Class InertialErrorTerm

• Defined in File inertial-error-term.h

Inheritance Relationships

Base Type

• public ceres::SizedCostFunction< imu_integrator::kErrorStateSize, imu_integrator::kStatePoseBlockSize, imu_integrator::kGyroBiasBlockSize, imu_integrator::kVelocityBlockSize, imu_integrator::kAccelBiasBlockSize, imu_integrator::kStatePoseBlockSize, imu_integrator::kGyroBiasBlockSize, imu_integrator::kVelocityBlockSize, imu_integrator::kAccelBiasBlockSize >

Class Documentation

class ceres_error_terms::InertialErrorTerm : public ceres::SizedCostFunction<imu_integrator::kErrorStateSize, imu_integrator::kStatePoseBlockSize, imu_integrator::kGyroBiasBlockSize, imu_integrator::kVelocityBlockSize, imu_integrator::kAccelBiasBlockSize, imu_integrator::kStatePoseBlockSize, imu_integrator::kGyroBiasBlockSize, imu_integrator::kVelocityBlockSize, imu_integrator::kAccelBiasBlockSize>

Public Functions

inline InertialErrorTerm(const Eigen::Matrix<double, 6, Eigen::Dynamic> &imu_data, const Eigen::Matrix<int64_t, 1, Eigen::Dynamic> &imu_timestamps, double gyro_noise_sigma, double gyro_bias_sigma, double acc_noise_sigma, double acc_bias_sigma, double gravity_magnitude)

inline virtual ~InertialErrorTerm()

virtual bool Evaluate(double const *const *parameters, double *residuals_ptr, double **jacobians) const

inline void setCachedImuCovariancePointer(Eigen::Matrix<double, 6, 6> *imu_covariance_cached_p_q)