From a0799f7e88b0c09e1f6d85f5880685b81469118d Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 29 Apr 2022 17:03:12 -0400 Subject: [PATCH] update IMU factor docs to clarify that the measurements are in sensor frame --- gtsam/navigation/AHRSFactor.h | 6 +++++- gtsam/navigation/CombinedImuFactor.h | 7 +++++-- gtsam/navigation/ImuFactor.h | 6 +++++- 3 files changed, 15 insertions(+), 4 deletions(-) diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h index 10c33d101..c7d82975a 100644 --- a/gtsam/navigation/AHRSFactor.h +++ b/gtsam/navigation/AHRSFactor.h @@ -90,7 +90,11 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation /** * Add a single Gyroscope measurement to the preintegration. - * @param measureOmedga Measured angular velocity (in body frame) + * Measurements are taken to be in the sensor + * frame and conversion to the body frame is handled by `body_P_sensor` in + * `PreintegratedRotationParams` (if provided). + * + * @param measuredOmega Measured angular velocity (as given by the sensor) * @param deltaT Time step */ void integrateMeasurement(const Vector3& measuredOmega, double deltaT); diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h index 068a17ca4..213f5f223 100644 --- a/gtsam/navigation/CombinedImuFactor.h +++ b/gtsam/navigation/CombinedImuFactor.h @@ -208,8 +208,11 @@ public: /** * Add a single IMU measurement to the preintegration. - * @param measuredAcc Measured acceleration (in body frame, as given by the - * sensor) + * Both accelerometer and gyroscope measurements are taken to be in the sensor + * frame and conversion to the body frame is handled by `body_P_sensor` in + * `PreintegrationParams`. + * + * @param measuredAcc Measured acceleration (as given by the sensor) * @param measuredOmega Measured angular velocity (as given by the sensor) * @param dt Time interval between two consecutive IMU measurements */ diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h index 35207e452..740827162 100644 --- a/gtsam/navigation/ImuFactor.h +++ b/gtsam/navigation/ImuFactor.h @@ -121,7 +121,11 @@ public: /** * Add a single IMU measurement to the preintegration. - * @param measuredAcc Measured acceleration (in body frame, as given by the sensor) + * Both accelerometer and gyroscope measurements are taken to be in the sensor + * frame and conversion to the body frame is handled by `body_P_sensor` in + * `PreintegrationParams`. + * + * @param measuredAcc Measured acceleration (as given by the sensor) * @param measuredOmega Measured angular velocity (as given by the sensor) * @param dt Time interval between this and the last IMU measurement */