gtsam::ConstantTwistScenario Class Reference
Detailed Description
Scenario with constant twist 3D trajectory.
Note that a plane flying level does not feel any acceleration: gravity is being perfectly compensated by the lift generated by the wings, and drag is compensated by thrust. The accelerometer will add the gravity component back in, as modeled by the specificForce method in ScenarioRunner.
Inheritance diagram for gtsam::ConstantTwistScenario:
Public Member Functions | |
| ConstantTwistScenario (const Vector3 &w, const Vector3 &v, const Pose3 &nTb0=Pose3()) | |
| Construct scenario with constant twist [w,v]. | |
| Pose3 | pose (double t) const override |
| pose at time t More... | |
| Vector3 | omega_b (double t) const override |
| angular velocity in body frame More... | |
| Vector3 | velocity_n (double t) const override |
| velocity at time t, in nav frame More... | |
| Vector3 | acceleration_n (double t) const override |
| acceleration in nav frame More... | |
| Public Member Functions inherited from gtsam::Scenario | |
| 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()
|
inlineoverridevirtual |
acceleration in nav frame
Implements gtsam::Scenario.
◆ omega_b()
|
inlineoverridevirtual |
angular velocity in body frame
Implements gtsam::Scenario.
◆ pose()
|
inlineoverridevirtual |
pose at time t
Implements gtsam::Scenario.
◆ velocity_n()
|
inlineoverridevirtual |
velocity at time t, in nav frame
Implements gtsam::Scenario.
The documentation for this class was generated from the following file:
- /Users/dellaert/git/github/gtsam/navigation/Scenario.h
