gtsam::CombinedScenarioRunner Class Reference

Inheritance diagram for gtsam::CombinedScenarioRunner:

Public Member Functions
	CombinedScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias())
PreintegratedCombinedMeasurements	integrate (double T, const Bias &estimatedBias=Bias(), bool corrupted=false) const
	Integrate measurements for T seconds into a PIM.
NavState	predict (const PreintegratedCombinedMeasurements &pim, const Bias &estimatedBias=Bias()) const
	Predict predict given a PIM.
Eigen::Matrix< double, 15, 15 >	estimateCovariance (double T, size_t N=1000, const Bias &estimatedBias=Bias()) const
	Compute a Monte Carlo estimate of the predict covariance using N samples.
Public Member Functions inherited from gtsam::ScenarioRunner
	ScenarioRunner (const Scenario &scenario, const SharedParams &p, double imuSampleTime=1.0/100.0, const Bias &bias=Bias())
const Vector3 &	gravity_n () const
const Scenario &	scenario () 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 boost::shared_ptr< PreintegrationCombinedParams >	SharedParams
Public Types inherited from gtsam::ScenarioRunner
typedef imuBias::ConstantBias	Bias
typedef boost::shared_ptr< PreintegrationParams >	SharedParams

---

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

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