An absolute prior on an Inertial state, including pose, velocity and biases. More...

#include <residuals.hpp>

Inheritance diagram for isae::IMUPriordx:

Collaboration diagram for isae::IMUPriordx:

Public Member Functions
	IMUPriordx (const Eigen::Affine3d T, const Eigen::Affine3d T_prior, const Eigen::Vector3d v, const Eigen::Vector3d v_prior, const Eigen::Vector3d ba, const Eigen::Vector3d ba_prior, const Eigen::Vector3d bg, const Eigen::Vector3d bg_prior, const Eigen::MatrixXd sqrt_inf)

	IMUPriordx ()

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

Public Attributes
Eigen::Affine3d	_T

Eigen::Affine3d	_T_prior
	Pose prior and current value. More...

Eigen::Vector3d	_v

Eigen::Vector3d	_v_prior

Eigen::Vector3d	_ba

Eigen::Vector3d	_ba_prior

Eigen::Vector3d	_bg

Eigen::Vector3d	_bg_prior
	Prior and current value for velocity and biases. More...

Eigen::MatrixXd	_sqrt_inf
	Square root information matrix. More...

Detailed Description

An absolute prior on an Inertial state, including pose, velocity and biases.

Constructor & Destructor Documentation

◆ IMUPriordx() [1/2]

isae::IMUPriordx::IMUPriordx	(	const Eigen::Affine3d	T,
		const Eigen::Affine3d	T_prior,
		const Eigen::Vector3d	v,
		const Eigen::Vector3d	v_prior,
		const Eigen::Vector3d	ba,
		const Eigen::Vector3d	ba_prior,
		const Eigen::Vector3d	bg,
		const Eigen::Vector3d	bg_prior,
		const Eigen::MatrixXd	sqrt_inf
	)

inline

◆ IMUPriordx() [2/2]

isae::IMUPriordx::IMUPriordx ( )

inline

Member Function Documentation

◆ Evaluate()

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

inlinevirtual

Member Data Documentation

◆ _ba

Eigen::Vector3d isae::IMUPriordx::_ba

◆ _ba_prior

Eigen::Vector3d isae::IMUPriordx::_ba_prior

◆ _bg

Eigen::Vector3d isae::IMUPriordx::_bg

◆ _bg_prior

Eigen::Vector3d isae::IMUPriordx::_bg_prior

Prior and current value for velocity and biases.

◆ _sqrt_inf

Eigen::MatrixXd isae::IMUPriordx::_sqrt_inf

Square root information matrix.

◆ _T

Eigen::Affine3d isae::IMUPriordx::_T

◆ _T_prior

Eigen::Affine3d isae::IMUPriordx::_T_prior

Pose prior and current value.

◆ _v

Eigen::Vector3d isae::IMUPriordx::_v

◆ _v_prior

Eigen::Vector3d isae::IMUPriordx::_v_prior

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