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Added matlab support for AHRSFactor.

release/4.3a0
krunalchande 2014-07-15 00:14:13 -04:00
parent 4d50156ff1
commit bdc3036d90
1 changed files with 31 additions and 0 deletions
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31
gtsam.h
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@ -2346,6 +2346,37 @@ virtual class ImuFactor : gtsam::NonlinearFactor {
Vector gravity, Vector omegaCoriolis) const; Vector gravity, Vector omegaCoriolis) const;
}; };
#include <gtsam/navigation/AHRSFactor.h>
class AHRSFactorPreintegratedMeasurements {
// Standard Constructor
AHRSFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredOmegaCovariance);
AHRSFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredOmegaCovariance);
AHRSFactorPreintegratedMeasurements(const gtsam::AHRSFactorPreintegratedMeasurements& rhs);
// Testable
void print(string s) const;
bool equals(const gtsam::AHRSFactorPreintegratedMeasurements& expected, double tol);
// Standard Interface
void integrateMeasurement(Vector measuredOmega, double deltaT);
void integrateMeasurement(Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor);
};
virtual class AHRSFactor : gtsam::NonlinearFactor {
AHRSFactor(size_t rot_i, size_t rot_j,size_t bias,
const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, Vector omegaCoriolis);
AHRSFactor(size_t rot_i, size_t rot_j, size_t bias,
const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements, Vector omegaCoriolis,
const gtsam::Pose3& body_P_sensor);
// Standard Interface
gtsam::AHRSFactorPreintegratedMeasurements preintegratedMeasurements() const;
void Predict(const gtsam::Rot3& rot_i, gtsam::Rot3& rot_j,
const gtsam::imuBias::ConstantBias& bias,
const gtsam::AHRSFactorPreintegratedMeasurements& preintegratedMeasurements,
Vector omegaCoriolis) const;
};
#include <gtsam/navigation/CombinedImuFactor.h> #include <gtsam/navigation/CombinedImuFactor.h>
class CombinedImuFactorPreintegratedMeasurements { class CombinedImuFactorPreintegratedMeasurements {
// Standard Constructor // Standard Constructor