Struct sym::PreintegratedImuMeasurements¶

template<typename ScalarType> struct PreintegratedImuMeasurements¶

Struct of Preintegrated IMU Measurements (not including the covariance of change in orientation, velocity, and position).

Public Types

using Scalar = ScalarType ¶

using Rot3 = sym::Rot3<Scalar>¶

using Vector3 = sym::Vector3<Scalar>¶

using Matrix33 = sym::Matrix33<Scalar>¶

Public Functions

PreintegratedImuMeasurements(const Vector3 &accel_bias, const Vector3 &gyro_bias)¶: Initialize instance struct with accel_bias and gyro_bias and all other values zeroed out (scalars, vectors, and matrices) or set to the identity (DR).

Delta GetBiasCorrectedDelta(const Vector3 &new_accel_bias, const Vector3 &new_gyro_bias) const¶

imu_integrated_measurement_t GetLcmType() const¶

void ToStorage(Scalar *const vec) const¶

Public Members

Vector3 accel_bias¶

Vector3 gyro_bias¶

Delta delta¶: See description for Delta. This is the Delta for the biases used during preintegration, i.e. for PreintegratedImuMeasurements::accel_bias and PreintegratedImuMeasurements::gyro_bias. For the (approximate) Delta with other biases, see GetBiasCorrectedDelta

Matrix33 DR_D_gyro_bias¶

Matrix33 Dv_D_accel_bias¶

Matrix33 Dv_D_gyro_bias¶

Matrix33 Dp_D_accel_bias¶

Matrix33 Dp_D_gyro_bias¶

Public Static Functions

static PreintegratedImuMeasurements<Scalar> FromLcm(const imu_integrated_measurement_t &msg)¶

static inline constexpr int32_t StorageDim()¶

static PreintegratedImuMeasurements FromStorage(const Scalar *vec)¶

struct Delta¶

A convenient struct that holds the Preintegrated delta.

Public Functions

imu_integrated_measurement_delta_t GetLcmType() const¶

std::pair<Pose3<Scalar>, Vector3> RollForwardState(const Pose3<Scalar> &pose_i, const Vector3 &vel_i, const Vector3 &gravity) const¶

Public Members

Scalar Dt = {0}¶

Rot3 DR = {Rot3::Identity()}¶

Vector3 Dv = {Vector3::Zero()}¶

Vector3 Dp = {Vector3::Zero()}¶

Public Static Functions

static Delta FromLcm(const imu_integrated_measurement_delta_t &msg)¶