symforce.slam.imu_preintegration.generate module

internal_imu_unit_gravity_residual(pose_i, vel_i, pose_j, vel_j, accel_bias_i, gyro_bias_i, DR, Dv, Dp, sqrt_info, DR_D_gyro_bias, Dv_D_accel_bias, Dv_D_gyro_bias, Dp_D_accel_bias, Dp_D_gyro_bias, accel_bias_hat, gyro_bias_hat, gravity_direction, gravity_norm, dt, epsilon)

Parameters:

• 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 (float) –

• dt (float) –

• epsilon (float) –

Return type:

Matrix91

generate_manifold_imu_preintegration(config, output_dir)

Generate the on-manifold IMU preintegration update and residual functions.

Parameters:

• config (CodegenConfig) –

• output_dir (str | PathLike) –

Return type:

None