed Description

Simple trajectory simulator.

Inheritance diagram for gtsam::Scenario:

Public Member Functions
virtual	~Scenario ()
	virtual destructor
virtual Pose3	pose (double t) const =0
	pose at time t More...
virtual Vector3	omega_b (double t) const =0
	angular velocity in body frame More...
virtual Vector3	velocity_n (double t) const =0
	velocity at time t, in nav frame More...
virtual Vector3	acceleration_n (double t) const =0
	acceleration in nav frame More...
Rot3	rotation (double t) const
NavState	navState (double t) const
Vector3	velocity_b (double t) const
Vector3	acceleration_b (double t) const

Member Function Documentation

acceleration_n()

virtual Vector3 gtsam::Scenario::acceleration_n ( double  t ) const

pure virtual

acceleration in nav frame

Implemented in gtsam::ConstantTwistScenario, and gtsam::AcceleratingScenario.

omega_b()

virtual Vector3 gtsam::Scenario::omega_b ( double  t ) const

pure virtual

angular velocity in body frame

Implemented in gtsam::ConstantTwistScenario, and gtsam::AcceleratingScenario.

pose()

virtual Pose3 gtsam::Scenario::pose ( double  t ) const

pure virtual

pose at time t

Implemented in gtsam::ConstantTwistScenario, and gtsam::AcceleratingScenario.

velocity_n()

virtual Vector3 gtsam::Scenario::velocity_n ( double  t ) const

pure virtual

velocity at time t, in nav frame

Implemented in gtsam::ConstantTwistScenario, and gtsam::AcceleratingScenario.

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

• /Users/dellaert/git/github/gtsam/navigation/Scenario.h