12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fixed matlab wrapper

release/4.3a0
Luca 2014-12-04 12:13:08 -05:00
parent 7b43d5c943
commit 26ca8a5bb4
1 changed files with 44 additions and 48 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

92
gtsam.h
View File

@ -2393,8 +2393,8 @@ class ConstantBias {
}///\namespace imuBias
#include <gtsam/navigation/ImuFactor.h>
class PoseVelocity{
PoseVelocity(const gtsam::Pose3& pose, const gtsam::Vector3 velocity);
class PoseVelocityBias{
PoseVelocityBias(const gtsam::Pose3& pose, const gtsam::Vector3 velocity, const gtsam::imuBias::ConstantBias& bias);
};
class ImuFactorPreintegratedMeasurements {
// Standard Constructor
@ -2419,7 +2419,6 @@ class ImuFactorPreintegratedMeasurements {
Matrix delRdelBiasOmega() const;
Matrix preintMeasCov() const;
// Standard Interface
void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT);
void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor);
@ -2433,54 +2432,12 @@ virtual class ImuFactor : gtsam::NonlinearFactor {
const gtsam::Pose3& body_P_sensor);
// Standard Interface
gtsam::ImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
gtsam::PoseVelocity Predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, const gtsam::imuBias::ConstantBias& bias,
gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, const gtsam::imuBias::ConstantBias& bias,
const gtsam::ImuFactorPreintegratedMeasurements& preintegratedMeasurements,
Vector gravity, Vector omegaCoriolis) const;
};
#include <gtsam/navigation/AHRSFactor.h>
class AHRSFactorPreintegratedMeasurements {
// Standard Constructor
AHRSFactorPreintegratedMeasurements(Vector bias, Matrix measuredOmegaCovariance);
AHRSFactorPreintegratedMeasurements(Vector bias, Matrix measuredOmegaCovariance);
AHRSFactorPreintegratedMeasurements(const gtsam::AHRSFactorPreintegratedMeasurements& rhs);
// Testable
void print(string s) const;
bool equals(const gtsam::AHRSFactorPreintegratedMeasurements& expected, double tol);
// get Data
Matrix measurementCovariance() const;
Matrix deltaRij() const;
double deltaTij() const;
Vector biasHat() const;
// Standard Interface
void integrateMeasurement(Vector measuredOmega, double deltaT);
void integrateMeasurement(Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor);
void resetIntegration() ;
};
virtual class AHRSFactor : gtsam::NonlinearFactor {
AHRSFactor(size_t rot_i, size_t rot_j,size_t bias,
const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, Vector omegaCoriolis);
AHRSFactor(size_t rot_i, size_t rot_j, size_t bias,
const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, Vector omegaCoriolis,
const gtsam::Pose3& body_P_sensor);
// Standard Interface
gtsam::AHRSFactorPreintegratedMeasurements 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,
const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements,
Vector omegaCoriolis) const;
};
#include <gtsam/navigation/CombinedImuFactor.h>
class PoseVelocityBias{
PoseVelocityBias(const gtsam::Pose3& pose, const gtsam::Vector3 velocity, const gtsam::imuBias::ConstantBias& bias);
};
class CombinedImuFactorPreintegratedMeasurements {
// Standard Constructor
CombinedImuFactorPreintegratedMeasurements(
@ -2521,7 +2478,7 @@ class CombinedImuFactorPreintegratedMeasurements {
Matrix delVdelBiasAcc() const;
Matrix delVdelBiasOmega() const;
Matrix delRdelBiasOmega() const;
Matrix PreintMeasCov() const;
Matrix preintMeasCov() const;
};
virtual class CombinedImuFactor : gtsam::NonlinearFactor {
@ -2530,11 +2487,50 @@ virtual class CombinedImuFactor : gtsam::NonlinearFactor {
// Standard Interface
gtsam::CombinedImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
gtsam::PoseVelocityBias Predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, const gtsam::imuBias::ConstantBias& bias_i,
gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, const gtsam::imuBias::ConstantBias& bias_i,
const gtsam::CombinedImuFactorPreintegratedMeasurements& preintegratedMeasurements,
Vector gravity, Vector omegaCoriolis);
};
#include <gtsam/navigation/AHRSFactor.h>
class AHRSFactorPreintegratedMeasurements {
// Standard Constructor
AHRSFactorPreintegratedMeasurements(Vector bias, Matrix measuredOmegaCovariance);
AHRSFactorPreintegratedMeasurements(Vector bias, Matrix measuredOmegaCovariance);
AHRSFactorPreintegratedMeasurements(const gtsam::AHRSFactorPreintegratedMeasurements& rhs);
// Testable
void print(string s) const;
bool equals(const gtsam::AHRSFactorPreintegratedMeasurements& expected, double tol);
// get Data
Matrix measurementCovariance() const;
Matrix deltaRij() const;
double deltaTij() const;
Vector biasHat() const;
// Standard Interface
void integrateMeasurement(Vector measuredOmega, double deltaT);
void integrateMeasurement(Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor);
void resetIntegration() ;
};
virtual class AHRSFactor : gtsam::NonlinearFactor {
AHRSFactor(size_t rot_i, size_t rot_j,size_t bias,
const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, Vector omegaCoriolis);
AHRSFactor(size_t rot_i, size_t rot_j, size_t bias,
const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, Vector omegaCoriolis,
const gtsam::Pose3& body_P_sensor);
// Standard Interface
gtsam::AHRSFactorPreintegratedMeasurements 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,
const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements,
Vector omegaCoriolis) const;
};
#include <gtsam/navigation/AttitudeFactor.h>
//virtual class AttitudeFactor : gtsam::NonlinearFactor {
// AttitudeFactor(const Unit3& nZ, const Unit3& bRef);