#include <CombinedImuFactor.h>

Inheritance diagram for gtsam::PreintegrationCombinedParams:

Collaboration diagram for gtsam::PreintegrationCombinedParams:

Public Member Functions
	PreintegrationCombinedParams ()

	PreintegrationCombinedParams (const Vector3 &_n_gravity)
	See two named constructors below for good values of n_gravity in body frame.

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

bool	equals (const PreintegratedRotationParams &other, double tol) const override

void	setBiasAccCovariance (const Matrix3 &cov)

void	setBiasOmegaCovariance (const Matrix3 &cov)

void	setBiasAccOmegaInit (const Matrix6 &cov)

const Matrix3 &	getBiasAccCovariance () const

const Matrix3 &	getBiasOmegaCovariance () const

const Matrix6 &	getBiasAccOmegaInit () const

void	setAccelerometerCovariance (const Matrix3 &cov)

void	setIntegrationCovariance (const Matrix3 &cov)

void	setUse2ndOrderCoriolis (bool flag)

const Matrix3 &	getAccelerometerCovariance () const

const Matrix3 &	getIntegrationCovariance () const

const Vector3 &	getGravity () const

bool	getUse2ndOrderCoriolis () const

void	setGyroscopeCovariance (const Matrix3 &cov)

void	setOmegaCoriolis (const Vector3 &omega)

void	setBodyPSensor (const Pose3 &pose)

const Matrix3 &	getGyroscopeCovariance () const

std::optional< Vector3 >	getOmegaCoriolis () const

std::optional< Pose3 >	getBodyPSensor () const

Static Public Member Functions
static std::shared_ptr< PreintegrationCombinedParams >	MakeSharedD (double g=9.81)

static std::shared_ptr< PreintegrationCombinedParams >	MakeSharedU (double g=9.81)

Public Attributes
Matrix3	biasAccCovariance
	continuous-time "Covariance" describing accelerometer bias random walk

Matrix3	biasOmegaCovariance
	continuous-time "Covariance" describing gyroscope bias random walk

Matrix6	biasAccOmegaInt
	covariance of bias used as initial estimate.

Matrix3	accelerometerCovariance

Matrix3	integrationCovariance
	continuous-time "Covariance" describing integration uncertainty

bool	use2ndOrderCoriolis
	Whether to use second order Coriolis integration.

Vector3	n_gravity
	Gravity vector in nav frame.

Matrix3	gyroscopeCovariance

std::optional< Vector3 >	omegaCoriolis
	Coriolis constant.

std::optional< Pose3 >	body_P_sensor
	The pose of the sensor in the body frame.

Detailed Description

Parameters for pre-integration using PreintegratedCombinedMeasurements: Usage: Create just a single Params and pass a shared pointer to the constructor

Constructor & Destructor Documentation

◆ PreintegrationCombinedParams()

gtsam::PreintegrationCombinedParams::PreintegrationCombinedParams ( )

inline

Default constructor makes uninitialized params struct. Used for serialization.

Member Data Documentation

◆ accelerometerCovariance

Matrix3 gtsam::PreintegrationParams::accelerometerCovariance

inherited

Continuous-time "Covariance" of accelerometer The units for stddev are σ = m/s²/√Hz

◆ gyroscopeCovariance

Matrix3 gtsam::PreintegratedRotationParams::gyroscopeCovariance

inherited

Continuous-time "Covariance" of gyroscope measurements The units for stddev are σ = rad/s/√Hz

The documentation for this struct was generated from the following file:

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/navigation/CombinedImuFactor.h

Public Member Functions