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<a href="a00818.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/* ----------------------------------------------------------------------------</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"></span> </div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> * GTSAM Copyright 2010, Georgia Tech Research Corporation,</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Atlanta, Georgia 30332-0415</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All Rights Reserved</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> * Authors: Frank Dellaert, et al. (see THANKS for the full author list)</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"></span> </div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * See LICENSE for the license information</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"></span> </div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> * -------------------------------------------------------------------------- */</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span> </div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">/* GTSAM includes */</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="preprocessor">#include <<a class="code" href="a00815.html">gtsam/navigation/ManifoldPreintegration.h</a>></span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="preprocessor">#include <<a class="code" href="a00830.html">gtsam/navigation/TangentPreintegration.h</a>></span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#include <<a class="code" href="a01022.html">gtsam/nonlinear/NonlinearFactor.h</a>></span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#include <<a class="code" href="a00050.html">gtsam/base/Matrix.h</a>></span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include <<a class="code" href="a08943.html">gtsam/base/serialization.h</a>></span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="keyword">namespace </span><a class="code hl_namespace" href="a01596.html">gtsam</a> {</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> </div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#ifdef GTSAM_TANGENT_PREINTEGRATION</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="keyword">typedef</span> TangentPreintegration PreintegrationType;</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">typedef</span> ManifoldPreintegration PreintegrationType;</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="comment">/*</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="comment"> * If you are using the factor, please cite:</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="comment"> * L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="comment"> * conditionally independent sets in factor graphs: a unifying perspective based</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="comment"> * on smart factors, Int. Conf. on Robotics and Automation (ICRA), 2014.</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="comment"> *</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="comment"> * REFERENCES:</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="comment"> * [1] G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups",</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="comment"> * Volume 2, 2008.</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="comment"> * [2] T. Lupton and S.Sukkarieh, "Visual-Inertial-Aided Navigation for</span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="comment"> * High-Dynamic Motion in Built Environments Without Initial Conditions",</span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="comment"> * TRO, 28(1):61-76, 2012.</span></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="comment"> * [3] L. Carlone, S. Williams, R. Roberts, "Preintegrated IMU factor:</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span><span class="comment"> * Computation of the Jacobian Matrices", Tech. Report, 2013.</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="comment"> * [4] C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, IMU Preintegration on</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="comment"> * Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation,</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span><span class="comment"> * Robotics: Science and Systems (RSS), 2015.