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fixed matlab wrapper

release/4.3a0
Luca 2014-12-11 12:23:18 -05:00
parent 295fd7385a
commit 3c840e1bf3
1 changed files with 16 additions and 19 deletions
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35
gtsam.h
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@ -2400,28 +2400,30 @@ class ImuFactorPreintegratedMeasurements {
// Standard Constructor // Standard Constructor
ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration); ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration);
ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance); ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance);
ImuFactorPreintegratedMeasurements(const gtsam::ImuFactorPreintegratedMeasurements& rhs); // ImuFactorPreintegratedMeasurements(const gtsam::ImuFactorPreintegratedMeasurements& rhs);
// Testable // Testable
void print(string s) const; void print(string s) const;
bool equals(const gtsam::ImuFactorPreintegratedMeasurements& expected, double tol); bool equals(const gtsam::ImuFactorPreintegratedMeasurements& expected, double tol);
Matrix measurementCovariance() const;
Matrix deltaRij() const;
double deltaTij() const; double deltaTij() const;
Matrix deltaRij() const;
Vector deltaPij() const; Vector deltaPij() const;
Vector deltaVij() const; Vector deltaVij() const;
Vector biasHat() const; Vector biasHatVector() const;
Matrix delPdelBiasAcc() const; Matrix delPdelBiasAcc() const;
Matrix delPdelBiasOmega() const; Matrix delPdelBiasOmega() const;
Matrix delVdelBiasAcc() const; Matrix delVdelBiasAcc() const;
Matrix delVdelBiasOmega() const; Matrix delVdelBiasOmega() const;
Matrix delRdelBiasOmega() const; Matrix delRdelBiasOmega() const;
Matrix preintMeasCov() const; Matrix preintMeasCov() const;
Matrix measurementCovariance() const;
// Standard Interface // Standard Interface
void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT); void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT);
void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor); void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor);
gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, const gtsam::imuBias::ConstantBias& bias,
const gtsam::Vector3& gravity, const gtsam::Vector3& omegaCoriolis) const;
}; };
virtual class ImuFactor : gtsam::NonlinearFactor { virtual class ImuFactor : gtsam::NonlinearFactor {
@ -2432,9 +2434,6 @@ virtual class ImuFactor : gtsam::NonlinearFactor {
const gtsam::Pose3& body_P_sensor); const gtsam::Pose3& body_P_sensor);
// Standard Interface // Standard Interface
gtsam::ImuFactorPreintegratedMeasurements preintegratedMeasurements() const; gtsam::ImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, const gtsam::imuBias::ConstantBias& bias,
const gtsam::ImuFactorPreintegratedMeasurements& preintegratedMeasurements,
Vector gravity, Vector omegaCoriolis) const;
}; };
#include <gtsam/navigation/CombinedImuFactor.h> #include <gtsam/navigation/CombinedImuFactor.h>
@ -2457,39 +2456,37 @@ class CombinedImuFactorPreintegratedMeasurements {
Matrix biasOmegaCovariance, Matrix biasOmegaCovariance,
Matrix biasAccOmegaInit, Matrix biasAccOmegaInit,
bool use2ndOrderIntegration); bool use2ndOrderIntegration);
CombinedImuFactorPreintegratedMeasurements(const gtsam::CombinedImuFactorPreintegratedMeasurements& rhs); // CombinedImuFactorPreintegratedMeasurements(const gtsam::CombinedImuFactorPreintegratedMeasurements& rhs);
// Testable // Testable
void print(string s) const; void print(string s) const;
bool equals(const gtsam::CombinedImuFactorPreintegratedMeasurements& expected, double tol); bool equals(const gtsam::CombinedImuFactorPreintegratedMeasurements& expected, double tol);
// Standard Interface
void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT);
void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor);
Matrix measurementCovariance() const;
Matrix deltaRij() const;
double deltaTij() const; double deltaTij() const;
Matrix deltaRij() const;
Vector deltaPij() const; Vector deltaPij() const;
Vector deltaVij() const; Vector deltaVij() const;
Vector biasHat() const; Vector biasHatVector() const;
Matrix delPdelBiasAcc() const; Matrix delPdelBiasAcc() const;
Matrix delPdelBiasOmega() const; Matrix delPdelBiasOmega() const;
Matrix delVdelBiasAcc() const; Matrix delVdelBiasAcc() const;
Matrix delVdelBiasOmega() const; Matrix delVdelBiasOmega() const;
Matrix delRdelBiasOmega() const; Matrix delRdelBiasOmega() const;
Matrix preintMeasCov() const; Matrix preintMeasCov() const;
Matrix measurementCovariance() const;
// Standard Interface
void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT);
void integrateMeasurement(Vector measuredAcc, Vector measuredOmega, double deltaT, const gtsam::Pose3& body_P_sensor);
gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, const gtsam::imuBias::ConstantBias& bias,
const gtsam::Vector3& gravity, const gtsam::Vector3& omegaCoriolis) const;
}; };
virtual class CombinedImuFactor : gtsam::NonlinearFactor { virtual class CombinedImuFactor : gtsam::NonlinearFactor {
CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias_i, size_t bias_j, CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j, size_t bias_i, size_t bias_j,
const gtsam::CombinedImuFactorPreintegratedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis); const gtsam::CombinedImuFactorPreintegratedMeasurements& CombinedPreintegratedMeasurements, Vector gravity, Vector omegaCoriolis);
// Standard Interface // Standard Interface
gtsam::CombinedImuFactorPreintegratedMeasurements preintegratedMeasurements() const; gtsam::CombinedImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
gtsam::PoseVelocityBias predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, const gtsam::imuBias::ConstantBias& bias_i,
const gtsam::CombinedImuFactorPreintegratedMeasurements& preintegratedMeasurements,
Vector gravity, Vector omegaCoriolis);
}; };
#include <gtsam/navigation/AHRSFactor.h> #include <gtsam/navigation/AHRSFactor.h>