ov_init::Factor_ImuCPIv1 class

Factor for IMU continuous preintegration version 1.

Contents

Constructors, destructors, conversion operators

Factor_ImuCPIv1(double deltatime, Eigen::Vector3d& grav, Eigen::Vector3d& alpha, Eigen::Vector3d& beta, Eigen::Vector4d& q_KtoK1, Eigen::Vector3d& ba_lin, Eigen::Vector3d& bg_lin, Eigen::Matrix3d& J_q, Eigen::Matrix3d& J_beta, Eigen::Matrix3d& J_alpha, Eigen::Matrix3d& H_beta, Eigen::Matrix3d& H_alpha, Eigen::Matrix<double, 15, 15>& covariance)
Default constructor.

Public functions

auto Evaluate(double const*const* parameters, double* residuals, double** jacobians) const -> bool override
Error residual and Jacobian calculation.

Function documentation

bool ov_init::Factor_ImuCPIv1::Evaluate(double const*const* parameters, double* residuals, double** jacobians) const override

Error residual and Jacobian calculation.

This computes the error between the integrated preintegrated measurement and the current state estimate. This also takes into account the bias linearization point changes.