Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const ConstantBias &bias)
	ostream operator
void	print (const std::string &s="") const
	print with optional string
bool	equals (const ConstantBias &expected, double tol=1e-5) const
	equality up to tolerance

Group
ConstantBias	operator- () const
	inverse
ConstantBias	operator+ (const Vector6 &v) const
	addition of vector on right
ConstantBias	operator+ (const ConstantBias &b) const
	addition
ConstantBias	operator- (const ConstantBias &b) const
	subtraction
static ConstantBias	Identity ()
	identity for group operation

Public Member Functions
Vector6	vector () const
	return the accelerometer and gyro biases in a single vector
const Vector3 &	accelerometer () const
	get accelerometer bias
const Vector3 &	gyroscope () const
	get gyroscope bias
Vector3	correctAccelerometer (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
	Correct an accelerometer measurement using this bias model, and optionally compute Jacobians.
Vector3	correctGyroscope (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
	Correct a gyroscope measurement using this bias model, and optionally compute Jacobians.
Standard Constructors
	ConstantBias (const Vector3 &biasAcc, const Vector3 &biasGyro)
	ConstantBias (const Vector6 &v)

Static Public Attributes
static const size_t	dimension = 6
	dimension of the variable - used to autodetect sizes

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

Advanced Interface

Testable