Fixed MATLAB wrapper
dellaert
parent
127cfdcfde
commit
8a45320ae2
209
gtsam.h
209
gtsam.h
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@ -2447,7 +2447,7 @@ namespace imuBias {
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#include <gtsam/navigation/ImuBias.h>
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class ConstantBias {
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// Standard Constructor
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// Constructors
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ConstantBias();
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ConstantBias(Vector biasAcc, Vector biasGyro);
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@ -2479,99 +2479,120 @@ class ConstantBias {
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}///\namespace imuBias
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//#include <gtsam/navigation/ImuFactor.h>
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//class PoseVelocityBias{
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// PoseVelocityBias(const gtsam::Pose3& pose, Vector velocity, const gtsam::imuBias::ConstantBias& bias);
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// };
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//class PreintegratedImuMeasurements {
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// // Standard Constructor
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// PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration);
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// PreintegratedImuMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance);
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// // PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements& rhs);
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//
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// // Testable
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// void print(string s) const;
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// bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol);
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//
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// double deltaTij() const;
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// gtsam::Rot3 deltaRij() const;
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// Vector deltaPij() const;
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// Vector deltaVij() const;
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// Vector biasHatVector() const;
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// Matrix delPdelBiasAcc() const;
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// Matrix delPdelBiasOmega() const;
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// Matrix delVdelBiasAcc() const;
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// Matrix delVdelBiasOmega() const;
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// Matrix delRdelBiasOmega() const;
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// Matrix preintMeasCov() const;
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//
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// // Standard Interface
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// void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT);
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// gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias,
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// Vector gravity, Vector omegaCoriolis) const;
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//};
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//
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//virtual class ImuFactor : gtsam::NonlinearFactor {
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// ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias,
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// const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis);
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// ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias,
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// const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis,
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// const gtsam::Pose3& body_P_sensor);
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// // Standard Interface
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// gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const;
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//};
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//
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//#include <gtsam/navigation/CombinedImuFactor.h>
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//class PreintegratedCombinedMeasurements {
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// // Standard Constructor
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// PreintegratedCombinedMeasurements(
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// const gtsam::imuBias::ConstantBias& bias,
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// Matrix measuredAccCovariance,
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// Matrix measuredOmegaCovariance,
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// Matrix integrationErrorCovariance,
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// Matrix biasAccCovariance,
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// Matrix biasOmegaCovariance,
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// Matrix biasAccOmegaInit);
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// PreintegratedCombinedMeasurements(
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// const gtsam::imuBias::ConstantBias& bias,
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// Matrix measuredAccCovariance,
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// Matrix measuredOmegaCovariance,
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// Matrix integrationErrorCovariance,
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// Matrix biasAccCovariance,
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// Matrix biasOmegaCovariance,
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// Matrix biasAccOmegaInit,
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// bool use2ndOrderIntegration);
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// // PreintegratedCombinedMeasurements(const gtsam::PreintegratedCombinedMeasurements& rhs);
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//
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// // Testable
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// void print(string s) const;
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// bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, double tol);
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//
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// double deltaTij() const;
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// gtsam::Rot3 deltaRij() const;
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// Vector deltaPij() const;
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// Vector deltaVij() const;
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// Vector biasHatVector() const;
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// Matrix delPdelBiasAcc() const;
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// Matrix delPdelBiasOmega() const;
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// Matrix delVdelBiasAcc() const;
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// Matrix delVdelBiasOmega() const;
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// Matrix delRdelBiasOmega() const;
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// Matrix preintMeasCov() const;
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//
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// // Standard Interface
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// void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT);
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// gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias,
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// Vector gravity, Vector omegaCoriolis) const;
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//};
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//
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//virtual class CombinedImuFactor : gtsam::NonlinearFactor {
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// CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias_i, size_t bias_j,
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// const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis);
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// // Standard Interface
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// gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const;
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//};
