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Wrap constructors for PreintegratedAhrsMeasurements #1354

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Dec 29, 2022
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Wrap constructors for PreintegratedAhrsMeasurements #1354

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8 changes: 7 additions & 1 deletion gtsam/navigation/navigation.i
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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