* @brief Get the gravity vector. * * @return Gravity vector. */

* @brief Compute the process noise covariance matrix. * * @return Process noise covariance matrix. */

* @brief Get the initial state covariance matrix. * * @return Initial state covariance matrix. */

* @brief Get the accelerometer bias noise sigma. * * @return Accelerometer bias noise sigma. */

* @brief Get the accelerometer noise sigma. * * @return Accelerometer noise sigma. */

* @brief Get the gyroscope bias noise sigma. * * @return Gyroscope bias noise sigma. */

* @brief Get the gyroscope noise sigma. * * @return Gyroscope noise sigma. */

* @brief Get the virtual time scale bias noise sigma. * * @return Virtual time scale bias noise sigma. */

* @brief Get the virtual time scale noise sigma. * * @return Virtual time scale noise sigma. */

* @brief Get the virtual velocity bias noise sigma. * * @return Virtual velocity bias noise sigma. */

* @brief Get the virtual velocity noise sigma. * * @return Virtual velocity noise sigma. */

* @brief Integrates an IMU measurement. * @details Updates the preintegrated state, covariance, and Jacobians using accelerometer * and gyro

Derived accessors

* @brief Constructor, initializes the variables in the base class * @param p Parameters, typically fixed in a single application * @para

* @brief Computes the discrete-time lift Lambda(xi, u, dt). * @details Calculates the updated Tangent Group element after applying an input u ove

* @brief Default constructor initializing to zero. */

* @brief Constructor initializing the parameters with default or specified values. * * @param gravity Gravity vector (default: -9.81 in the

* @brief Default constructor initializing state with default values. */

* @brief Get the accelerometer measurements from the input. * * @return A 3-dimensional vector representing accelerometer measurements.

* @brief Computes the logarithm of a Tangent Group element logTG(X). * @details Extracts the logarithmic coordinates of a Gal(3) Tangent Group el

* @brief Get the gyroscope measurements from the input. * * @return A 3-dimensional vector representing gyroscope measurements. */

* @brief Applies the state action phi(X, xi). * @details Computes the action of a Tangent Group element X on a state element xi. * * @

* @brief Applies the inverse state action phi_inv(xi0, xi). * @details Computes the inverse action between two manifold elements xi0 and xi.

* @brief Applies the input action psi(X, u). * @details Computes the action of a Tangent Group element X on an input vector u in R^20. *

Re-initialize PreintegratedMeasurements

Re-initialize PreintegratedMeasurements and set new bias

* @brief Set the accelerometer bias noise sigma. * * @param sigma Accelerometer bias noise sigma to set. */

* @brief Set the accelerometer noise sigma. * * @param sigma Accelerometer noise sigma to set. */

* @brief Set the gravity vector. * * @param gravity Gravity vector to set. */

* @brief Set the gyroscope bias noise sigma. * * @param sigma Gyroscope bias noise sigma to set. */

* @brief Set the gyroscope noise sigma. * * @param sigma Gyroscope noise sigma to set. */

* @brief Set the initial state covariance matrix. * * @param initCov Initial state covariance matrix to set. */

* @brief Set the virtual time scale bias noise sigma. * * @param sigma Virtual time scale bias noise sigma to set. */

* @brief Set the virtual time scale noise sigma. * * @param sigma Virtual time scale noise sigma to set. */

* @brief Set the virtual velocity bias noise sigma. * * @param sigma Virtual velocity bias noise sigma to set. */

* @brief Set the virtual velocity noise sigma. * * @param sigma Virtual velocity noise sigma to set. */

* @brief Computes the normal coordinates of the Tangent Group theta(xi). * @details Maps a state element xi to its normal coordinates on the tang

* @brief Get the full input vector combining w and tau. * * @return A 20-dimensional vector concatenating w and tau. */