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Add named constructors for PreintegrationParams

release/4.3a0
Frank Dellaert 2018-10-14 10:59:51 -04:00
parent aae802f89c
commit f6696ce9e0
1 changed files with 15 additions and 1 deletions
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16
gtsam.h
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@ -2502,6 +2502,11 @@ class NavState {
#include <gtsam/navigation/PreintegratedRotation.h> #include <gtsam/navigation/PreintegratedRotation.h>
virtual class PreintegratedRotationParams { virtual class PreintegratedRotationParams {
PreintegratedRotationParams(); PreintegratedRotationParams();
// Testable
void print(string s) const;
bool equals(const gtsam::PreintegratedRotationParams& expected, double tol);
void setGyroscopeCovariance(Matrix cov); void setGyroscopeCovariance(Matrix cov);
void setOmegaCoriolis(Vector omega); void setOmegaCoriolis(Vector omega);
void setBodyPSensor(const gtsam::Pose3& pose); void setBodyPSensor(const gtsam::Pose3& pose);
@ -2516,6 +2521,16 @@ virtual class PreintegratedRotationParams {
#include <gtsam/navigation/PreintegrationParams.h> #include <gtsam/navigation/PreintegrationParams.h>
virtual class PreintegrationParams : gtsam::PreintegratedRotationParams { virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
PreintegrationParams(Vector n_gravity); PreintegrationParams(Vector n_gravity);
static gtsam::PreintegrationParams* MakeSharedD(double g);
static gtsam::PreintegrationParams* MakeSharedU(double g);
static gtsam::PreintegrationParams* MakeSharedD(); // default g = 9.81
static gtsam::PreintegrationParams* MakeSharedU(); // default g = 9.81
// Testable
void print(string s) const;
bool equals(const gtsam::PreintegrationParams& expected, double tol);
void setAccelerometerCovariance(Matrix cov); void setAccelerometerCovariance(Matrix cov);
void setIntegrationCovariance(Matrix cov); void setIntegrationCovariance(Matrix cov);
void setUse2ndOrderCoriolis(bool flag); void setUse2ndOrderCoriolis(bool flag);
@ -2523,7 +2538,6 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
Matrix getAccelerometerCovariance() const; Matrix getAccelerometerCovariance() const;
Matrix getIntegrationCovariance() const; Matrix getIntegrationCovariance() const;
bool getUse2ndOrderCoriolis() const; bool getUse2ndOrderCoriolis() const;
void print(string s) const;
}; };
#include <gtsam/navigation/ImuFactor.h> #include <gtsam/navigation/ImuFactor.h>