GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <AttitudeFactor.h>
Public Member Functions | |
AttitudeFactor () | |
AttitudeFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1)) | |
Constructor. More... | |
Vector | attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H={}) const |
const Unit3 & | nZ () const |
const Unit3 & | bRef () const |
Protected Attributes | |
Unit3 | nZ_ |
Unit3 | bRef_ |
Position measurement in. | |
Base class for prior on attitude Example:
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inline |
default constructor - only use for serialization
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inline |
Constructor.
nZ | measured direction in navigation frame |
bRef | reference direction in body frame (default Z-axis in NED frame, i.e., [0; 0; 1]) |
Vector gtsam::AttitudeFactor::attitudeError | ( | const Rot3 & | p, |
OptionalJacobian< 2, 3 > | H = {} |
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) | const |
vector of errors