update gtsam:: namespace in navigation.i
							parent
							
								
									b6d697291e
								
							
						
					
					
						commit
						14ea7085e4
					
				|  | @ -10,7 +10,7 @@ namespace imuBias { | |||
| class ConstantBias { | ||||
|   // Constructors | ||||
|   ConstantBias(); | ||||
|   ConstantBias(Vector biasAcc, Vector biasGyro); | ||||
|   ConstantBias(gtsam::Vector biasAcc, gtsam::Vector biasGyro); | ||||
| 
 | ||||
|   // Testable | ||||
|   void print(string s = "") const; | ||||
|  | @ -25,11 +25,11 @@ class ConstantBias { | |||
|   gtsam::imuBias::ConstantBias operator-(const gtsam::imuBias::ConstantBias& b) const; | ||||
| 
 | ||||
|   // Standard Interface | ||||
|   Vector vector() const; | ||||
|   Vector accelerometer() const; | ||||
|   Vector gyroscope() const; | ||||
|   Vector correctAccelerometer(Vector measurement) const; | ||||
|   Vector correctGyroscope(Vector measurement) const; | ||||
|   gtsam::Vector vector() const; | ||||
|   gtsam::Vector accelerometer() const; | ||||
|   gtsam::Vector gyroscope() const; | ||||
|   gtsam::Vector correctAccelerometer(gtsam::Vector measurement) const; | ||||
|   gtsam::Vector correctGyroscope(gtsam::Vector measurement) const; | ||||
| 
 | ||||
|   // enabling serialization functionality | ||||
|   void serialize() const; | ||||
|  | @ -41,8 +41,8 @@ class ConstantBias { | |||
| class NavState { | ||||
|   // Constructors | ||||
|   NavState(); | ||||
|   NavState(const gtsam::Rot3& R, const gtsam::Point3& t, Vector v); | ||||
|   NavState(const gtsam::Pose3& pose, Vector v); | ||||
|   NavState(const gtsam::Rot3& R, const gtsam::Point3& t, gtsam::Vector v); | ||||
|   NavState(const gtsam::Pose3& pose, gtsam::Vector v); | ||||
| 
 | ||||
|   // Testable | ||||
|   void print(string s = "") const; | ||||
|  | @ -51,11 +51,11 @@ class NavState { | |||
|   // Access | ||||
|   gtsam::Rot3 attitude() const; | ||||
|   gtsam::Point3 position() const; | ||||
|   Vector velocity() const; | ||||
|   gtsam::Vector velocity() const; | ||||
|   gtsam::Pose3 pose() const; | ||||
| 
 | ||||
|   gtsam::NavState retract(const Vector& x) const; | ||||
|   Vector localCoordinates(const gtsam::NavState& g) const; | ||||
|   gtsam::NavState retract(const gtsam::Vector& x) const; | ||||
|   gtsam::Vector localCoordinates(const gtsam::NavState& g) const; | ||||
| 
 | ||||
|   // enabling serialization functionality | ||||
|   void serialize() const; | ||||
|  | @ -69,19 +69,19 @@ virtual class PreintegratedRotationParams { | |||
|   void print(string s = "") const; | ||||
|   bool equals(const gtsam::PreintegratedRotationParams& expected, double tol); | ||||
| 
 | ||||
|   void setGyroscopeCovariance(Matrix cov); | ||||
|   void setOmegaCoriolis(Vector omega); | ||||
|   void setGyroscopeCovariance(gtsam::Matrix cov); | ||||
|   void setOmegaCoriolis(gtsam::Vector omega); | ||||
|   void setBodyPSensor(const gtsam::Pose3& pose); | ||||
| 
 | ||||
|   Matrix getGyroscopeCovariance() const; | ||||
|   gtsam::Matrix getGyroscopeCovariance() const; | ||||
| 
 | ||||
|   std::optional<Vector> getOmegaCoriolis() const; | ||||
|   std::optional<gtsam::Vector> getOmegaCoriolis() const; | ||||
|   std::optional<gtsam::Pose3> getBodyPSensor() const; | ||||
| }; | ||||
| 
 | ||||
| #include <gtsam/navigation/PreintegrationParams.h> | ||||
| virtual class PreintegrationParams : gtsam::PreintegratedRotationParams { | ||||
|   PreintegrationParams(Vector n_gravity); | ||||
|   PreintegrationParams(gtsam::Vector n_gravity); | ||||
| 
 | ||||
|   gtsam::Vector n_gravity; | ||||
| 
 | ||||
|  | @ -94,12 +94,12 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams { | |||
|   void print(string s = "") const; | ||||
|   bool equals(const gtsam::PreintegrationParams& expected, double tol); | ||||
| 
 | ||||
|   void setAccelerometerCovariance(Matrix cov); | ||||
