A cost function for IMU pre-integration factor, parameters are delta updates. More...

#include <residuals.hpp>

Inheritance diagram for isae::IMUFactor:

Collaboration diagram for isae::IMUFactor:

Public Member Functions
	IMUFactor (const std::shared_ptr< IMU > imu_i, const std::shared_ptr< IMU > imu_j)

virtual bool	Evaluate (double const const parameters, double residuals, double *jacobians) const

Public Attributes
std::shared_ptr< IMU >	_imu_i

std::shared_ptr< IMU >	_imu_j
	The first and the last IMU of the pre-integration. More...

Detailed Description

A cost function for IMU pre-integration factor, parameters are delta updates.

The expression and the analytical jacobians are inspired by on "On-Manifold Preintegration for Real-Time Visual-Inertial Odometry" by Forster et al. Source: https://arxiv.org/abs/1512.02363

Constructor & Destructor Documentation

◆ IMUFactor()

isae::IMUFactor::IMUFactor	(	const std::shared_ptr< IMU >	imu_i,
		const std::shared_ptr< IMU >	imu_j
	)

inline

Member Function Documentation

◆ Evaluate()

virtual bool isae::IMUFactor::Evaluate	(	double const const	parameters,
		double *	residuals,
		double **	jacobians
	)		const

inlinevirtual

Member Data Documentation

◆ _imu_i

std::shared_ptr<IMU> isae::IMUFactor::_imu_i

◆ _imu_j

std::shared_ptr<IMU> isae::IMUFactor::_imu_j

The first and the last IMU of the pre-integration.

The documentation for this class was generated from the following file:

/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/optimizers/residuals.hpp

Public Member Functions

Public Attributes