Public Member Functions
	ScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias())

const Vector3 &	gravity_n () const

Vector3	actualAngularVelocity (double t) const

Vector3	actualSpecificForce (double t) const

Vector3	measuredAngularVelocity (double t) const

Vector3	measuredSpecificForce (double t) const

const double &	imuSampleTime () const

PreintegratedImuMeasurements	integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const
	Integrate measurements for T seconds into a PIM.

NavState	predict (const PreintegratedImuMeasurements &pim, const Bias &estimatedBias=Bias()) const
	Predict predict given a PIM.

Matrix9	estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const
	Compute a Monte Carlo estimate of the predict covariance using N samples.

Matrix6	estimateNoiseCovariance (size_t N=1000) const
	Estimate covariance of sampled noise for sanity-check.

Public Types
typedef imuBias::ConstantBias	Bias

typedef boost::shared_ptr< PreintegrationParams >	SharedParams

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

Public Member Functions

Public Types