ode.hpp File Reference

File for ODE integration functionality. More...

#include <Eigen/Core>
#include <okvis/kinematics/Transformation.hpp>
#include <okvis/kinematics/operators.hpp>
#include <okvis/FrameTypedefs.hpp>
#include <okvis/Measurements.hpp>
#include <okvis/Variables.hpp>
#include <okvis/assert_macros.hpp>

Go to the source code of this file.

Namespaces
	okvis
	okvis Main namespace of this package.
	okvis::ceres
	ceres Namespace for ceres-related functionality implemented in okvis.
	okvis::ceres::ode
	ode Namespace for functionality related to ODE integration implemented in okvis.

Functions
__inline__ double	okvis::ceres::ode::sinc (double x)
__inline__ void	okvis::ceres::ode::evaluateContinuousTimeOde (const Eigen::Vector3d &gyr, const Eigen::Vector3d &acc, double g, const Eigen::Vector3d &p_WS_W, const Eigen::Quaterniond &q_WS, const okvis::SpeedAndBias &sb, Eigen::Vector3d &p_WS_W_dot, Eigen::Vector4d &q_WS_dot, okvis::SpeedAndBias &sb_dot, Eigen::Matrix< double, 15, 15 > *F_c_ptr=0)
__inline__ void	okvis::ceres::ode::integrateOneStep_RungeKutta (const Eigen::Vector3d &gyr_0, const Eigen::Vector3d &acc_0, const Eigen::Vector3d &gyr_1, const Eigen::Vector3d &acc_1, double g, double sigma_g_c, double sigma_a_c, double sigma_gw_c, double sigma_aw_c, double dt, Eigen::Vector3d &p_WS_W, Eigen::Quaterniond &q_WS, okvis::SpeedAndBias &sb, Eigen::Matrix< double, 15, 15 > *P_ptr=0, Eigen::Matrix< double, 15, 15 > *F_tot_ptr=0)

Detailed Description

File for ODE integration functionality.

Author

Stefan Leutenegger