gtsam_points::ReintegratedImuMeasurements Class Reference

IMU measurements to be re-integrated. This class stores IMU measurements along with the pre-integrated IMU measurements. More...

#include <reintegrated_imu_factor.hpp>

Inheritance diagram for gtsam_points::ReintegratedImuMeasurements:

Collaboration diagram for gtsam_points::ReintegratedImuMeasurements:

Public Member Functions
	ReintegratedImuMeasurements (const gtsam_points::shared_ptr< gtsam::PreintegrationParams > &p, const gtsam::imuBias::ConstantBias &biasHat=gtsam::imuBias::ConstantBias())
void	resetIntegration () override
void	integrateMeasurement (const gtsam::Vector3 &measuredAcc, const gtsam::Vector3 &measuredOmega, double dt) override
const Eigen::Vector3d	mean_acc () const
const Eigen::Vector3d	mean_gyro () const

Public Attributes
std::vector< gtsam::Vector7 >	imu_data

Friends
class	ReintegratedImuFactor

Detailed Description

IMU measurements to be re-integrated. This class stores IMU measurements along with the pre-integrated IMU measurements.

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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