Merge pull request #451 from borglab/feature/preintegrated

Wrap preintegrated function
2020-07-31 10:36:47 -04:00 · 2020-07-31 10:36:47 -04:00 · 92ebe2672c
parent 73d1240a4a 82849112ec
commit 92ebe2672c
1 changed files with 1 additions and 0 deletions
--- a/gtsam.h
+++ b/gtsam.h
@ -2996,6 +2996,7 @@ class PreintegratedImuMeasurements {
  void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat);

  Matrix preintMeasCov() const;
+  Vector preintegrated() const;
  double deltaTij() const;
  gtsam::Rot3 deltaRij() const;
  Vector deltaPij() const;