</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="comment"> */</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="a04052.html"> 61</a></span><span class="keyword">struct </span>GTSAM_EXPORT <a class="code hl_struct" href="a04052.html">PreintegrationCombinedParams</a> : <a class="code hl_struct" href="a04168.html">PreintegrationParams</a> {</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="a04052.html#af2eda5c67b594a6e4276465503b1f00b"> 62</a></span> Matrix3 <a class="code hl_variable" href="a04052.html#af2eda5c67b594a6e4276465503b1f00b">biasAccCovariance</a>; </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="a04052.html#ad871987bbb1686a134f0e0212793ed67"> 63</a></span> Matrix3 <a class="code hl_variable" href="a04052.html#ad871987bbb1686a134f0e0212793ed67">biasOmegaCovariance</a>; </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="a04052.html#a0a7739a500c8feb97dc42687bacd6b77"> 64</a></span> Matrix6 <a class="code hl_variable" href="a04052.html#a0a7739a500c8feb97dc42687bacd6b77">biasAccOmegaInt</a>; </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="a04052.html#a811adb48729d4b60f3b69d657e620fe0"> 68</a></span> <a class="code hl_function" href="a04052.html#a811adb48729d4b60f3b69d657e620fe0">PreintegrationCombinedParams</a>()</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> : biasAccCovariance(I_3x3),</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> biasOmegaCovariance(I_3x3),</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> biasAccOmegaInt(I_6x6) {}</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="a04052.html#a58fe7d6b87985831e14de19acb729f4f"> 74</a></span> <a class="code hl_function" href="a04052.html#a58fe7d6b87985831e14de19acb729f4f">PreintegrationCombinedParams</a>(<span class="keyword">const</span> Vector3& n_gravity) :</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <a class="code hl_struct" href="a04168.html">PreintegrationParams</a>(n_gravity), biasAccCovariance(I_3x3),</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> biasOmegaCovariance(I_3x3), biasAccOmegaInt(I_6x6) {</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> }</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="comment">// Default Params for a Z-down navigation frame, such as NED: gravity points along positive Z-axis</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">static</span> boost::shared_ptr<PreintegrationCombinedParams> MakeSharedD(<span class="keywordtype">double</span> g = 9.81) {</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordflow">return</span> boost::shared_ptr<PreintegrationCombinedParams>(<span class="keyword">new</span> <a class="code hl_struct" href="a04052.html">PreintegrationCombinedParams</a>(Vector3(0, 0, g)));</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> }</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="comment">// Default Params for a Z-up navigation frame, such as ENU: gravity points along negative Z-axis</span></div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">static</span> boost::shared_ptr<PreintegrationCombinedParams> MakeSharedU(<span class="keywordtype">double</span> g = 9.81) {</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keywordflow">return</span> boost::shared_ptr<PreintegrationCombinedParams>(<span class="keyword">new</span> PreintegrationCombinedParams(Vector3(0, 0, -g)));</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> }</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> </div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordtype">void</span> <a class="code hl_function" href="a01596.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span class="keyword">const</span> std::string& s=<span class="stringliteral">""</span>) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keywordtype">bool</span> equals(<span class="keyword">const</span> PreintegratedRotationParams& other, <span class="keywordtype">double</span> tol) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keywordtype">void</span> setBiasAccCovariance(<span class="keyword">const</span> Matrix3& cov) { biasAccCovariance=cov; }</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keywordtype">void</span> setBiasOmegaCovariance(<span class="keyword">const</span> Matrix3& cov) { biasOmegaCovariance=cov; }</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordtype">void</span> setBiasAccOmegaInt(<span class="keyword">const</span> Matrix6& cov) { biasAccOmegaInt=cov; }</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="keyword">const</span> Matrix3& getBiasAccCovariance()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> biasAccCovariance; }</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keyword">const</span> Matrix3& getBiasOmegaCovariance()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> biasOmegaCovariance; }</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> Matrix6& getBiasAccOmegaInt()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> biasAccOmegaInt; }</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="a04052.html#ac98d07dd8f7b70e16ccb9a01abf56b9c"> 104</a></span> <span class="keyword">friend</span> <span class="keyword">class </span>boost::serialization::access;</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keyword">template</span> <<span class="keyword">class</span> ARCHIVE></div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">void</span> <a class="code hl_function" href="a01596.html#a332bad7d1e70d3c04ceca35adce7a134">serialize</a>(ARCHIVE& ar, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <span