added get to access gravity vector

2017-04-01 13:05:34 -04:00 · 2017-04-01 13:05:34 -04:00 · b5acfc5a0f
parent 2d3f4dba88
commit b5acfc5a0f
1 changed files with 1 additions and 0 deletions
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@ -56,6 +56,7 @@ struct PreintegrationParams: PreintegratedRotationParams {

  const Matrix3& getAccelerometerCovariance() const { return accelerometerCovariance; }
  const Matrix3& getIntegrationCovariance()   const { return integrationCovariance; }
+  const Vector3& getGravity()   const { return n_gravity; }
  bool           getUse2ndOrderCoriolis()     const { return use2ndOrderCoriolis; }

 protected: