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removed useless parameter, removed useless includes, fixed typos

release/4.3a0
Luca 2014-12-02 15:55:47 -05:00
parent 3ba04fba6b
commit 78f19d1aa3
1 changed files with 3 additions and 6 deletions
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9
gtsam/navigation/ImuFactor.h
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@ -23,9 +23,7 @@
/* GTSAM includes */ /* GTSAM includes */
#include <gtsam/nonlinear/NonlinearFactor.h> #include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/linear/GaussianFactor.h>
#include <gtsam/navigation/ImuBias.h> #include <gtsam/navigation/ImuBias.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/base/debug.h> #include <gtsam/base/debug.h>
namespace gtsam { namespace gtsam {
@ -63,7 +61,7 @@ public:
/** /**
* PreintegratedMeasurements accumulates (integrates) the IMU measurements * PreintegratedMeasurements accumulates (integrates) the IMU measurements
* (rotation rates and accelerations) and the corresponding covariance matrix. * (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 * Can be built incrementally so as to avoid costly integration at time of
* factor construction. * factor construction.
*/ */
@ -93,7 +91,7 @@ public:
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 bias Current estimate of acceleration and rotation rate biases
* @param measuredAccCovariance Covariance matrix of measuredAcc * @param measuredAccCovariance Covariance matrix of measuredAcc
* @param measuredOmegaCovariance Covariance matrix of measured Angular Rate * @param measuredOmegaCovariance Covariance matrix of measured Angular Rate
@ -256,8 +254,7 @@ public:
// predicted states from IMU // predicted states from IMU
static PoseVelocity Predict(const Pose3& pose_i, const Vector3& vel_i, static PoseVelocity Predict(const Pose3& pose_i, const Vector3& vel_i,
const imuBias::ConstantBias& bias, const PreintegratedMeasurements preintegratedMeasurements, const imuBias::ConstantBias& bias, const PreintegratedMeasurements preintegratedMeasurements,
const Vector3& gravity, const Vector3& omegaCoriolis, boost::optional<const Pose3&> body_P_sensor = boost::none, const Vector3& gravity, const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false);
const bool use2ndOrderCoriolis = false);
private: private: