"Re"-integrated IMU factor (IMU factor without pre-integration). This factor re-integrates IMU measurements every linearization to better estimate the IMU bias. More...
#include <reintegrated_imu_factor.hpp>
Inheritance diagram for gtsam_points::ReintegratedImuFactor:
Collaboration diagram for gtsam_points::ReintegratedImuFactor:
Public Member Functions | |
| ReintegratedImuFactor (gtsam::Key pose_i, gtsam::Key vel_i, gtsam::Key pose_j, gtsam::Key vel_j, gtsam::Key bias, const ReintegratedImuMeasurements &imu_measurements) | |
| size_t | dim () const override |
| virtual void | print (const std::string &s="", const gtsam::KeyFormatter &keyFormatter=gtsam::DefaultKeyFormatter) const override |
| gtsam::GaussianFactor::shared_ptr | linearize (const gtsam::Values &values) const override |
| double | error (const gtsam::Values &values) const override |
| const ReintegratedImuMeasurements & | measurements () const |
Detailed Description
"Re"-integrated IMU factor (IMU factor without pre-integration). This factor re-integrates IMU measurements every linearization to better estimate the IMU bias.
The documentation for this class was generated from the following file:
- /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/reintegrated_imu_factor.hpp
