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release/4.3a0
Luca 2015-08-09 13:07:26 -04:00
parent 7fc1befdca
commit 7bb819437f
1 changed files with 12 additions and 7 deletions
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gtsam/navigation/ImuFactor.h
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@ -30,9 +30,13 @@ namespace gtsam {
/* /*
* If you are using the factor, please cite: * 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 * 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: * REFERENCES:
* [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",
@ -42,8 +46,8 @@ namespace gtsam {
* TRO, 28(1):61-76, 2012. * TRO, 28(1):61-76, 2012.
* [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor: * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor:
* Computation of the Jacobian Matrices", Tech. Report, 2013. * Computation of the Jacobian Matrices", Tech. Report, 2013.
* [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, IMU Preintegration on * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, "IMU Preintegration on
* Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation, * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation",
* Robotics: Science and Systems (RSS), 2015. * Robotics: Science and Systems (RSS), 2015.
*/ */
@ -115,7 +119,7 @@ public:
/// @deprecated version of integrateMeasurement with body_P_sensor /// @deprecated version of integrateMeasurement with body_P_sensor
/// Use parameters instead /// Use parameters instead
void integrateMeasurement(const Vector3& measuredAcc, 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: private:
@ -209,14 +213,15 @@ public:
/// @deprecated typename /// @deprecated typename
typedef PreintegratedImuMeasurements PreintegratedMeasurements; 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, ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
const PreintegratedMeasurements& preintegratedMeasurements, const PreintegratedMeasurements& preintegratedMeasurements,
const Vector3& n_gravity, const Vector3& omegaCoriolis, const Vector3& n_gravity, const Vector3& omegaCoriolis,
const boost::optional<Pose3>& body_P_sensor = boost::none, const boost::optional<Pose3>& body_P_sensor = boost::none,
const bool use2ndOrderCoriolis = false); 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, static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j,
Vector3& vel_j, const imuBias::ConstantBias& bias_i, Vector3& vel_j, const imuBias::ConstantBias& bias_i,
PreintegratedMeasurements& pim, const Vector3& n_gravity, PreintegratedMeasurements& pim, const Vector3& n_gravity,