class="comment">/*version*/</span>) {</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keyword">namespace </span>bs = ::boost::serialization;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(<a class="code hl_struct" href="a04168.html">PreintegrationParams</a>);</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> ar & BOOST_SERIALIZATION_NVP(biasAccCovariance);</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> ar & BOOST_SERIALIZATION_NVP(biasOmegaCovariance);</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> ar & BOOST_SERIALIZATION_NVP(biasAccOmegaInt);</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> }</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <a class="code hl_define" href="a00020.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span>};</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="a04056.html"> 128</a></span><span class="keyword">class </span>GTSAM_EXPORT <a class="code hl_class" href="a04056.html">PreintegratedCombinedMeasurements</a> : <span class="keyword">public</span> <a class="code hl_class" href="a04140.html">PreintegrationType</a> {</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keyword">typedef</span> <a class="code hl_struct" href="a04052.html">PreintegrationCombinedParams</a> <a class="code hl_struct" href="a04052.html">Params</a>;</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keyword">protected</span>:</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="comment">/* Covariance matrix of the preintegrated measurements</span></div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span><span class="comment"> * COVARIANCE OF: [PreintROTATION PreintPOSITION PreintVELOCITY BiasAcc BiasOmega]</span></div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span><span class="comment"> * (first-order propagation from *measurementCovariance*).</span></div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span><span class="comment"> * PreintegratedCombinedMeasurements also include the biases and keep the correlation</span></div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span><span class="comment"> * between the preintegrated measurements and the biases</span></div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span><span class="comment"> */</span></div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> Eigen::Matrix<double, 15, 15> preintMeasCov_;</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> </div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keyword">friend</span> <span class="keyword">class </span><a class="code hl_class" href="a04060.html">CombinedImuFactor</a>;</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> </div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="a04056.html#a8d86e0d37b74640d5ac6d7efc2f02c8e"> 149</a></span> <a class="code hl_function" href="a04056.html#a8d86e0d37b74640d5ac6d7efc2f02c8e">PreintegratedCombinedMeasurements</a>() {</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> preintMeasCov_.setZero();</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> }</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="a04056.html#af27a09b0665d2cdc0e598cfb56296e2c"> 158</a></span> <a class="code hl_function" href="a04056.html#af27a09b0665d2cdc0e598cfb56296e2c">PreintegratedCombinedMeasurements</a>(</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">const</span> boost::shared_ptr<Params>& p,</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">const</span> <a class="code hl_class" href="a04088.html">imuBias::ConstantBias</a>& biasHat = <a class="code hl_class" href="a04088.html">imuBias::ConstantBias</a>())</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> : <a class="code hl_class" href="a04140.html">PreintegrationType</a>(p, biasHat) {</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> preintMeasCov_.setZero();</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> }</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="a04056.html#a34e2f12de09b370ab111168a0894b694"> 170</a></span> <a class="code hl_function" href="a04056.html#a34e2f12de09b370ab111168a0894b694">PreintegratedCombinedMeasurements</a>(<span class="keyword">const</span> <a class="code hl_class" href="a04140.html">PreintegrationType</a>& base, <span class="keyword">const</span> Eigen::Matrix<double, 15, 15>& preintMeasCov)</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> : <a class="code hl_class" href="a04140.html">PreintegrationType</a>(base),</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> preintMeasCov_(preintMeasCov) {</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> }</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="a04056.html#a3c37f2688a71e6f0736f6e668082fe80"> 176</a></span> <a class="code hl_function" href="a04056.html#a3c37f2688a71e6f0736f6e668082fe80">~PreintegratedCombinedMeasurements</a>()<span class="keyword"> override </span>{}</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> </div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keywordtype">void</span> resetIntegration() <span class="keyword">override</span>;</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> </div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="a04056.html#ae14b02ae69aba415d90bc1dc16411f4f"> 187</a></span> <a class="code hl_struct" href="a04052.html">Params</a>& <a class="code hl_function" href="a04056.html#ae14b02ae69aba415d90bc1dc16411f4f">p</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> *boost::static_pointer_cast<Params>(this->p_); }</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> </div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> Matrix preintMeasCov()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> preintMeasCov_; }</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> </div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">void</span> <a class="code hl_function" href="a01596.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span class="keyword">const</span> std::string& s = <span class="stringliteral">"Preintegrated Measurements:"</span>) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordtype">bool</span> equals(<span class="keyword">const</span> PreintegratedCombinedMeasurements& expected,</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordtype">double</span> tol = 1e-9) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> </div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> </div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> </div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">void</span> integrateMeasurement(<span class="keyword">const</span> Vector3& measuredAcc,</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keyword">const</span> Vector3& measuredOmega, <span class="keyword">const</span> <span class="keywordtype">double</span> dt) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> </div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> </div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keyword">private</span>:</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"><a class="line" href="a04056.html#ac98d07dd8f7b70e16ccb9a01abf56b9c"> 223</a></span> <span class="keyword">friend</span> <span class="keyword">class </span>boost::serialization::access;</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keyword">template</span> <<span class="keyword">class</span> ARCHIVE></div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">void</span> <a class="code hl_function" href="a01596.html#a332bad7d1e70d3c04ceca35adce7a134">serialize</a>(ARCHIVE& ar, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <span class="comment">/*version*/</span>) {</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">namespace </span>bs = ::boost::serialization;</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(<a class="code hl_class" href="a04140.html">PreintegrationType</a>);</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> ar& BOOST_SERIALIZATION_NVP(preintMeasCov_);</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> }</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> </div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <a class="code hl_define" href="a00020.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span>};</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> </div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"><a class="line" href="a04060.html"> 254</a></span><span class="keyword">class </span>GTSAM_EXPORT <a class="code hl_class" href="a04060.html">CombinedImuFactor</a>: <span class="keyword">public</span> <a class="code hl_class" href="a04472.html">NoiseModelFactor6</a><Pose3, Vector3, Pose3,</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> Vector3, imuBias::ConstantBias, imuBias::ConstantBias> {</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> </div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> </div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keyword">typedef</span> <a class="code hl_class" href="a04060.html">CombinedImuFactor</a> <a class="code hl_class" href="a03544.html">This</a>;</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keyword">typedef</span> <a class="code hl_class" href="a04472.html">NoiseModelFactor6</a><<a class="code hl_class" href="a03288.html">Pose3</a>, Vector3, <a class="code hl_class" href="a03288.html">Pose3</a>, Vector3,</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <a class="code hl_class" href="a04088.html">imuBias::ConstantBias</a>, <a class="code hl_class" href="a04088.html">imuBias::ConstantBias</a>> <a class="code hl_class" href="a04472.html">Base</a>;</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> </div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <a class="code hl_class" href="a04056.html">PreintegratedCombinedMeasurements</a> _PIM_;</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> </div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> </div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span><span