navlie.lib.preintegration.RelativeMotionIncrement

class navlie.lib.preintegration.RelativeMotionIncrement(dof: int)

Bases: Input

dof

Degrees of freedom of the RMI

Type:

int

stamps

the two timestamps i, j associated with the RMI

Type:

List[float, float]

covariance

the covariance matrix of the RMI

Type:

np.ndarray

state_id

an ID associated with the RMI

Type:

Any

property stamp

The later timestamp \(j\) of the RMI.

abstract increment(u, dt)

In-place updating the RMI given an input measurement u and a duration dt over which to preintegrate.

abstract new() → RelativeMotionIncrement

symmetrize()

Symmetrize the covariance matrix of the RMI.

update_bias(new_bias)

Update the bias of the RMI such that the new .value attribute of this RMI instance incorporates the new bias values.

abstract copy() → Input

Creates a deep copy of the object.

abstract plus(w: ndarray) → Input

Generic addition operation to modify the internal value of the input, and return a new modified object.

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