From 1659c418e154bfb85a3a7d2781aaf0374d21ec88 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 29 Dec 2022 21:31:46 +0530
Subject: [PATCH] PreintegratedAhrsMeasurements wrapped constructors

---
 gtsam/navigation/navigation.i | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i
index 731cf3807..7bbef9fc5 100644
--- a/gtsam/navigation/navigation.i
+++ b/gtsam/navigation/navigation.i
@@ -216,7 +216,13 @@ virtual class CombinedImuFactor: gtsam::NonlinearFactor {
 #include <gtsam/navigation/AHRSFactor.h>
 class PreintegratedAhrsMeasurements {
   // Standard Constructor
-  PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance);
+  PreintegratedAhrsMeasurements(const gtsam::PreintegrationParams* params,
+                                const Vector& biasHat);
+  PreintegratedAhrsMeasurements(const gtsam::PreintegrationParams* p,
+                                const Vector& bias_hat, double deltaTij,
+                                const gtsam::Rot3& deltaRij,
+                                const Matrix& delRdelBiasOmega,
+                                const Matrix& preint_meas_cov);
   PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs);
 
   // Testable