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update IMU factor docs to clarify that the measurements are in sensor frame

release/4.3a0
Varun Agrawal 2022-04-29 17:03:12 -04:00
parent 84dc91fbb9
commit a0799f7e88
3 changed files with 15 additions and 4 deletions
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6
gtsam/navigation/AHRSFactor.h
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@ -90,7 +90,11 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
/** /**
* Add a single Gyroscope measurement to the preintegration. * 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 * @param deltaT Time step
*/ */
void integrateMeasurement(const Vector3& measuredOmega, double deltaT); void integrateMeasurement(const Vector3& measuredOmega, double deltaT);

7
gtsam/navigation/CombinedImuFactor.h
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@ -208,8 +208,11 @@ public:
/** /**
* Add a single IMU measurement to the preintegration. * Add a single IMU measurement to the preintegration.
* @param measuredAcc Measured acceleration (in body frame, as given by the * Both accelerometer and gyroscope measurements are taken to be in the sensor
* 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 measuredOmega Measured angular velocity (as given by the sensor)
* @param dt Time interval between two consecutive IMU measurements * @param dt Time interval between two consecutive IMU measurements
*/ */

6
gtsam/navigation/ImuFactor.h
View File

@ -121,7 +121,11 @@ public:
/** /**
* Add a single IMU measurement to the preintegration. * 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 measuredOmega Measured angular velocity (as given by the sensor)
* @param dt Time interval between this and the last IMU measurement * @param dt Time interval between this and the last IMU measurement
*/ */