gtsam 4.1.1
gtsam
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Accelerating from an arbitrary initial state, with optional rotation.
Public Member Functions | |
AcceleratingScenario (const Rot3 &nRb, const Point3 &p0, const Vector3 &v0, const Vector3 &a_n, const Vector3 &omega_b=Vector3::Zero()) | |
Construct scenario with constant acceleration in navigation frame and optional angular velocity in body: rotating while translating... | |
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... | |
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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 |
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inlineoverridevirtual |
acceleration in nav frame
Implements gtsam::Scenario.
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inlineoverridevirtual |
angular velocity in body frame
Implements gtsam::Scenario.
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inlineoverridevirtual |
pose at time t
Implements gtsam::Scenario.
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inlineoverridevirtual |
velocity at time t, in nav frame
Implements gtsam::Scenario.