add serialize() to various preintegration classes
parent
5125844d19
commit
004cab1542
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@ -77,6 +77,9 @@ virtual class PreintegratedRotationParams {
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std::optional<gtsam::Vector> getOmegaCoriolis() const;
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std::optional<gtsam::Pose3> getBodyPSensor() const;
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// enabling serialization functionality
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void serialize() const;
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};
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#include <gtsam/navigation/PreintegrationParams.h>
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@ -170,22 +173,26 @@ virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams {
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gtsam::Matrix getBiasAccCovariance() const ;
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gtsam::Matrix getBiasOmegaCovariance() const ;
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gtsam::Matrix getBiasAccOmegaInit() const;
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// enabling serialization functionality
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void serialize() const;
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};
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class PreintegratedCombinedMeasurements {
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// Constructors
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PreintegratedCombinedMeasurements(const gtsam::PreintegrationCombinedParams* params);
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PreintegratedCombinedMeasurements(const gtsam::PreintegrationCombinedParams* params,
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const gtsam::imuBias::ConstantBias& bias);
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// Constructors
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PreintegratedCombinedMeasurements(
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const gtsam::PreintegrationCombinedParams* params);
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PreintegratedCombinedMeasurements(
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const gtsam::PreintegrationCombinedParams* params,
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const gtsam::imuBias::ConstantBias& bias);
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// Testable
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void print(string s = "Preintegrated Measurements:") const;
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bool equals(const gtsam::PreintegratedCombinedMeasurements& expected,
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double tol);
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double tol);
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// Standard Interface
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void integrateMeasurement(gtsam::Vector measuredAcc, gtsam::Vector measuredOmega,
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double deltaT);
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void integrateMeasurement(gtsam::Vector measuredAcc,
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gtsam::Vector measuredOmega, double deltaT);
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void resetIntegration();
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void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat);
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@ -197,7 +204,10 @@ class PreintegratedCombinedMeasurements {
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gtsam::imuBias::ConstantBias biasHat() const;
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gtsam::Vector biasHatVector() const;
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gtsam::NavState predict(const gtsam::NavState& state_i,
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const gtsam::imuBias::ConstantBias& bias) const;
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const gtsam::imuBias::ConstantBias& bias) const;
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// enabling serialization functionality
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void serialize() const;
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};
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virtual class CombinedImuFactor: gtsam::NoiseModelFactor {
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