|   void setIntegrationCovariance(Matrix cov); | ||||
|   void setAccelerometerCovariance(gtsam::Matrix cov); | ||||
|   void setIntegrationCovariance(gtsam::Matrix cov); | ||||
|   void setUse2ndOrderCoriolis(bool flag); | ||||
| 
 | ||||
|   Matrix getAccelerometerCovariance() const; | ||||
|   Matrix getIntegrationCovariance()   const; | ||||
|   gtsam::Matrix getAccelerometerCovariance() const; | ||||
|   gtsam::Matrix getIntegrationCovariance()   const; | ||||
|   bool   getUse2ndOrderCoriolis()     const; | ||||
| 
 | ||||
|   // enabling serialization functionality | ||||
|  | @ -118,19 +118,19 @@ class PreintegratedImuMeasurements { | |||
|   bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); | ||||
| 
 | ||||
|   // Standard Interface | ||||
|   void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, | ||||
|   void integrateMeasurement(gtsam::Vector measuredAcc, gtsam::Vector measuredOmega, | ||||
|       double deltaT); | ||||
|   void resetIntegration(); | ||||
|   void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat); | ||||
| 
 | ||||
|   Matrix preintMeasCov() const; | ||||
|   Vector preintegrated() const; | ||||
|   gtsam::Matrix preintMeasCov() const; | ||||
|   gtsam::Vector preintegrated() const; | ||||
|   double deltaTij() const; | ||||
|   gtsam::Rot3 deltaRij() const; | ||||
|   Vector deltaPij() const; | ||||
|   Vector deltaVij() const; | ||||
|   gtsam::Vector deltaPij() const; | ||||
|   gtsam::Vector deltaVij() const; | ||||
|   gtsam::imuBias::ConstantBias biasHat() const; | ||||
|   Vector biasHatVector() const; | ||||
|   gtsam::Vector biasHatVector() const; | ||||
|   gtsam::NavState predict(const gtsam::NavState& state_i, | ||||
|       const gtsam::imuBias::ConstantBias& bias) const; | ||||
| 
 | ||||
|  | @ -145,14 +145,14 @@ virtual class ImuFactor: gtsam::NonlinearFactor { | |||
| 
 | ||||
|   // Standard Interface | ||||
|   gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const; | ||||
|   Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i, | ||||
|       const gtsam::Pose3& pose_j, Vector vel_j, | ||||
|   gtsam::Vector evaluateError(const gtsam::Pose3& pose_i, gtsam::Vector vel_i, | ||||
|       const gtsam::Pose3& pose_j, gtsam::Vector vel_j, | ||||
|       const gtsam::imuBias::ConstantBias& bias); | ||||
| }; | ||||
| 
 | ||||
| #include <gtsam/navigation/CombinedImuFactor.h> | ||||
| virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams { | ||||
|   PreintegrationCombinedParams(Vector n_gravity); | ||||
|   PreintegrationCombinedParams(gtsam::Vector n_gravity); | ||||
| 
 | ||||
|   static gtsam::PreintegrationCombinedParams* MakeSharedD(double g); | ||||
|   static gtsam::PreintegrationCombinedParams* MakeSharedU(double g); | ||||
|  | @ -163,13 +163,13 @@ virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams { | |||
|   void print(string s = "") const; | ||||
|   bool equals(const gtsam::PreintegrationCombinedParams& expected, double tol); | ||||
| 
 | ||||
|   void setBiasAccCovariance(Matrix cov); | ||||
|   void setBiasOmegaCovariance(Matrix cov); | ||||
|   void setBiasAccOmegaInit(Matrix cov); | ||||
|   void setBiasAccCovariance(gtsam::Matrix cov); | ||||
|   void setBiasOmegaCovariance(gtsam::Matrix cov); | ||||
|   void setBiasAccOmegaInit(gtsam::Matrix cov); | ||||
|    | ||||
|   Matrix getBiasAccCovariance() const ; | ||||
|   Matrix getBiasOmegaCovariance() const ; | ||||
|   Matrix getBiasAccOmegaInit() const; | ||||
|   gtsam::Matrix getBiasAccCovariance() const ; | ||||
|   gtsam::Matrix getBiasOmegaCovariance() const ; | ||||
|   gtsam::Matrix getBiasAccOmegaInit() const; | ||||
|   | ||||
| }; | ||||
| 
 | ||||
|  | @ -184,18 +184,18 @@ class PreintegratedCombinedMeasurements { | |||
|       double tol); | ||||
| 
 | ||||
|   // Standard Interface | ||||
|   void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, | ||||
|   void integrateMeasurement(gtsam::Vector measuredAcc, gtsam::Vector measuredOmega, | ||||
|       double deltaT); | ||||
|   void resetIntegration(); | ||||
|   void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat); | ||||
| 
 | ||||
|   Matrix preintMeasCov() const; | ||||
|   gtsam::Matrix preintMeasCov() const; | ||||
|   double deltaTij() const; | ||||
|   gtsam::Rot3 deltaRij() const; | ||||
|   Vector deltaPij() const; | ||||
|   Vector deltaVij() const; | ||||
|   gtsam::Vector deltaPij() const; | ||||
|   gtsam::Vector deltaVij() const; | ||||
|   gtsam::imuBias::ConstantBias biasHat() const; | ||||
|   Vector biasHatVector() const; | ||||
|   gtsam::Vector biasHatVector() const; | ||||
|   gtsam::NavState predict(const gtsam::NavState& state_i, | ||||
|       const gtsam::imuBias::ConstantBias& bias) const; | ||||
| }; | ||||
|  | @ -207,8 +207,8 @@ virtual class CombinedImuFactor: gtsam::NoiseModelFactor { | |||
| 
 | ||||
|   // Standard Interface | ||||
|   gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const; | ||||
|   Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i, | ||||
|       const gtsam::Pose3& pose_j, Vector vel_j, | ||||
|   gtsam::Vector evaluateError(const gtsam::Pose3& pose_i, gtsam::Vector vel_i, | ||||
|       const gtsam::Pose3& pose_j, gtsam::Vector vel_j, | ||||
|       const gtsam::imuBias::ConstantBias& bias_i, | ||||
|       const gtsam::imuBias::ConstantBias& bias_j); | ||||
| }; | ||||
|  | @ -217,12 +217,12 @@ virtual class CombinedImuFactor: gtsam::NoiseModelFactor { | |||
| class PreintegratedAhrsMeasurements { | ||||
|   // Standard Constructor | ||||
|   PreintegratedAhrsMeasurements(const gtsam::PreintegrationParams* params, | ||||
|                                 const Vector& biasHat); | ||||
|                                 const gtsam::Vector& biasHat); | ||||
|   PreintegratedAhrsMeasurements(const gtsam::PreintegrationParams* p, | ||||
|                                 const Vector& bias_hat, double deltaTij, | ||||
|                                 const gtsam::Vector& bias_hat, double deltaTij, | ||||
|                                 const gtsam::Rot3& deltaRij, | ||||
|                                 const Matrix& delRdelBiasOmega, | ||||
|                                 const Matrix& preint_meas_cov); | ||||
|                                 const gtsam::Matrix& delRdelBiasOmega, | ||||
|                                 const gtsam::Matrix& preint_meas_cov); | ||||
|   PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs); | ||||
| 
 | ||||
|   // Testable | ||||
|  | @ -232,27 +232,27 @@ class PreintegratedAhrsMeasurements { | |||
|   // get Data | ||||
|   gtsam::Rot3 deltaRij() const; | ||||
|   double deltaTij() const; | ||||
|   Vector biasHat() const; | ||||
|   gtsam::Vector biasHat() const; | ||||
| 
 | ||||
|   // Standard Interface | ||||
|   void integrateMeasurement(Vector measuredOmega, double deltaT); | ||||
|   void integrateMeasurement(gtsam::Vector measuredOmega, double deltaT); | ||||
|   void resetIntegration() ; | ||||
| }; | ||||
| 
 | ||||
| virtual class AHRSFactor : gtsam::NonlinearFactor { | ||||
|   AHRSFactor(size_t rot_i, size_t rot_j,size_t bias, | ||||
|       const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis); | ||||
|       const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, gtsam::Vector omegaCoriolis); | ||||
|   AHRSFactor(size_t rot_i, size_t rot_j, size_t bias, | ||||
|       const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis, | ||||
|       const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, gtsam::Vector omegaCoriolis, | ||||
|       const gtsam::Pose3& body_P_sensor); | ||||
| 
 | ||||
|   // Standard Interface | ||||
|   gtsam::PreintegratedAhrsMeasurements preintegratedMeasurements() const; | ||||
