#include <TangentPreintegration.h>

Inheritance diagram for gtsam::TangentPreintegration:

Collaboration diagram for gtsam::TangentPreintegration:

Public Types
typedef imuBias::ConstantBias	Bias

typedef PreintegrationParams	Params

Public Member Functions
virtual std::shared_ptr< TangentPreintegration >	clone () const

Constructors/destructors
	TangentPreintegration (const std::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())

	~TangentPreintegration () override
	Virtual destructor.

Basic utilities
Re-initialize PreintegratedMeasurements
void	resetIntegration () override

Instance variables access
Vector3	deltaPij () const override

Vector3	deltaVij () const override

Rot3	deltaRij () const override

NavState	deltaXij () const override

const Vector9 &	preintegrated () const

Vector3	theta () const

const Matrix93 &	preintegrated_H_biasAcc () const

const Matrix93 &	preintegrated_H_biasOmega () const

Testable
bool	equals (const TangentPreintegration &other, double tol) 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
	TangentPreintegration ()
	Default constructor for serialization.

Protected Attributes
Vector9	preintegrated_

Matrix93	preintegrated_H_biasAcc_
	Jacobian of preintegrated_ w.r.t. acceleration bias.

Matrix93	preintegrated_H_biasOmega_
	Jacobian of preintegrated_ 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.

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

void	mergeWith (const TangentPreintegration &pim, Matrix9 H1, Matrix9 H2)

static Vector9	UpdatePreintegrated (const Vector3 &a_body, const Vector3 &w_body, const double dt, const Vector9 &preintegrated, OptionalJacobian< 9, 9 > A={}, OptionalJacobian< 9, 3 > B={}, OptionalJacobian< 9, 3 > C={})

static Vector9	Compose (const Vector9 &zeta01, const Vector9 &zeta12, double deltaT12, OptionalJacobian< 9, 9 > H1={}, OptionalJacobian< 9, 9 > H2={})

Detailed Description

Integrate on the 9D tangent space of the NavState manifold. See extensive discussion in ImuFactor.lyx

Constructor & Destructor Documentation

◆ TangentPreintegration()

gtsam::TangentPreintegration::TangentPreintegration	(	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::TangentPreintegration::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<TangentPreintegration> gtsam::TangentPreintegration::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

◆ mergeWith()

void gtsam::TangentPreintegration::mergeWith	(	const TangentPreintegration &	pim,
		Matrix9 *	H1,
		Matrix9 *	H2
	)

Merge in a different set of measurements and update bias derivatives accordingly The derivatives apply to the preintegrated Vector9

◆ update()

void gtsam::TangentPreintegration::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

◆ preintegrated_

Vector9 gtsam::TangentPreintegration::preintegrated_

protected

Preintegrated navigation state, as a 9D vector on tangent space at frame i Order is: theta, position, velocity

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/TangentPreintegration.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Main functionality