Method addIMUPreintegrationFactor

src/FactorGraph.cpp:159–174

  }

  void FactorGraph::addIMUPreintegrationFactor(StateList List, PreintegratedIMUResult IMUState)
  {
    /** create noise model */
    GaussianFull<15> IMUNoiseModel;
    IMUNoiseModel.setCovarianceMatrix(IMUState.PreIntCov);

    /** add to factor graph */
    typedef typename FactorTypeTranslator<FactorType::IMUPretintegration, GaussianFull<15>>::Type FactorClassType;
    addFactorGeneric<GaussianFull<15>, FactorClassType> (IMUNoiseModel,
                                                          List._List,
                                                          FactorType::IMUPretintegration,
                                                          nullptr,
                                                          true,
                                                          List._List.front().Timestamp,
                                                          IMUState);
  }

  void FactorGraph::printReport() const
  {