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release/4.3a0
djensen3 2014-05-08 11:08:43 -04:00
parent 5402f9fa20
commit 0f03cd736c
2 changed files with 25 additions and 6 deletions
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16
gtsam/navigation/CombinedImuFactor.h
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@ -339,9 +339,19 @@ namespace gtsam {
CombinedImuFactor() : preintegratedMeasurements_(imuBias::ConstantBias(), Matrix3::Zero(), Matrix3::Zero(), Matrix3::Zero(), Matrix3::Zero(), Matrix3::Zero(), Matrix::Zero(6,6)) {}
/** Constructor */
CombinedImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias_i, Key bias_j,
const CombinedPreintegratedMeasurements& preintegratedMeasurements, const Vector3& gravity, const Vector3& omegaCoriolis,
boost::optional<const Pose3&> body_P_sensor = boost::none, const bool use2ndOrderCoriolis = false) :
CombinedImuFactor(
Key pose_i, ///< previous pose key
Key vel_i, ///< previous velocity key
Key pose_j, ///< current pose key
Key vel_j, ///< current velocity key
Key bias_i, ///< previous bias key
Key bias_j, ///< current bias key
const CombinedPreintegratedMeasurements& preintegratedMeasurements, ///< Preintegrated IMU measurements
const Vector3& gravity, ///< gravity vector
const Vector3& omegaCoriolis, ///< rotation rate of inertial frame
boost::optional<const Pose3&> body_P_sensor = boost::none, ///< The Pose of the sensor frame in the body frame
const bool use2ndOrderCoriolis = false ///< When true, the second-order term is used in the calculation of the Coriolis Effect
) :
Base(noiseModel::Gaussian::Covariance(preintegratedMeasurements.PreintMeasCov), pose_i, vel_i, pose_j, vel_j, bias_i, bias_j),
preintegratedMeasurements_(preintegratedMeasurements),
gravity_(gravity),

15
gtsam/navigation/ImuFactor.h
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@ -301,9 +301,18 @@ namespace gtsam {
ImuFactor() : preintegratedMeasurements_(imuBias::ConstantBias(), Matrix3::Zero(), Matrix3::Zero(), Matrix3::Zero()) {}
/** Constructor */
ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
const PreintegratedMeasurements& preintegratedMeasurements, const Vector3& gravity, const Vector3& omegaCoriolis,
boost::optional<const Pose3&> body_P_sensor = boost::none, const bool use2ndOrderCoriolis = false) :
ImuFactor(
Key pose_i, ///< previous pose key
Key vel_i, ///< previous velocity key
Key pose_j, ///< current pose key
Key vel_j, ///< current velocity key
Key bias, ///< previous bias key
const PreintegratedMeasurements& preintegratedMeasurements, ///< preintegrated IMU measurements
const Vector3& gravity, ///< gravity vector
const Vector3& omegaCoriolis, ///< rotation rate of the inertial frame
boost::optional<const Pose3&> body_P_sensor = boost::none, ///< The Pose of the sensor frame in the body frame
const bool use2ndOrderCoriolis = false ///< When true, the second-order term is used in the calculation of the Coriolis Effect
) :
Base(noiseModel::Gaussian::Covariance(preintegratedMeasurements.PreintMeasCov), pose_i, vel_i, pose_j, vel_j, bias),
preintegratedMeasurements_(preintegratedMeasurements),
gravity_(gravity),