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//
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#include <gtsam/navigation/NavState.h>
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class NavState {
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// Constructors
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NavState();
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NavState(const gtsam::Rot3& R, const gtsam::Point3& t, Vector v);
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NavState(const gtsam::Pose3& pose, Vector v);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::NavState& expected, double tol) const;
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// Access
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gtsam::Rot3 attitude() const;
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gtsam::Point3 position() const;
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Vector velocity() const;
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gtsam::Pose3 pose() const;
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};
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#include <gtsam/navigation/PreintegrationParams.h>
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class PreintegrationParams {
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PreintegrationParams(Vector n_gravity);
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// TODO(frank): add setters/getters or make this MATLAB wrapper feature
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};
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#include <gtsam/navigation/PreintegrationBase.h>
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virtual class PreintegrationBase {
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// Constructors
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PreintegrationBase(const gtsam::PreintegrationParams* params);
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PreintegrationBase(const gtsam::PreintegrationParams* params,
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const gtsam::imuBias::ConstantBias& bias);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::PreintegrationBase& expected, double tol);
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double deltaTij() const;
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gtsam::Rot3 deltaRij() const;
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Vector deltaPij() const;
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Vector deltaVij() const;
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Vector biasHatVector() const;
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Matrix delPdelBiasAcc() const;
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Matrix delPdelBiasOmega() const;
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Matrix delVdelBiasAcc() const;
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Matrix delVdelBiasOmega() const;
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Matrix delRdelBiasOmega() const;
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// Standard Interface
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gtsam::NavState predict(const gtsam::NavState& state_i,
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const gtsam::imuBias::ConstantBias& bias) const;
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};
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#include <gtsam/navigation/ImuFactor.h>
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virtual class PreintegratedImuMeasurements: gtsam::PreintegrationBase {
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// Constructors
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PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params);
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PreintegratedImuMeasurements(const gtsam::PreintegrationParams* params,
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const gtsam::imuBias::ConstantBias& bias);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol);
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// Standard Interface
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void integrateMeasurement(Vector measuredAcc, Vector measuredOmega,
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double deltaT);
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void resetIntegration();
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Matrix preintMeasCov() const;
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};
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virtual class ImuFactor: gtsam::NonlinearFactor {
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ImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j,
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size_t bias,
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const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements);
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// Standard Interface
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gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const;
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Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i,
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const gtsam::Pose3& pose_j, Vector vel_j,
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const gtsam::imuBias::ConstantBias& bias);
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};
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#include <gtsam/navigation/CombinedImuFactor.h>
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virtual class PreintegratedCombinedMeasurements: gtsam::PreintegrationBase {
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// Standard Constructor
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PreintegratedCombinedMeasurements(const gtsam::imuBias::ConstantBias& bias,
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Matrix measuredAccCovariance, Matrix measuredOmegaCovariance,
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Matrix integrationErrorCovariance, Matrix biasAccCovariance,
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Matrix biasOmegaCovariance, Matrix biasAccOmegaInit);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::PreintegratedCombinedMeasurements& expected,
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double tol);
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// Standard Interface
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void integrateMeasurement(Vector measuredAcc, Vector measuredOmega,
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double deltaT);
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void resetIntegration();
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Matrix preintMeasCov() const;
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};
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virtual class CombinedImuFactor: gtsam::NonlinearFactor {
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CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j,
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size_t bias_i, size_t bias_j,
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const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements);
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// Standard Interface
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gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const;
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Vector evaluateError(const gtsam::Pose3& pose_i, Vector vel_i,
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const gtsam::Pose3& pose_j, Vector vel_j,
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const gtsam::imuBias::ConstantBias& bias_i,
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const gtsam::imuBias::ConstantBias& bias_j);
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};
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#include <gtsam/navigation/AHRSFactor.h>
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class PreintegratedAhrsMeasurements {
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// Standard Constructor
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@ -280,6 +280,12 @@ public:
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/// @}
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/** Dummy clone for MATLAB */
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virtual boost::shared_ptr<PreintegrationBase> clone() const {
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return boost::shared_ptr<PreintegrationBase>();
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}
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#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
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/// @name Deprecated
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/// @{
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