class="preprocessor">#if !defined(_MSC_VER) && __GNUC__ == 4 && __GNUC_MINOR__ > 5</span></div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr<CombinedImuFactor> shared_ptr;</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="a04060.html#a09c86d133977c6af9b6e1734b15539ea"> 272</a></span> <span class="keyword">typedef</span> boost::shared_ptr<CombinedImuFactor> <a class="code hl_typedef" href="a04060.html#a09c86d133977c6af9b6e1734b15539ea">shared_ptr</a>;</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> </div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"><a class="line" href="a04060.html#a5edf3d620bbec01e8c9f24146a79a251"> 276</a></span> <a class="code hl_function" href="a04060.html#a5edf3d620bbec01e8c9f24146a79a251">CombinedImuFactor</a>() {}</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> </div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <a class="code hl_class" href="a04060.html">CombinedImuFactor</a>(</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <a class="code hl_typedef" href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">Key</a> pose_i, <a class="code hl_typedef" href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">Key</a> vel_i, <a class="code hl_typedef" href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">Key</a> pose_j, <a class="code hl_typedef" href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">Key</a> vel_j, <a class="code hl_typedef" href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">Key</a> bias_i, <a class="code hl_typedef" href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">Key</a> bias_j,</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="keyword">const</span> <a class="code hl_class" href="a04056.html">PreintegratedCombinedMeasurements</a>& preintegratedMeasurements);</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> </div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <a class="code hl_class" href="a04060.html">~CombinedImuFactor</a>()<span class="keyword"> override </span>{}</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> </div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> gtsam::NonlinearFactor::shared_ptr clone() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> </div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> GTSAM_EXPORT <span class="keyword">friend</span> std::ostream& operator<<(std::ostream& os,</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="keyword">const</span> CombinedImuFactor&);</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <span class="keywordtype">void</span> <a class="code hl_function" href="a01596.html#a54fa43c89c5334314c8c75939dd5c2d7">print</a>(<span class="keyword">const</span> std::string& s = <span class="stringliteral">""</span>, <span class="keyword">const</span> <a class="code hl_typedef" href="a01596.html#ae4b4e8e7f0d745882c6a02b507d5bffe">KeyFormatter</a>& keyFormatter =</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> DefaultKeyFormatter) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> </div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">bool</span> equals(<span class="keyword">const</span> NonlinearFactor& expected, <span class="keywordtype">double</span> tol = 1e-9) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> </div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"><a class="line" href="a04060.html#ae5112e9129123efeba898ec77171a22a"> 313</a></span> <span class="keyword">const</span> <a class="code hl_class" href="a04056.html">PreintegratedCombinedMeasurements</a>& <a class="code hl_function" href="a04060.html#ae5112e9129123efeba898ec77171a22a">preintegratedMeasurements</a>()<span class="keyword"> const </span>{</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordflow">return</span> _PIM_;</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> }</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> </div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> Vector evaluateError(<span class="keyword">const</span> <a class="code hl_class" href="a03288.html">Pose3</a>& pose_i, <span class="keyword">const</span> Vector3& vel_i,</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keyword">const</span> <a class="code hl_class" href="a03288.html">Pose3</a>& pose_j, <span class="keyword">const</span> Vector3& vel_j,</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keyword">const</span> <a class="code hl_class" href="a04088.html">imuBias::ConstantBias</a>& bias_i, <span class="keyword">const</span> <a class="code hl_class" href="a04088.html">imuBias::ConstantBias</a>& bias_j,</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 =</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> boost::none, boost::optional<Matrix&> H3 = boost::none,</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> boost::optional<Matrix&> H4 = boost::none, boost::optional<Matrix&> H5 =</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> boost::none, boost::optional<Matrix&> H6 = boost::none) <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> </div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keyword">private</span>:</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"><a class="line" href="a04060.html#ac98d07dd8f7b70e16ccb9a01abf56b9c"> 330</a></span> <span class="keyword">friend</span> <span class="keyword">class </span>boost::serialization::access;</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keyword">template</span> <<span class="keyword">class</span> ARCHIVE></div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordtype">void</span> <a class="code hl_function" href="a01596.html#a332bad7d1e70d3c04ceca35adce7a134">serialize</a>(ARCHIVE& ar, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <span class="comment">/*version*/</span>) {</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(<a class="code hl_class" href="a04472.html">NoiseModelFactor6</a>);</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> ar& BOOST_SERIALIZATION_NVP(_PIM_);</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> }</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> </div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <a class="code hl_define" href="a00020.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span>};</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span><span class="comment">// class CombinedImuFactor</span></div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> </div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span><span class="keyword">template</span> <></div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"><a class="line" href="a04064.html"> 343</a></span><span class="keyword">struct </span><a class="code hl_struct" href="a02444.html">traits</a><<a class="code hl_struct" href="a04052.html">PreintegrationCombinedParams</a>></div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> : <span class="keyword">public</span> <a class="code hl_struct" href="a02660.html">Testable</a><PreintegrationCombinedParams> {};</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> </div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span><span class="keyword">template</span> <></div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"><a class="line" href="a04068.html"> 347</a></span><span class="keyword">struct </span><a class="code hl_struct" href="a02444.html">traits</a><<a class="code hl_class" href="a04056.html">PreintegratedCombinedMeasurements</a>></div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> : <span class="keyword">public</span> <a class="code hl_struct" href="a02660.html">Testable</a><PreintegratedCombinedMeasurements> {};</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> </div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span><span class="keyword">template</span> <></div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"><a class="line" href="a04072.html"> 351</a></span><span class="keyword">struct </span><a class="code hl_struct" href="a02444.html">traits</a><<a class="code hl_class" href="a04060.html">CombinedImuFactor</a>> : <span class="keyword">public</span> <a class="code hl_struct" href="a02660.html">Testable</a><CombinedImuFactor> {};</div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> </div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span>} <span class="comment">// namespace gtsam</span></div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> </div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span>BOOST_CLASS_EXPORT_KEY(<a class="code hl_struct" href="a04052.html">gtsam::PreintegrationCombinedParams</a>)</div>
<div class="ttc" id="aa00020_html_aa123dd61687e08ae328154a1890b7b86"><div class="ttname"><a href="a00020.html#aa123dd61687e08ae328154a1890b7b86">GTSAM_MAKE_ALIGNED_OPERATOR_NEW</a></div><div class="ttdeci">#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW</div><div class="ttdoc">This marks a GTSAM object to require alignment.</div><div class="ttdef"><b>Definition:</b> types.h:277</div></div>
<div class="ttc" id="aa00050_html"><div class="ttname"><a href="a00050.html">Matrix.h</a></div><div class="ttdoc">typedef and functions to augment Eigen's MatrixXd</div></div>
<div class="ttc" id="aa00815_html"><div class="ttname"><a href="a00815.html">ManifoldPreintegration.h</a></div></div>
<div class="ttc" id="aa00830_html"><div class="ttname"><a href="a00830.html">TangentPreintegration.h</a></div></div>
<div class="ttc" id="aa01022_html"><div class="ttname"><a href="a01022.html">NonlinearFactor.h</a></div><div class="ttdoc">Non-linear factor base classes.</div></div>
<div class="ttc" id="aa01596_html"><div class="ttname"><a href="a01596.html">gtsam</a></div><div class="ttdoc">Global functions in a separate testing namespace.</div><div class="ttdef"><b>Definition:</b> chartTesting.h:28</div></div>
