Accelerating from an arbitrary initial state, with optional rotation. More...

#include <Scenario.h>

Inheritance diagram for gtsam::AcceleratingScenario:

Collaboration 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())

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

Rot3	rotation (double t) const

NavState	navState (double t) const

Vector3	velocity_b (double t) const

Vector3	acceleration_b (double t) const

Detailed Description

Accelerating from an arbitrary initial state, with optional rotation.

Constructor & Destructor Documentation

gtsam::AcceleratingScenario::AcceleratingScenario	(	const Rot3 &	nRb,
		const Point3 &	p0,
		const Vector3 &	v0,
		const Vector3 &	a_n,
		const Vector3 &	omega_b = `Vector3::Zero()`
	)

inline

Construct scenario with constant acceleration in navigation frame and optional angular velocity in body: rotating while translating...

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/navigation/Scenario.h