isae::IMUFactorInit Class Reference

Pre integration IMU factor for initialization, the parameters optimized are: scale, roll, pitch, velocities and biases. More...

#include <residuals.hpp>

Inheritance diagram for isae::IMUFactorInit:

Collaboration diagram for isae::IMUFactorInit:

Public Member Functions
	IMUFactorInit (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

Pre integration IMU factor for initialization, the parameters optimized are: scale, roll, pitch, velocities and biases.

Constructor & Destructor Documentation

IMUFactorInit()

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

inline

Member Function Documentation

Evaluate()

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

inlinevirtual

Member Data Documentation

_imu_i

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

_imu_j

std::shared_ptr<IMU> isae::IMUFactorInit::_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