removed useless parameter, removed useless includes, fixed typos
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				|  | @ -23,9 +23,7 @@ | |||
| 
 | ||||
| /* GTSAM includes */ | ||||
| #include <gtsam/nonlinear/NonlinearFactor.h> | ||||
| #include <gtsam/linear/GaussianFactor.h> | ||||
| #include <gtsam/navigation/ImuBias.h> | ||||
| #include <gtsam/geometry/Pose3.h> | ||||
| #include <gtsam/base/debug.h> | ||||
| 
 | ||||
| namespace gtsam { | ||||
|  | @ -63,7 +61,7 @@ public: | |||
|   /**
 | ||||
|    * PreintegratedMeasurements accumulates (integrates) the IMU measurements | ||||
|    * (rotation rates and accelerations) and the corresponding covariance matrix. | ||||
|    * The measurements are then used to build the Preintegrated IMU factor (ImuFactor class). | ||||
|    * The measurements are then used to build the Preintegrated IMU factor (ImuFactor). | ||||
|    * Can be built incrementally so as to avoid costly integration at time of | ||||
|    * factor construction. | ||||
|    */ | ||||
|  | @ -93,7 +91,7 @@ public: | |||
|     public: | ||||
| 
 | ||||
|     /**
 | ||||
|      *  Default constructor, initialize the class with no measurements | ||||
|      *  Default constructor, initializes the class with no measurements | ||||
|      *  @param bias Current estimate of acceleration and rotation rate biases | ||||
|      *  @param measuredAccCovariance      Covariance matrix of measuredAcc | ||||
|      *  @param measuredOmegaCovariance    Covariance matrix of measured Angular Rate | ||||
|  | @ -256,8 +254,7 @@ public: | |||
|     // predicted states from IMU
 | ||||
|     static PoseVelocity Predict(const Pose3& pose_i, const Vector3& vel_i, | ||||
|         const imuBias::ConstantBias& bias, const PreintegratedMeasurements preintegratedMeasurements, | ||||
|         const Vector3& gravity, const Vector3& omegaCoriolis, boost::optional<const Pose3&> body_P_sensor = boost::none, | ||||
|         const bool use2ndOrderCoriolis = false); | ||||
|         const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false); | ||||
| 
 | ||||
|   private: | ||||
| 
 | ||||
|  |  | |||
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