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Merge pull request #1354 from borglab/wrap/preintegrated-ahrs

release/4.3a0
Varun Agrawal 2022-12-29 14:13:58 -05:00 committed by GitHub
parent 706a8a42bc 1659c418e1
commit 691dc98762
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1 changed files with 7 additions and 1 deletions
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8
gtsam/navigation/navigation.i
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@ -216,7 +216,13 @@ virtual class CombinedImuFactor: gtsam::NonlinearFactor {
#include <gtsam/navigation/AHRSFactor.h> #include <gtsam/navigation/AHRSFactor.h>
class PreintegratedAhrsMeasurements { class PreintegratedAhrsMeasurements {
// Standard Constructor // 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); PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs);
// Testable // Testable