12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add resetIntegrationAndSetBias to wrapper

release/4.3a0
Varun Agrawal 2020-06-09 12:14:44 -05:00
parent 082604b44f
commit b11b184f22
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam.h
View File

@ -2913,6 +2913,8 @@ class PreintegratedImuMeasurements {
void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, void integrateMeasurement(Vector measuredAcc, Vector measuredOmega,
double deltaT); double deltaT);
void resetIntegration(); void resetIntegration();
void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat);
Matrix preintMeasCov() const; Matrix preintMeasCov() const;
double deltaTij() const; double deltaTij() const;
gtsam::Rot3 deltaRij() const; gtsam::Rot3 deltaRij() const;
@ -2972,6 +2974,8 @@ class PreintegratedCombinedMeasurements {
void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, void integrateMeasurement(Vector measuredAcc, Vector measuredOmega,
double deltaT); double deltaT);
void resetIntegration(); void resetIntegration();
void resetIntegrationAndSetBias(const gtsam::imuBias::ConstantBias& biasHat);
Matrix preintMeasCov() const; Matrix preintMeasCov() const;
double deltaTij() const; double deltaTij() const;
gtsam::Rot3 deltaRij() const; gtsam::Rot3 deltaRij() const;