<div class="ttc" id="aa01596_html_a332bad7d1e70d3c04ceca35adce7a134"><div class="ttname"><a href="a01596.html#a332bad7d1e70d3c04ceca35adce7a134">gtsam::serialize</a></div><div class="ttdeci">std::string serialize(const T &input)</div><div class="ttdoc">serializes to a string</div><div class="ttdef"><b>Definition:</b> serialization.h:112</div></div>
<div class="ttc" id="aa01596_html_a54fa43c89c5334314c8c75939dd5c2d7"><div class="ttname"><a href="a01596.html#a54fa43c89c5334314c8c75939dd5c2d7">gtsam::print</a></div><div class="ttdeci">void print(const Matrix &A, const string &s, ostream &stream)</div><div class="ttdoc">print without optional string, must specify cout yourself</div><div class="ttdef"><b>Definition:</b> Matrix.cpp:155</div></div>
<div class="ttc" id="aa01596_html_adad029f5f6ffce610428b5fe768b0df2"><div class="ttname"><a href="a01596.html#adad029f5f6ffce610428b5fe768b0df2">gtsam::Key</a></div><div class="ttdeci">std::uint64_t Key</div><div class="ttdoc">Integer nonlinear key type.</div><div class="ttdef"><b>Definition:</b> types.h:69</div></div>
<div class="ttc" id="aa01596_html_ae4b4e8e7f0d745882c6a02b507d5bffe"><div class="ttname"><a href="a01596.html#ae4b4e8e7f0d745882c6a02b507d5bffe">gtsam::KeyFormatter</a></div><div class="ttdeci">std::function< std::string(Key)> KeyFormatter</div><div class="ttdoc">Typedef for a function to format a key, i.e. to convert it to a string.</div><div class="ttdef"><b>Definition:</b> Key.h:35</div></div>
<div class="ttc" id="aa02444_html"><div class="ttname"><a href="a02444.html">gtsam::traits</a></div><div class="ttdoc">A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...</div><div class="ttdef"><b>Definition:</b> concepts.h:30</div></div>
<div class="ttc" id="aa02660_html"><div class="ttname"><a href="a02660.html">gtsam::Testable</a></div><div class="ttdoc">A helper that implements the traits interface for GTSAM types.</div><div class="ttdef"><b>Definition:</b> Testable.h:151</div></div>
<div class="ttc" id="aa03288_html"><div class="ttname"><a href="a03288.html">gtsam::Pose3</a></div><div class="ttdef"><b>Definition:</b> Pose3.h:37</div></div>
<div class="ttc" id="aa03544_html"><div class="ttname"><a href="a03544.html">gtsam::Factor</a></div><div class="ttdoc">This is the base class for all factor types.</div><div class="ttdef"><b>Definition:</b> Factor.h:56</div></div>
<div class="ttc" id="aa04052_html"><div class="ttname"><a href="a04052.html">gtsam::PreintegrationCombinedParams</a></div><div class="ttdoc">Parameters for pre-integration using PreintegratedCombinedMeasurements: Usage: Create just a single P...</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:61</div></div>
<div class="ttc" id="aa04052_html_a0a7739a500c8feb97dc42687bacd6b77"><div class="ttname"><a href="a04052.html#a0a7739a500c8feb97dc42687bacd6b77">gtsam::PreintegrationCombinedParams::biasAccOmegaInt</a></div><div class="ttdeci">Matrix6 biasAccOmegaInt</div><div class="ttdoc">covariance of bias used for pre-integration</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:64</div></div>
<div class="ttc" id="aa04052_html_a58fe7d6b87985831e14de19acb729f4f"><div class="ttname"><a href="a04052.html#a58fe7d6b87985831e14de19acb729f4f">gtsam::PreintegrationCombinedParams::PreintegrationCombinedParams</a></div><div class="ttdeci">PreintegrationCombinedParams(const Vector3 &n_gravity)</div><div class="ttdoc">See two named constructors below for good values of n_gravity in body frame.</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:74</div></div>
<div class="ttc" id="aa04052_html_a811adb48729d4b60f3b69d657e620fe0"><div class="ttname"><a href="a04052.html#a811adb48729d4b60f3b69d657e620fe0">gtsam::PreintegrationCombinedParams::PreintegrationCombinedParams</a></div><div class="ttdeci">PreintegrationCombinedParams()</div><div class="ttdoc">Default constructor makes uninitialized params struct.</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:68</div></div>
<div class="ttc" id="aa04052_html_ad871987bbb1686a134f0e0212793ed67"><div class="ttname"><a href="a04052.html#ad871987bbb1686a134f0e0212793ed67">gtsam::PreintegrationCombinedParams::biasOmegaCovariance</a></div><div class="ttdeci">Matrix3 biasOmegaCovariance</div><div class="ttdoc">continuous-time "Covariance" describing gyroscope bias random walk</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:63</div></div>
<div class="ttc" id="aa04052_html_af2eda5c67b594a6e4276465503b1f00b"><div class="ttname"><a href="a04052.html#af2eda5c67b594a6e4276465503b1f00b">gtsam::PreintegrationCombinedParams::biasAccCovariance</a></div><div class="ttdeci">Matrix3 biasAccCovariance</div><div class="ttdoc">continuous-time "Covariance" describing accelerometer bias random walk</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:62</div></div>
<div class="ttc" id="aa04056_html"><div class="ttname"><a href="a04056.html">gtsam::PreintegratedCombinedMeasurements</a></div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:128</div></div>
