navlie.lib.preintegration

Classes

AngularVelocityIncrement(Q[, bias, state_id])	This is a preintegration class for angular velocity measurements, on only attitude.
BodyVelocityIncrement(group, Q[, bias, state_id])	This is a general preintegration class for any process model of the form
IMUIncrement(input_covariance, gyro_bias, ...)	Initializes an "identity" IMU RMI.
LinearIncrement(input_covariance, ...[, ...])	This class preintegrates any process model of the form
PreintegratedAngularVelocity()
PreintegratedBodyVelocity()	Process model that performs prediction of the state given an RMI \(\Delta \mathbf{U}_{ij}\) according to the equation
PreintegratedIMUKinematics([gravity])
PreintegratedLinearModel()	Process model that applies a preintegrated LinearIncrement to predict a state forward in time using the equation
PreintegratedWheelOdometry()
RelativeMotionIncrement(dof)
WheelOdometryIncrement(Q[, bias, state_id])	This is a preintegration class for wheel odometry measurements on SE(n).

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navlie.lib.preintegration.AngularVelocityIncrement