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Wrap ScenarioRunner

release/4.3a0
Frank Dellaert 2019-05-17 22:10:48 -04:00
parent 70cfa20dc1
commit f2b8a263d6
1 changed files with 24 additions and 0 deletions
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gtsam.h
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@ -2856,6 +2856,30 @@ virtual class AcceleratingScenario : gtsam::Scenario {
Vector omega_b);
};
#include <gtsam/navigation/ScenarioRunner.h>
class ScenarioRunner {
ScenarioRunner(const gtsam::Scenario& scenario,
const gtsam::PreintegrationParams* p,
double imuSampleTime,
const gtsam::imuBias::ConstantBias& bias);
Vector gravity_n() const;
Vector actualAngularVelocity(double t) const;
Vector actualSpecificForce(double t) const;
Vector measuredAngularVelocity(double t) const;
Vector measuredSpecificForce(double t) const;
double imuSampleTime() const;
gtsam::PreintegratedImuMeasurements integrate(
double T, const gtsam::imuBias::ConstantBias& estimatedBias,
bool corrupted) const;
gtsam::NavState predict(
const gtsam::PreintegratedImuMeasurements& pim,
const gtsam::imuBias::ConstantBias& estimatedBias) const;
Matrix estimateCovariance(
double T, size_t N,
const gtsam::imuBias::ConstantBias& estimatedBias) const;
Matrix estimateNoiseCovariance(size_t N) const;
};
//*************************************************************************
// Utilities
//*************************************************************************