<div class="ttc" id="aa04056_html_a34e2f12de09b370ab111168a0894b694"><div class="ttname"><a href="a04056.html#a34e2f12de09b370ab111168a0894b694">gtsam::PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements</a></div><div class="ttdeci">PreintegratedCombinedMeasurements(const PreintegrationType &base, const Eigen::Matrix< double, 15, 15 > &preintMeasCov)</div><div class="ttdoc">Construct preintegrated directly from members: base class and preintMeasCov.</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:170</div></div>
<div class="ttc" id="aa04056_html_a3c37f2688a71e6f0736f6e668082fe80"><div class="ttname"><a href="a04056.html#a3c37f2688a71e6f0736f6e668082fe80">gtsam::PreintegratedCombinedMeasurements::~PreintegratedCombinedMeasurements</a></div><div class="ttdeci">~PreintegratedCombinedMeasurements() override</div><div class="ttdoc">Virtual destructor.</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:176</div></div>
<div class="ttc" id="aa04056_html_a8d86e0d37b74640d5ac6d7efc2f02c8e"><div class="ttname"><a href="a04056.html#a8d86e0d37b74640d5ac6d7efc2f02c8e">gtsam::PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements</a></div><div class="ttdeci">PreintegratedCombinedMeasurements()</div><div class="ttdoc">Default constructor only for serialization and wrappers.</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:149</div></div>
<div class="ttc" id="aa04056_html_ae14b02ae69aba415d90bc1dc16411f4f"><div class="ttname"><a href="a04056.html#ae14b02ae69aba415d90bc1dc16411f4f">gtsam::PreintegratedCombinedMeasurements::p</a></div><div class="ttdeci">Params & p() const</div><div class="ttdoc">const reference to params, shadows definition in base class</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:187</div></div>
<div class="ttc" id="aa04056_html_af27a09b0665d2cdc0e598cfb56296e2c"><div class="ttname"><a href="a04056.html#af27a09b0665d2cdc0e598cfb56296e2c">gtsam::PreintegratedCombinedMeasurements::PreintegratedCombinedMeasurements</a></div><div class="ttdeci">PreintegratedCombinedMeasurements(const boost::shared_ptr< Params > &p, const imuBias::ConstantBias &biasHat=imuBias::ConstantBias())</div><div class="ttdoc">Default constructor, initializes the class with no measurements.</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:158</div></div>
<div class="ttc" id="aa04060_html"><div class="ttname"><a href="a04060.html">gtsam::CombinedImuFactor</a></div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:255</div></div>
<div class="ttc" id="aa04060_html_a09c86d133977c6af9b6e1734b15539ea"><div class="ttname"><a href="a04060.html#a09c86d133977c6af9b6e1734b15539ea">gtsam::CombinedImuFactor::shared_ptr</a></div><div class="ttdeci">boost::shared_ptr< CombinedImuFactor > shared_ptr</div><div class="ttdoc">Shorthand for a smart pointer to a factor.</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:272</div></div>
<div class="ttc" id="aa04060_html_a5edf3d620bbec01e8c9f24146a79a251"><div class="ttname"><a href="a04060.html#a5edf3d620bbec01e8c9f24146a79a251">gtsam::CombinedImuFactor::CombinedImuFactor</a></div><div class="ttdeci">CombinedImuFactor()</div><div class="ttdoc">Default constructor - only use for serialization.</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:276</div></div>
<div class="ttc" id="aa04060_html_ae5112e9129123efeba898ec77171a22a"><div class="ttname"><a href="a04060.html#ae5112e9129123efeba898ec77171a22a">gtsam::CombinedImuFactor::preintegratedMeasurements</a></div><div class="ttdeci">const PreintegratedCombinedMeasurements & preintegratedMeasurements() const</div><div class="ttdoc">Access the preintegrated measurements.</div><div class="ttdef"><b>Definition:</b> CombinedImuFactor.h:313</div></div>
<div class="ttc" id="aa04088_html"><div class="ttname"><a href="a04088.html">gtsam::imuBias::ConstantBias</a></div><div class="ttdef"><b>Definition:</b> ImuBias.h:30</div></div>
<div class="ttc" id="aa04140_html"><div class="ttname"><a href="a04140.html">gtsam::ManifoldPreintegration</a></div><div class="ttdoc">IMU pre-integration on NavSatet manifold.</div><div class="ttdef"><b>Definition:</b> ManifoldPreintegration.h:33</div></div>
<div class="ttc" id="aa04168_html"><div class="ttname"><a href="a04168.html">gtsam::PreintegrationParams</a></div><div class="ttdoc">Parameters for pre-integration: Usage: Create just a single Params and pass a shared pointer to the c...</div><div class="ttdef"><b>Definition:</b> PreintegrationParams.h:26</div></div>
<div class="ttc" id="aa04472_html"><div class="ttname"><a href="a04472.html">gtsam::NoiseModelFactor6</a></div><div class="ttdoc">A convenient base class for creating your own NoiseModelFactor with 6 variables.</div><div class="ttdef"><b>Definition:</b> NonlinearFactor.h:687</div></div>
<div class="ttc" id="aa08943_html"><div class="ttname"><a href="a08943.html">serialization.h</a></div><div class="ttdoc">Convenience functions for serializing data structures via boost.serialization.</div></div>
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