gtsam::AcceleratingScenario Class Reference

Detailed Description

Accelerating from an arbitrary initial state, with optional rotation.

Inheritance diagram for gtsam::AcceleratingScenario:

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
Vector3	omega_b (double t) const override
	angular velocity in body frame
Vector3	velocity_n (double t) const override
	velocity at time t, in nav frame
Vector3	acceleration_n (double t) const override
	acceleration in nav frame
Public Member Functions inherited from gtsam::Scenario
virtual	~Scenario ()
	virtual destructor
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()

Vector3 gtsam::AcceleratingScenario::acceleration_n ( double t ) const

inlineoverridevirtual

acceleration in nav frame

Implements gtsam::Scenario.

omega_b()

Vector3 gtsam::AcceleratingScenario::omega_b ( double t ) const

inlineoverridevirtual

angular velocity in body frame

Implements gtsam::Scenario.

pose()

Pose3 gtsam::AcceleratingScenario::pose ( double t ) const

inlineoverridevirtual

pose at time t

Implements gtsam::Scenario.

velocity_n()

Vector3 gtsam::AcceleratingScenario::velocity_n ( double t ) const

inlineoverridevirtual

velocity at time t, in nav frame

Implements gtsam::Scenario.

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

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/navigation/Scenario.h