File internal_imu_unit_gravity_factor.h

namespace sym

Functions

template<typename Scalar>
void InternalImuUnitGravityFactor(const sym::Pose3<Scalar> &pose_i, const Eigen::Matrix<Scalar, 3, 1> &vel_i, const sym::Pose3<Scalar> &pose_j, const Eigen::Matrix<Scalar, 3, 1> &vel_j, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_i, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_i, const sym::Rot3<Scalar> &DR, const Eigen::Matrix<Scalar, 3, 1> &Dv, const Eigen::Matrix<Scalar, 3, 1> &Dp, const Eigen::Matrix<Scalar, 9, 9> &sqrt_info, const Eigen::Matrix<Scalar, 3, 3> &DR_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dv_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_accel_bias, const Eigen::Matrix<Scalar, 3, 3> &Dp_D_gyro_bias, const Eigen::Matrix<Scalar, 3, 1> &accel_bias_hat, const Eigen::Matrix<Scalar, 3, 1> &gyro_bias_hat, const sym::Unit3<Scalar> &gravity_direction, const Scalar gravity_norm, const Scalar dt, const Scalar epsilon, Eigen::Matrix<Scalar, 9, 1> *const res = nullptr, Eigen::Matrix<Scalar, 9, 26> *const jacobian = nullptr, Eigen::Matrix<Scalar, 26, 26> *const hessian = nullptr, Eigen::Matrix<Scalar, 26, 1> *const rhs = nullptr)

This function was autogenerated from a symbolic function. Do not modify by hand.

Symbolic function: internal_imu_unit_gravity_residual

Args: pose_i: Pose3 vel_i: Matrix31 pose_j: Pose3 vel_j: Matrix31 accel_bias_i: Matrix31 gyro_bias_i: Matrix31 DR: Rot3 Dv: Matrix31 Dp: Matrix31 sqrt_info: Matrix99 DR_D_gyro_bias: Matrix33 Dv_D_accel_bias: Matrix33 Dv_D_gyro_bias: Matrix33 Dp_D_accel_bias: Matrix33 Dp_D_gyro_bias: Matrix33 accel_bias_hat: Matrix31 gyro_bias_hat: Matrix31 gravity_direction: Unit3 gravity_norm: Scalar dt: Scalar epsilon: Scalar

Outputs: res: Matrix91 jacobian: (9x26) jacobian of res wrt args pose_i (6), vel_i (3), pose_j (6), vel_j (3), accel_bias_i (3), gyro_bias_i (3), gravity_direction (2) hessian: (26x26) Gauss-Newton hessian for args pose_i (6), vel_i (3), pose_j (6), vel_j (3), accel_bias_i (3), gyro_bias_i (3), gravity_direction (2) rhs: (26x1) Gauss-Newton rhs for args pose_i (6), vel_i (3), pose_j (6), vel_j (3), accel_bias_i (3), gyro_bias_i (3), gravity_direction (2)