gtsam::PreintegratedAhrsMeasurements Class Reference

#include <AHRSFactor.h>

Inheritance diagram for gtsam::PreintegratedAhrsMeasurements:

Collaboration diagram for gtsam::PreintegratedAhrsMeasurements:

Public Types
typedef PreintegratedRotationParams	Params

Public Member Functions
	PreintegratedAhrsMeasurements ()
	Default constructor, only for serialization and wrappers.
	PreintegratedAhrsMeasurements (const std::shared_ptr< Params > &p, const Vector3 &biasHat)
	PreintegratedAhrsMeasurements (const std::shared_ptr< Params > &p, const Vector3 &bias_hat, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega, const Matrix3 &preint_meas_cov)
Params &	p () const
const Vector3 &	biasHat () const
const Matrix3 &	preintMeasCov () const
void	print (const std::string &s="Preintegrated Measurements: ") const
	print
bool	equals (const PreintegratedAhrsMeasurements &, double tol=1e-9) const
	equals
void	resetIntegration ()
	Reset inetgrated quantities to zero.
void	integrateMeasurement (const Vector3 &measuredOmega, double deltaT)
Vector3	predict (const Vector3 &bias, OptionalJacobian< 3, 3 > H={}) const
	PreintegratedAhrsMeasurements (const Vector3 &biasHat, const Matrix3 &measuredOmegaCovariance)
Basic utilities
bool	matchesParamsWith (const PreintegratedRotation &other) const
	check parameters equality: checks whether shared pointer points to same Params object.
Access instance variables
const std::shared_ptr< Params > &	params () const
const double &	deltaTij () const
const Rot3 &	deltaRij () const
const Matrix3 &	delRdelBiasOmega () const
Testable
bool	equals (const PreintegratedRotation &other, double tol) const
Main functionality
Rot3	incrementalRotation (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > D_incrR_integratedOmega) const
void	integrateMeasurement (const Vector3 &measuredOmega, const Vector3 &biasHat, double deltaT, OptionalJacobian< 3, 3 > D_incrR_integratedOmega={}, OptionalJacobian< 3, 3 > F={})
Rot3	biascorrectedDeltaRij (const Vector3 &biasOmegaIncr, OptionalJacobian< 3, 3 > H={}) const
	Return a bias corrected version of the integrated rotation, with optional Jacobian.
Vector3	integrateCoriolis (const Rot3 &rot_i) const
	Integrate coriolis correction in body frame rot_i.

Static Public Member Functions
static Vector	DeltaAngles (const Vector &msr_gyro_t, const double msr_dt, const Vector3 &delta_angles)

Protected Attributes
Vector3	biasHat_
	Angular rate bias values used during preintegration.
Matrix3	preintMeasCov_
	Covariance matrix of the preintegrated measurements (first-order propagation from measurementCovariance)
std::shared_ptr< Params >	p_
	Parameters.
double	deltaTij_
	Time interval from i to j.
Rot3	deltaRij_
	Preintegrated relative orientation (in frame i)
Matrix3	delRdelBiasOmega_
	Jacobian of preintegrated rotation w.r.t. angular rate bias.

Friends
class	AHRSFactor

Detailed Description

PreintegratedAHRSMeasurements accumulates (integrates) the Gyroscope measurements (rotation rates) and the corresponding covariance matrix. Can be built incrementally so as to avoid costly integration at time of factor construction.

Constructor & Destructor Documentation

PreintegratedAhrsMeasurements() [1/3]

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( const std::shared_ptr< Params > &  p, const Vector3 &  biasHat  )

inline

Default constructor, initialize with no measurements

Parameters

bias	Current estimate of acceleration and rotation rate biases

PreintegratedAhrsMeasurements() [2/3]

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( const std::shared_ptr< Params > &  p, const Vector3 &  bias_hat, double  deltaTij, const Rot3 &  deltaRij, const Matrix3 &  delRdelBiasOmega, const Matrix3 &  preint_meas_cov  )

inline

Non-Default constructor, initialize with measurements

Parameters

p	Parameters for AHRS pre-integration
bias_hat	Current estimate of acceleration and rotation rate biases
deltaTij	Delta time in pre-integration
deltaRij	Delta rotation in pre-integration
delRdelBiasOmega	Jacobian of rotation wrt. to gyro bias
preint_meas_cov	Pre-integration covariance

PreintegratedAhrsMeasurements() [3/3]

gtsam::PreintegratedAhrsMeasurements::PreintegratedAhrsMeasurements ( const Vector3 &  biasHat, const Matrix3 &  measuredOmegaCovariance  )

inline

Deprecated:

constructor, but used in tests.

Member Function Documentation

incrementalRotation()

Rot3 gtsam::PreintegratedRotation::incrementalRotation ( const Vector3 &  measuredOmega, const Vector3 &  biasHat, double  deltaT, OptionalJacobian< 3, 3 >  D_incrR_integratedOmega  ) const

inherited

Take the gyro measurement, correct it using the (constant) bias estimate and possibly the sensor pose, and then integrate it forward in time to yield an incremental rotation.

integrateMeasurement() [1/2]

void gtsam::PreintegratedAhrsMeasurements::integrateMeasurement	(	const Vector3 &	measuredOmega,
		double	deltaT
	)

Add a single Gyroscope measurement to the preintegration. Measurements are taken to be in the sensor frame and conversion to the body frame is handled by body_P_sensor in PreintegratedRotationParams (if provided).

Parameters

measuredOmega	Measured angular velocity (as given by the sensor)
deltaT	Time step

integrateMeasurement() [2/2]

void gtsam::PreintegratedRotation::integrateMeasurement ( const Vector3 &  measuredOmega, const Vector3 &  biasHat, double  deltaT, OptionalJacobian< 3, 3 >  D_incrR_integratedOmega = {}, OptionalJacobian< 3, 3 >  F = {}  )

inherited

Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_.

predict()

Vector3 gtsam::PreintegratedAhrsMeasurements::predict	(	const Vector3 &	bias,
		OptionalJacobian< 3, 3 >	H = {}
	)		const

Predict bias-corrected incremental rotation TODO: The matrix Hbias is the derivative of predict? Unit-test?

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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/AHRSFactor.h