From 7bb819437fe869ad797a335886808649d7d7d1bd Mon Sep 17 00:00:00 2001 From: Luca Date: Sun, 9 Aug 2015 13:07:26 -0400 Subject: [PATCH] added comments --- gtsam/navigation/ImuFactor.h | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 36251a246..644cad4ed 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -30,9 +30,13 @@ namespace gtsam { /* * If you are using the factor, please cite: - * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating + * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, "Eliminating * conditionally independent sets in factor graphs: a unifying perspective based - * on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014. + * on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014. + * + * C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on + * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", + * Robotics: Science and Systems (RSS), 2015. * * REFERENCES: * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", @@ -42,8 +46,8 @@ namespace gtsam { * TRO, 28(1):61-76, 2012. * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor: * Computation of the Jacobian Matrices", Tech. Report, 2013. - * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, IMU Preintegration on - * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation, + * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on + * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", * Robotics: Science and Systems (RSS), 2015. */ @@ -115,7 +119,7 @@ public: /// @deprecated version of integrateMeasurement with body_P_sensor /// Use parameters instead void integrateMeasurement(const Vector3& measuredAcc, - const Vector3& measuredOmega, double deltaT, const Pose3& body_P_sensor); + const Vector3& measuredOmega, double dt, const Pose3& body_P_sensor); private: @@ -209,14 +213,15 @@ public: /// @deprecated typename typedef PreintegratedImuMeasurements PreintegratedMeasurements; - /// @deprecated constructor + /// @deprecated constructor, in the new one gravity, coriolis settings are in Params ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias, const PreintegratedMeasurements& preintegratedMeasurements, const Vector3& n_gravity, const Vector3& omegaCoriolis, const boost::optional& body_P_sensor = boost::none, const bool use2ndOrderCoriolis = false); - /// @deprecated use PreintegrationBase::predict + /// @deprecated use PreintegrationBase::predict, + /// in the new one gravity, coriolis settings are in Params static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j, Vector3& vel_j, const imuBias::ConstantBias& bias_i, PreintegratedMeasurements& pim, const Vector3& n_gravity,