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Move back code,, comments in the code

release/4.3a0
Jean-Philippe Tardif 2019-10-18 14:16:07 -04:00
parent f58a5f89f2
commit ca02a03c08
1 changed files with 8 additions and 7 deletions
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15
gtsam/navigation/CombinedImuFactor.h
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@ -29,6 +29,12 @@
namespace gtsam { namespace gtsam {
#ifdef GTSAM_TANGENT_PREINTEGRATION
typedef TangentPreintegration PreintegrationType;
#else
typedef ManifoldPreintegration PreintegrationType;
#endif
/* /*
* If you are using the factor, please cite: * If you are using the factor, please cite:
* L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating
@ -48,6 +54,8 @@ namespace gtsam {
* Robotics: Science and Systems (RSS), 2015. * Robotics: Science and Systems (RSS), 2015.
*/ */
/// Parameters for pre-integration using PreintegratedCombinedMeasurements:
/// Usage: Create just a single Params and pass a shared pointer to the constructor
struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams { struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
Matrix3 biasAccCovariance; ///< continuous-time "Covariance" describing accelerometer bias random walk Matrix3 biasAccCovariance; ///< continuous-time "Covariance" describing accelerometer bias random walk
Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk Matrix3 biasOmegaCovariance; ///< continuous-time "Covariance" describing gyroscope bias random walk
@ -95,13 +103,6 @@ public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
}; };
#ifdef GTSAM_TANGENT_PREINTEGRATION
typedef TangentPreintegration PreintegrationType;
#else
typedef ManifoldPreintegration PreintegrationType;
#endif
/** /**
* PreintegratedCombinedMeasurements integrates the IMU measurements * PreintegratedCombinedMeasurements integrates the IMU measurements