Collaboration diagram for xrt::tracking::constellation::optimizer::PreintegratedImuSamples:

[legend]

Static Public Member Functions
static PreintegratedImuSamples	Identity ()

Data Fields
Quaterniond	Q_start_end
	The preintegrated rotation from the IMU samples, as a quaternion.

Vector3d	delta_velocity
	This is really "delta integrated specific force", but we call it delta_velocity for simplicity.

Vector3d	delta_position
	This is really "delta double-integrated specific force", but we call it delta_position for simplicity.

PreintegrationCovarianceMatrix	whitening
	The whitening matrix for this preintegration, the lower triangular.

double	dt

Vector3d	accel_bias_at_integration

Vector3d	gyro_bias_at_integration

Vector3d	accel_scale_at_integration

Matrix3d	J_R_bg
	d(Q_start_cur) / d(gyro_bias)

Matrix3d	J_v_ba
	d(delta_velocity) / d(accel_bias)

Matrix3d	J_v_sa
	d(delta_velocity) / d(accel_scale)

Matrix3d	J_v_bg
	d(delta_velocity) / d(gyro_bias)

Matrix3d	J_p_ba
	d(delta_position) / d(accel_bias)

Matrix3d	J_p_sa
	d(delta_position) / d(accel_scale)

Matrix3d	J_p_bg
	d(delta_position) / d(gyro_bias)

Static Public Attributes
static constexpr int	kNumResiduals = 9

Field Documentation

◆ delta_position

Vector3d xrt::tracking::constellation::optimizer::PreintegratedImuSamples::delta_position

This is really "delta double-integrated specific force", but we call it delta_position for simplicity.

◆ delta_velocity

Vector3d xrt::tracking::constellation::optimizer::PreintegratedImuSamples::delta_velocity

This is really "delta integrated specific force", but we call it delta_velocity for simplicity.

◆ J_p_ba

Matrix3d xrt::tracking::constellation::optimizer::PreintegratedImuSamples::J_p_ba

d(delta_position) / d(accel_bias)

◆ J_p_bg

Matrix3d xrt::tracking::constellation::optimizer::PreintegratedImuSamples::J_p_bg

d(delta_position) / d(gyro_bias)

◆ J_p_sa

Matrix3d xrt::tracking::constellation::optimizer::PreintegratedImuSamples::J_p_sa

d(delta_position) / d(accel_scale)

◆ J_R_bg

Matrix3d xrt::tracking::constellation::optimizer::PreintegratedImuSamples::J_R_bg

d(Q_start_cur) / d(gyro_bias)

◆ J_v_ba

Matrix3d xrt::tracking::constellation::optimizer::PreintegratedImuSamples::J_v_ba

d(delta_velocity) / d(accel_bias)

◆ J_v_bg

Matrix3d xrt::tracking::constellation::optimizer::PreintegratedImuSamples::J_v_bg

d(delta_velocity) / d(gyro_bias)

◆ J_v_sa

Matrix3d xrt::tracking::constellation::optimizer::PreintegratedImuSamples::J_v_sa

d(delta_velocity) / d(accel_scale)

◆ Q_start_end

Quaterniond xrt::tracking::constellation::optimizer::PreintegratedImuSamples::Q_start_end

The preintegrated rotation from the IMU samples, as a quaternion.

Referenced by xrt::tracking::constellation::optimizer::preintegrate().

◆ whitening

PreintegrationCovarianceMatrix xrt::tracking::constellation::optimizer::PreintegratedImuSamples::whitening

The whitening matrix for this preintegration, the lower triangular.