gtsam::imuBias::ConstantBias Class Reference

Public Member Functions
Vector6	vector () const
const Vector3 &	accelerometer () const
const Vector3 &	gyroscope () const
Vector3	correctAccelerometer (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
Vector3	correctGyroscope (const Vector3 &measurement, OptionalJacobian< 3, 6 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
Standard Constructors
	ConstantBias ()
	ConstantBias (const Vector3 &biasAcc, const Vector3 &biasGyro)
	ConstantBias (const Vector6 &v)

Static Public Attributes
static const size_t	dimension = 6
	dimension of the variable - used to autodetect sizes

Testable
void	print (const std::string &s="") const
	print with optional string
bool	equals (const ConstantBias &expected, double tol=1e-5) const
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const ConstantBias &bias)
	ostream operator

Group
ConstantBias	operator- () const
ConstantBias	operator+ (const Vector6 &v) const
ConstantBias	operator+ (const ConstantBias &b) const
ConstantBias	operator- (const ConstantBias &b) const
static ConstantBias	Identity ()

Member Function Documentation

accelerometer()

const Vector3& gtsam::imuBias::ConstantBias::accelerometer ( ) const

inline

get accelerometer bias

correctAccelerometer()

Vector3 gtsam::imuBias::ConstantBias::correctAccelerometer ( const Vector3 &  measurement, OptionalJacobian< 3, 6 >  H1 = {}, OptionalJacobian< 3, 3 >  H2 = {}  ) const

inline

Correct an accelerometer measurement using this bias model, and optionally compute Jacobians

correctGyroscope()

Vector3 gtsam::imuBias::ConstantBias::correctGyroscope ( const Vector3 &  measurement, OptionalJacobian< 3, 6 >  H1 = {}, OptionalJacobian< 3, 3 >  H2 = {}  ) const

inline

Correct a gyroscope measurement using this bias model, and optionally compute Jacobians

equals()

bool gtsam::imuBias::ConstantBias::equals ( const ConstantBias &  expected, double  tol = 1e-5  ) const

inline

equality up to tolerance

gyroscope()

const Vector3& gtsam::imuBias::ConstantBias::gyroscope ( ) const

inline

get gyroscope bias

Identity()

static ConstantBias gtsam::imuBias::ConstantBias::Identity ( )

inlinestatic

identity for group operation

operator+() [1/2]

ConstantBias gtsam::imuBias::ConstantBias::operator+ ( const Vector6 &  v ) const

inline

addition of vector on right

operator+() [2/2]

ConstantBias gtsam::imuBias::ConstantBias::operator+ ( const ConstantBias &  b ) const

inline

addition

operator-() [1/2]

ConstantBias gtsam::imuBias::ConstantBias::operator- ( ) const

inline

inverse

operator-() [2/2]

ConstantBias gtsam::imuBias::ConstantBias::operator- ( const ConstantBias &  b ) const

inline

subtraction

vector()

Vector6 gtsam::imuBias::ConstantBias::vector ( ) const

inline

return the accelerometer and gyro biases in a single vector

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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/ImuBias.h