Merge pull request #1354 from borglab/wrap/preintegrated-ahrs

borglab · Dec 29, 2022 · 691dc98 · 691dc98
2 parents 706a8a4 + 1659c41
commit 691dc98
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/gtsam/navigation/navigation.i b/gtsam/navigation/navigation.i
@@ -216,7 +216,13 @@ virtual class CombinedImuFactor: gtsam::NonlinearFactor {
 #include <gtsam/navigation/AHRSFactor.h>
 class PreintegratedAhrsMeasurements {
   // Standard Constructor
-  PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance);
+  PreintegratedAhrsMeasurements(const gtsam::PreintegrationParams* params,
+                                const Vector& biasHat);
+  PreintegratedAhrsMeasurements(const gtsam::PreintegrationParams* p,
+                                const Vector& bias_hat, double deltaTij,
+                                const gtsam::Rot3& deltaRij,
+                                const Matrix& delRdelBiasOmega,
+                                const Matrix& preint_meas_cov);
   PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs);
 
   // Testable