Moved to header, added some methods

gtsam/navigation/Scenario.h

@@ -0,0 +1,41 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    Scenario.h
+ * @brief   Simple class to test navigation scenarios
+ * @author  Frank Dellaert
+ */
+
+#pragma once
+#include <gtsam/geometry/Pose3.h>
+
+namespace gtsam {
+
+/// Simple class with constant twist 3D trajectory
+class Scenario {
+ public:
+  /// Construct scenario with constant twist [w,v]
+  Scenario(const Vector3& w, const Vector3& v, double imuSampleTime = 1e-2)
+      : twist_((Vector6() << w, v).finished()), imuSampleTime_(imuSampleTime) {}
+
+  Vector3 groundTruthAcc() const { return twist_.tail<3>(); }
+  Vector3 groundTruthGyro() const { return twist_.head<3>(); }
+  const double& imuSampleTime() const { return imuSampleTime_; }
+
+  Pose3 poseAtTime(double t) { return Pose3::Expmap(twist_ * t); }
+
+ private:
+  Vector6 twist_;
+  double imuSampleTime_;
+};
+
+}  // namespace gtsam

gtsam/navigation/tests/testScenario.cpp

@@ -9,38 +9,14 @@
 
  * -------------------------------------------------------------------------- */
 
-/**
- * @file    Scenario.h
- * @brief   Simple class to test navigation scenarios
- * @author  Frank Dellaert
- */
-
-#include <gtsam/geometry/Pose3.h>
-
-namespace gtsam {
-/// Simple class to test navigation scenarios
-class Scenario {
- public:
-  /// Construct scenario with constant twist [w,v]
-  Scenario(const Vector3& w, const Vector3& v)
-      : twist_((Vector6() << w, v).finished()) {}
-
-  Pose3 poseAtTime(double t) { return Pose3::Expmap(twist_ * t); }
-
- private:
-  Vector6 twist_;
-};
-
-}  // namespace gtsam
-
 /**
  * @file    testScenario.cpp
- * @brief   test ImuFacor with Scenario class
+ * @brief   Unit test Scenario class
  * @author  Frank Dellaert
  */
 
+#include <gtsam/navigation/Scenario.h>
 #include <CppUnitLite/TestHarness.h>
-
 #include <cmath>
 
 using namespace std;