From 814c170caaa8de0473ffb689e965a537aa1043c9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 20 Jul 2015 20:57:47 -0700 Subject: [PATCH] Added reference, made documentation consistent --- gtsam/navigation/CombinedImuFactor.h | 39 +++++++++++++++----------- gtsam/navigation/ImuFactor.h | 42 +++++++++++++++------------- 2 files changed, 46 insertions(+), 35 deletions(-) diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 5641b4c3e..6bd2f7867 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -28,6 +28,25 @@ namespace gtsam { +/* + * If you are using the factor, please cite: + * 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. + * + * REFERENCES: + * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", + * Volume 2, 2008. + * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for + * High-Dynamic Motion in Built Environments Without Initial Conditions", + * 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, + * Robotics: Science and Systems (RSS), 2015. + */ + /** * PreintegratedCombinedMeasurements integrates the IMU measurements * (rotation rates and accelerations) and the corresponding covariance matrix. @@ -35,6 +54,8 @@ namespace gtsam { * is done incrementally (ideally, one integrates the measurement as soon as * it is received from the IMU) so as to avoid costly integration at time of * factor construction. + * + * @addtogroup SLAM */ class PreintegratedCombinedMeasurements : public PreintegrationBase { @@ -131,22 +152,6 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { }; /** - * @addtogroup SLAM - * - * If you are using the factor, please cite: - * 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. - * - ** REFERENCES: - * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", - * Volume 2, 2008. - * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for - * High-Dynamic Motion in Built Environments Without Initial Conditions", - * TRO, 28(1):61-76, 2012. - * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor: - * Computation of the Jacobian Matrices", Tech. Report, 2013. - * * CombinedImuFactor is a 6-ways factor involving previous state (pose and * velocity of the vehicle, as well as bias at previous time step), and current * state (pose, velocity, bias at current time step). Following the pre- @@ -162,6 +167,8 @@ class PreintegratedCombinedMeasurements : public PreintegrationBase { * 3) The covariance matrix of the PreintegratedCombinedMeasurements preserves * the correlation between the bias uncertainty and the preintegrated * measurements uncertainty. + * + * @addtogroup SLAM */ class CombinedImuFactor: public NoiseModelFactor6 { diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index c85b56872..0b86472f5 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -28,6 +28,25 @@ namespace gtsam { +/* + * If you are using the factor, please cite: + * 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. + * + * REFERENCES: + * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", + * Volume 2, 2008. + * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for + * High-Dynamic Motion in Built Environments Without Initial Conditions", + * 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, + * Robotics: Science and Systems (RSS), 2015. + */ + /** * PreintegratedIMUMeasurements accumulates (integrates) the IMU measurements * (rotation rates and accelerations) and the corresponding covariance matrix. @@ -35,6 +54,8 @@ namespace gtsam { * Integration is done incrementally (ideally, one integrates the measurement * as soon as it is received from the IMU) so as to avoid costly integration * at time of factor construction. + * + * @addtogroup SLAM */ class PreintegratedImuMeasurements: public PreintegrationBase { @@ -104,25 +125,6 @@ private: } }; -/** - * - * @addtogroup SLAM - * - * If you are using the factor, please cite: - * 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. - * - ** REFERENCES: - * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", - * Volume 2, 2008. - * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for - * High-Dynamic Motion in Built Environments Without Initial Conditions", - * TRO, 28(1):61-76, 2012. - * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor: - * Computation of the Jacobian Matrices", Tech. Report, 2013. - */ - /** * ImuFactor is a 5-ways factor involving previous state (pose and velocity of * the vehicle at previous time step), current state (pose and velocity at @@ -132,6 +134,8 @@ private: * Note that this factor does not model "temporal consistency" of the biases * (which are usually slowly varying quantities), which is up to the caller. * See also CombinedImuFactor for a class that does this for you. + * + * @addtogroup SLAM */ class ImuFactor: public NoiseModelFactor5 {