#include <PreintegratedRotation.h>
Inheritance diagram for gtsam::PreintegratedRotation:
Collaboration diagram for gtsam::PreintegratedRotation:
Public Types | |
| typedef PreintegratedRotationParams | Params |
Public Member Functions | |
Constructors | |
| PreintegratedRotation (const std::shared_ptr< Params > &p) | |
| Default constructor, resets integration to zero. | |
| PreintegratedRotation (const std::shared_ptr< Params > &p, double deltaTij, const Rot3 &deltaRij, const Matrix3 &delRdelBiasOmega) | |
| Explicit initialization of all class members. | |
Basic utilities | |
| void | resetIntegration () |
| Re-initialize PreintegratedMeasurements. | |
| 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 | |
| void | print (const std::string &s) const |
| 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. | |
Protected Member Functions | |
| PreintegratedRotation () | |
| Default constructor for serialization. | |
Protected Attributes | |
| 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. | |
Detailed Description
PreintegratedRotation is the base class for all PreintegratedMeasurements classes (in AHRSFactor, ImuFactor, and CombinedImuFactor). It includes the definitions of the preintegrated rotation.
Member Function Documentation
◆ incrementalRotation()
| Rot3 gtsam::PreintegratedRotation::incrementalRotation | ( | const Vector3 & | measuredOmega, |
| const Vector3 & | biasHat, | ||
| double | deltaT, | ||
| OptionalJacobian< 3, 3 > | D_incrR_integratedOmega | ||
| ) | const |
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()
| void gtsam::PreintegratedRotation::integrateMeasurement | ( | const Vector3 & | measuredOmega, |
| const Vector3 & | biasHat, | ||
| double | deltaT, | ||
| OptionalJacobian< 3, 3 > | D_incrR_integratedOmega = {}, |
||
| OptionalJacobian< 3, 3 > | F = {} |
||
| ) |
Calculate an incremental rotation given the gyro measurement and a time interval, and update both deltaTij_ and deltaRij_.
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/PreintegratedRotation.h
