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.
	Mechanization_bRn2 (const Mechanization_bRn2 &other)
	Copy constructor.
Vector3	b_g (double g_e) const
	gravity in the body frame
const Rot3 &	bRn () 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.
Mechanization_bRn2	integrate (const Vector3 &u, const double dt) const
	Integrate to get new state.
void	print (const std::string &s="") const
	print

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.
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 )

inline

Constructor.

Parameters

initial_bRn	initial rotation from nav to body frame
initial_x_g	initial gyro bias
r3	Z-axis of rotated frame

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

Correct AHRS full state given error state dx.

Parameters

obj	The current state
dx	The error used to correct and return a new state

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

static

Initialize the first Mechanization state.

Parameters

U	a list of gyro measurement vectors
F	a list of accelerometer measurement vectors
g_e	gravity magnitude
flat	flag saying whether this is a flat trim init

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

Integrate to get new state.

Parameters

obj	The current state
u	gyro measurement to integrate
dt	time elapsed since previous state in seconds

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