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wrap the biasHat function for PreintegratedMeasurement

release/4.3a0
Varun Agrawal 2020-06-24 19:25:56 -05:00
parent a4ef531a32
commit 7f1384b0f2
1 changed files with 2 additions and 0 deletions
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gtsam.h
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@ -2955,6 +2955,7 @@ class PreintegratedImuMeasurements {
gtsam::Rot3 deltaRij() const; gtsam::Rot3 deltaRij() const;
Vector deltaPij() const; Vector deltaPij() const;
Vector deltaVij() const; Vector deltaVij() const;
gtsam::imuBias::ConstantBias biasHat() const;
Vector biasHatVector() const; Vector biasHatVector() const;
gtsam::NavState predict(const gtsam::NavState& state_i, gtsam::NavState predict(const gtsam::NavState& state_i,
const gtsam::imuBias::ConstantBias& bias) const; const gtsam::imuBias::ConstantBias& bias) const;
@ -3016,6 +3017,7 @@ class PreintegratedCombinedMeasurements {
gtsam::Rot3 deltaRij() const; gtsam::Rot3 deltaRij() const;
Vector deltaPij() const; Vector deltaPij() const;
Vector deltaVij() const; Vector deltaVij() const;
gtsam::imuBias::ConstantBias biasHat() const;
Vector biasHatVector() const; Vector biasHatVector() const;
gtsam::NavState predict(const gtsam::NavState& state_i, gtsam::NavState predict(const gtsam::NavState& state_i,
const gtsam::imuBias::ConstantBias& bias) const; const gtsam::imuBias::ConstantBias& bias) const;