#include <ManifoldPreintegration.h>

Inheritance diagram for gtsam::ManifoldPreintegration:

Collaboration diagram for gtsam::ManifoldPreintegration:

Public Types
typedef imuBias::ConstantBias	Bias

typedef PreintegrationParams	Params

Public Member Functions
Constructors
	ManifoldPreintegration (const std::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())

Basic utilities
Re-initialize PreintegratedMeasurements
void	resetIntegration () override

Instance variables access
NavState	deltaXij () const override

Rot3	deltaRij () const override

Vector3	deltaPij () const override

Vector3	deltaVij () const override

Matrix3	delRdelBiasOmega () const

Matrix3	delPdelBiasAcc () const

Matrix3	delPdelBiasOmega () const

Matrix3	delVdelBiasAcc () const

Matrix3	delVdelBiasOmega () const

Testable
bool	equals (const ManifoldPreintegration &other, double tol) const

Main functionality
void	update (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt, Matrix9 A, Matrix93 B, Matrix93 *C) override

Vector9	biasCorrectedDelta (const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H={}) const override

virtual std::shared_ptr< ManifoldPreintegration >	clone () const

Basic utilities
Re-initialize PreintegratedMeasurements and set new bias
void	resetIntegrationAndSetBias (const Bias &biasHat)

bool	matchesParamsWith (const PreintegrationBase &other) const
	check parameters equality: checks whether shared pointer points to same Params object.

const std::shared_ptr< Params > &	params () const
	shared pointer to params

Params &	p () const
	const reference to params

Instance variables access
const imuBias::ConstantBias &	biasHat () const

double	deltaTij () const

Vector6	biasHatVector () const

Testable
virtual void	print (const std::string &s="") const

Main functionality
std::pair< Vector3, Vector3 >	correctMeasurementsBySensorPose (const Vector3 &unbiasedAcc, const Vector3 &unbiasedOmega, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedAcc={}, OptionalJacobian< 3, 3 > correctedAcc_H_unbiasedOmega={}, OptionalJacobian< 3, 3 > correctedOmega_H_unbiasedOmega={}) const

virtual void	integrateMeasurement (const Vector3 &measuredAcc, const Vector3 &measuredOmega, const double dt)
	Version without derivatives.

NavState	predict (const NavState &state_i, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 9 > H1={}, OptionalJacobian< 9, 6 > H2={}) const
	Predict state at time j.

Vector9	computeError (const NavState &state_i, const NavState &state_j, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 9 > H1, OptionalJacobian< 9, 9 > H2, OptionalJacobian< 9, 6 > H3) const
	Calculate error given navStates.

Vector9	computeErrorAndJacobians (const Pose3 &pose_i, const Vector3 &vel_i, const Pose3 &pose_j, const Vector3 &vel_j, const imuBias::ConstantBias &bias_i, OptionalJacobian< 9, 6 > H1={}, OptionalJacobian< 9, 3 > H2={}, OptionalJacobian< 9, 6 > H3={}, OptionalJacobian< 9, 3 > H4={}, OptionalJacobian< 9, 6 > H5={}) const

Protected Member Functions
	ManifoldPreintegration ()
	Default constructor for serialization.

Protected Attributes
NavState	deltaXij_

Matrix3	delRdelBiasOmega_
	Jacobian of preintegrated rotation w.r.t. angular rate bias.

Matrix3	delPdelBiasAcc_
	Jacobian of preintegrated position w.r.t. acceleration bias.

Matrix3	delPdelBiasOmega_
	Jacobian of preintegrated position w.r.t. angular rate bias.

Matrix3	delVdelBiasAcc_
	Jacobian of preintegrated velocity w.r.t. acceleration bias.

Matrix3	delVdelBiasOmega_
	Jacobian of preintegrated velocity w.r.t. angular rate bias.

std::shared_ptr< Params >	p_

Bias	biasHat_
	Acceleration and gyro bias used for preintegration.

double	deltaTij_
	Time interval from i to j.

Detailed Description

IMU pre-integration on NavSatet manifold. This corresponds to the original RSS paper (with one difference: V is rotated)

Constructor & Destructor Documentation

◆ ManifoldPreintegration()

gtsam::ManifoldPreintegration::ManifoldPreintegration	(	const std::shared_ptr< Params > &	p,
		const imuBias::ConstantBias &	biasHat = `imuBias::ConstantBias()`
	)

Constructor, initializes the variables in the base class

Parameters

p	Parameters, typically fixed in a single application
bias	Current estimate of acceleration and rotation rate biases

Member Function Documentation

◆ biasCorrectedDelta()

Vector9 gtsam::ManifoldPreintegration::biasCorrectedDelta	(	const imuBias::ConstantBias &	bias_i,
		OptionalJacobian< 9, 6 >	H = `{}`
	)		const

overridevirtual

Given the estimate of the bias, return a NavState tangent vector summarizing the preintegrated IMU measurements so far NOTE(frank): implementation is different in two versions

Implements gtsam::PreintegrationBase.

◆ clone()

virtual std::shared_ptr<ManifoldPreintegration> gtsam::ManifoldPreintegration::clone ( ) const

inlinevirtual

Dummy clone for MATLAB

◆ computeErrorAndJacobians()

Vector9 gtsam::PreintegrationBase::computeErrorAndJacobians	(	const Pose3 &	pose_i,
		const Vector3 &	vel_i,
		const Pose3 &	pose_j,
		const Vector3 &	vel_j,
		const imuBias::ConstantBias &	bias_i,
		OptionalJacobian< 9, 6 >	H1 = `{}`,
		OptionalJacobian< 9, 3 >	H2 = `{}`,
		OptionalJacobian< 9, 6 >	H3 = `{}`,
		OptionalJacobian< 9, 3 >	H4 = `{}`,
		OptionalJacobian< 9, 6 >	H5 = `{}`
	)		const

inherited

Compute errors w.r.t. preintegrated measurements and jacobians wrt pose_i, vel_i, bias_i, pose_j, bias_j

◆ correctMeasurementsBySensorPose()

std::pair<Vector3, Vector3> gtsam::PreintegrationBase::correctMeasurementsBySensorPose	(	const Vector3 &	unbiasedAcc,
		const Vector3 &	unbiasedOmega,
		OptionalJacobian< 3, 3 >	correctedAcc_H_unbiasedAcc = `{}`,
		OptionalJacobian< 3, 3 >	correctedAcc_H_unbiasedOmega = `{}`,
		OptionalJacobian< 3, 3 >	correctedOmega_H_unbiasedOmega = `{}`
	)		const

inherited

Subtract estimate and correct for sensor pose Compute the derivatives due to non-identity body_P_sensor (rotation and centrifugal acc) Ignore D_correctedOmega_measuredAcc as it is trivially zero

◆ update()

void gtsam::ManifoldPreintegration::update	(	const Vector3 &	measuredAcc,
		const Vector3 &	measuredOmega,
		const double	dt,
		Matrix9 *	A,
		Matrix93 *	B,
		Matrix93 *	C
	)

overridevirtual

Update preintegrated measurements and get derivatives It takes measured quantities in the j frame Modifies preintegrated quantities in place after correcting for bias and possibly sensor pose NOTE(frank): implementation is different in two versions

Implements gtsam::PreintegrationBase.

Member Data Documentation

◆ deltaXij_

NavState gtsam::ManifoldPreintegration::deltaXij_

protected

Pre-integrated navigation state, from frame i to frame j Note: relative position does not take into account velocity at time i, see deltap+, in [2] Note: velocity is now also in frame i, as opposed to deltaVij in [2]

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/ManifoldPreintegration.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes