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