|   Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j, | ||||
|       Vector bias) const; | ||||
|   gtsam::Rot3 predict(const gtsam::Rot3& rot_i, Vector bias, | ||||
|   gtsam::Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j, | ||||
|       gtsam::Vector bias) const; | ||||
|   gtsam::Rot3 predict(const gtsam::Rot3& rot_i, gtsam::Vector bias, | ||||
|       const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, | ||||
|       Vector omegaCoriolis) const; | ||||
|       gtsam::Vector omegaCoriolis) const; | ||||
| }; | ||||
| 
 | ||||
| #include <gtsam/navigation/AttitudeFactor.h> | ||||
|  | @ -333,25 +333,25 @@ virtual class BarometricFactor : gtsam::NonlinearFactor { | |||
| #include <gtsam/navigation/Scenario.h> | ||||
| virtual class Scenario { | ||||
|   gtsam::Pose3 pose(double t) const; | ||||
|   Vector omega_b(double t) const; | ||||
|   Vector velocity_n(double t) const; | ||||
|   Vector acceleration_n(double t) const; | ||||
|   gtsam::Vector omega_b(double t) const; | ||||
|   gtsam::Vector velocity_n(double t) const; | ||||
|   gtsam::Vector acceleration_n(double t) const; | ||||
|   gtsam::Rot3 rotation(double t) const; | ||||
|   gtsam::NavState navState(double t) const; | ||||
|   Vector velocity_b(double t) const; | ||||
|   Vector acceleration_b(double t) const; | ||||
|   gtsam::Vector velocity_b(double t) const; | ||||
|   gtsam::Vector acceleration_b(double t) const; | ||||
| }; | ||||
| 
 | ||||
| virtual class ConstantTwistScenario : gtsam::Scenario { | ||||
|   ConstantTwistScenario(Vector w, Vector v); | ||||
|   ConstantTwistScenario(Vector w, Vector v, | ||||
|   ConstantTwistScenario(gtsam::Vector w, gtsam::Vector v); | ||||
|   ConstantTwistScenario(gtsam::Vector w, gtsam::Vector v, | ||||
|                         const gtsam::Pose3& nTb0); | ||||
| }; | ||||
| 
 | ||||
| virtual class AcceleratingScenario : gtsam::Scenario { | ||||
|   AcceleratingScenario(const gtsam::Rot3& nRb, const gtsam::Point3& p0, | ||||
|                        Vector v0, Vector a_n, | ||||
|                        Vector omega_b); | ||||
|                        gtsam::Vector v0, gtsam::Vector a_n, | ||||
|                        gtsam::Vector omega_b); | ||||
| }; | ||||
| 
 | ||||
| #include <gtsam/navigation/ScenarioRunner.h> | ||||
|  | @ -360,11 +360,11 @@ class ScenarioRunner { | |||
|                  const gtsam::PreintegrationParams* p, | ||||
|                  double imuSampleTime, | ||||
|                  const gtsam::imuBias::ConstantBias& bias); | ||||
|   Vector gravity_n() const; | ||||
|   Vector actualAngularVelocity(double t) const; | ||||
|   Vector actualSpecificForce(double t) const; | ||||
|   Vector measuredAngularVelocity(double t) const; | ||||
|   Vector measuredSpecificForce(double t) const; | ||||
|   gtsam::Vector gravity_n() const; | ||||
|   gtsam::Vector actualAngularVelocity(double t) const; | ||||
|   gtsam::Vector actualSpecificForce(double t) const; | ||||
|   gtsam::Vector measuredAngularVelocity(double t) const; | ||||
|   gtsam::Vector measuredSpecificForce(double t) const; | ||||
|   double imuSampleTime() const; | ||||
|   gtsam::PreintegratedImuMeasurements integrate( | ||||
|       double T, const gtsam::imuBias::ConstantBias& estimatedBias, | ||||
|  | @ -372,10 +372,10 @@ class ScenarioRunner { | |||
|   gtsam::NavState predict( | ||||
|       const gtsam::PreintegratedImuMeasurements& pim, | ||||
|       const gtsam::imuBias::ConstantBias& estimatedBias) const; | ||||
|   Matrix estimateCovariance( | ||||
|   gtsam::Matrix estimateCovariance( | ||||
|       double T, size_t N, | ||||
|       const gtsam::imuBias::ConstantBias& estimatedBias) const; | ||||
|   Matrix estimateNoiseCovariance(size_t N) const; | ||||
|   gtsam::Matrix estimateNoiseCovariance(size_t N) const; | ||||
| }; | ||||
| 
 | ||||
| } | ||||
|  |  | |||
		Loading…
	
		Reference in New Issue