Fixed MATLAB wrapper (old-style interface still)
dellaert
parent
0df1e345a3
commit
a5d49a261e
57
gtsam.h
57
gtsam.h
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@ -2481,18 +2481,18 @@ class ConstantBias {
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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 ImuFactorPreintegratedMeasurements {
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class PreintegratedImuMeasurements {
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// Standard Constructor
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ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration);
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ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance);
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// ImuFactorPreintegratedMeasurements(const gtsam::ImuFactorPreintegratedMeasurements& rhs);
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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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// Testable
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void print(string s) const;
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bool equals(const gtsam::ImuFactorPreintegratedMeasurements& expected, double tol);
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bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol);
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double deltaTij() const;
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Matrix deltaRij() 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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@ -2505,25 +2505,24 @@ class ImuFactorPreintegratedMeasurements {
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// Standard Interface
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void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT);
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void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor);
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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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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::ImuFactorPreintegratedMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis);
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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::ImuFactorPreintegratedMeasurements& preintegratedMeasurements, Vector gravity, Vector omegaCoriolis,
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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::ImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
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gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const;
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};
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#include <gtsam/navigation/CombinedImuFactor.h>
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class CombinedImuFactorPreintegratedMeasurements {
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class PreintegratedCombinedMeasurements {
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// Standard Constructor
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CombinedImuFactorPreintegratedMeasurements(
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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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@ -2531,7 +2530,7 @@ class CombinedImuFactorPreintegratedMeasurements {
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Matrix biasAccCovariance,
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Matrix biasOmegaCovariance,
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Matrix biasAccOmegaInit);
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CombinedImuFactorPreintegratedMeasurements(
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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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@ -2540,14 +2539,14 @@ class CombinedImuFactorPreintegratedMeasurements {
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Matrix biasOmegaCovariance,
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Matrix biasAccOmegaInit,
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bool use2ndOrderIntegration);
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// CombinedImuFactorPreintegratedMeasurements(const gtsam::CombinedImuFactorPreintegratedMeasurements& rhs);
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// PreintegratedCombinedMeasurements(const gtsam::PreintegratedCombinedMeasurements& rhs);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::CombinedImuFactorPreintegratedMeasurements& expected, double tol);
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bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, double tol);
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double deltaTij() const;
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Matrix deltaRij() 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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@ -2560,53 +2559,51 @@ class CombinedImuFactorPreintegratedMeasurements {
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// Standard Interface
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void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT);
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void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor);
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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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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::CombinedImuFactorPreintegratedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis);
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const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis);
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// Standard Interface
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gtsam::CombinedImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
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gtsam::PreintegratedCombinedMeasurements preintegratedMeasurements() const;
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};
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#include <gtsam/navigation/AHRSFactor.h>
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class AHRSFactorPreintegratedMeasurements {
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class PreintegratedAhrsMeasurements {
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// Standard Constructor
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AHRSFactorPreintegratedMeasurements(Vector bias, Matrix measuredOmegaCovariance);
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AHRSFactorPreintegratedMeasurements(Vector bias, Matrix measuredOmegaCovariance);
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AHRSFactorPreintegratedMeasurements(const gtsam::AHRSFactorPreintegratedMeasurements& rhs);
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PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance);
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PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance);
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PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::AHRSFactorPreintegratedMeasurements& expected, double tol);
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bool equals(const gtsam::PreintegratedAhrsMeasurements& expected, double tol);
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// get Data
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Matrix deltaRij() const;
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gtsam::Rot3 deltaRij() const;
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double deltaTij() const;
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Vector biasHat() const;
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// Standard Interface
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void integrateMeasurement(Vector measuredOmega, double deltaT);
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void integrateMeasurement(Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor);
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void resetIntegration() ;
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};
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virtual class AHRSFactor : gtsam::NonlinearFactor {
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AHRSFactor(size_t rot_i, size_t rot_j,size_t bias,
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const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, Vector omegaCoriolis);
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const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis);
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AHRSFactor(size_t rot_i, size_t rot_j, size_t bias,
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const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, Vector omegaCoriolis,
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const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements, Vector omegaCoriolis,
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const gtsam::Pose3& body_P_sensor);
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// Standard Interface
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gtsam::AHRSFactorPreintegratedMeasurements preintegratedMeasurements() const;
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gtsam::PreintegratedAhrsMeasurements preintegratedMeasurements() const;
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Vector evaluateError(const gtsam::Rot3& rot_i, const gtsam::Rot3& rot_j,
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Vector bias) const;
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gtsam::Rot3 predict(const gtsam::Rot3& rot_i, Vector bias,
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const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements,
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const gtsam::PreintegratedAhrsMeasurements& preintegratedMeasurements,
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Vector omegaCoriolis) const;
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};
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