gtsam  4.0.0
gtsam::Mechanization_bRn2 Class Reference

Public Member Functions

 Mechanization_bRn2 (const Rot3 &initial_bRn=Rot3(), const Vector3 &initial_x_g=Z_3x1, const Vector3 &initial_x_a=Z_3x1)
 Constructor. More...
 Mechanization_bRn2 (const Mechanization_bRn2 &other)
 Copy constructor.
Vector3 b_g (double g_e) const
 gravity in the body frame
const Rot3bRn () const
const Vector3 & x_g () const
const Vector3 & x_a () const
Mechanization_bRn2 correct (const Vector9 &dx) const
 Correct AHRS full state given error state dx. More...
Mechanization_bRn2 integrate (const Vector3 &u, const double dt) const
 Integrate to get new state. More...
void print (const std::string &s="") const

Static Public Member Functions

static Mechanization_bRn2 initializeVector (const std::list< Vector > &U, const std::list< Vector > &F, const double g_e=0, bool flat=false)
 Initialize the first Mechanization state. More...
static Mechanization_bRn2 initialize (const Matrix &U, const Matrix &F, const double g_e=0, bool flat=false)
 Matrix version of initialize.

Constructor & Destructor Documentation

◆ Mechanization_bRn2()

gtsam::Mechanization_bRn2::Mechanization_bRn2 ( const Rot3 initial_bRn = Rot3(),
const Vector3 &  initial_x_g = Z_3x1,
const Vector3 &  initial_x_a = Z_3x1 


initial_bRninitial rotation from nav to body frame
initial_x_ginitial gyro bias
r3Z-axis of rotated frame

Member Function Documentation

◆ correct()

Mechanization_bRn2 gtsam::Mechanization_bRn2::correct ( const Vector9 &  dx) const

Correct AHRS full state given error state dx.

objThe current state
dxThe error used to correct and return a new state

◆ initializeVector()

Mechanization_bRn2 gtsam::Mechanization_bRn2::initializeVector ( const std::list< Vector > &  U,
const std::list< Vector > &  F,
const double  g_e = 0,
bool  flat = false 

Initialize the first Mechanization state.

Ua list of gyro measurement vectors
Fa list of accelerometer measurement vectors
g_egravity magnitude
flatflag saying whether this is a flat trim init

◆ integrate()

Mechanization_bRn2 gtsam::Mechanization_bRn2::integrate ( const Vector3 &  u,
const double  dt 
) const

Integrate to get new state.

objThe current state
ugyro measurement to integrate
dttime elapsed since previous state in seconds

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