gtsam 4.2.0
gtsam
|
Base class for prior on attitude Example:
Public Member Functions | |
AttitudeFactor () | |
default constructor - only use for serialization | |
AttitudeFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1)) | |
Constructor. | |
Vector | attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H=boost::none) const |
vector of errors | |
const Unit3 & | nZ () const |
const Unit3 & | bRef () const |
template<class ARCHIVE > | |
void | serialize (ARCHIVE &ar, const unsigned int) |
Protected Attributes | |
Unit3 | nZ_ |
Unit3 | bRef_ |
Position measurement in. | |
Friends | |
class | boost::serialization::access |
Serialization function. | |
|
inline |
Constructor.
nZ | measured direction in navigation frame |
bRef | reference direction in body frame (default Z-axis in NED frame, i.e., [0; 0; 1]) |