GTSAM
4.0.2
C++ library for smoothing and mapping (SAM)
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#include <PreintegrationParams.h>
Public Member Functions | |
PreintegrationParams () | |
Default constructor for serialization only. | |
PreintegrationParams (const Vector3 &n_gravity) | |
void | print (const std::string &s="") const override |
bool | equals (const PreintegratedRotationParams &other, double tol) const override |
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< PreintegrationParams > | MakeSharedD (double g=9.81) |
static std::shared_ptr< PreintegrationParams > | MakeSharedU (double g=9.81) |
Public Attributes | |
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. | |
Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the constructor
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inline |
The Params constructor insists on getting the navigation frame gravity vector For convenience, two commonly used conventions are provided by named constructors below
Matrix3 gtsam::PreintegrationParams::accelerometerCovariance |
Continuous-time "Covariance" of accelerometer The units for stddev are σ = m/s²/√Hz
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inherited |
Continuous-time "Covariance" of gyroscope measurements The units for stddev are σ = rad/s/√Hz