Change from biasAccOmegaInt to biasAccOmegaInit

examples/CombinedImuFactorsExample.cpp

@@ -123,7 +123,7 @@ std::shared_ptr<PreintegratedCombinedMeasurements::Params> imuParams() {
   // PreintegrationCombinedMeasurements params:
   p->biasAccCovariance = bias_acc_cov;      // acc bias in continuous
   p->biasOmegaCovariance = bias_omega_cov;  // gyro bias in continuous
-  p->biasAccOmegaInt = bias_acc_omega_init;
+  p->biasAccOmegaInit = bias_acc_omega_init;
 
   return p;
 }

examples/ImuFactorsExample.cpp

@@ -110,7 +110,7 @@ std::shared_ptr<PreintegratedCombinedMeasurements::Params> imuParams() {
   // PreintegrationCombinedMeasurements params:
   p->biasAccCovariance = bias_acc_cov;      // acc bias in continuous
   p->biasOmegaCovariance = bias_omega_cov;  // gyro bias in continuous
-  p->biasAccOmegaInt = bias_acc_omega_init;
+  p->biasAccOmegaInit = bias_acc_omega_init;
 
   return p;
 }

gtsam/navigation/CombinedImuFactor.cpp

@@ -41,7 +41,7 @@ void PreintegrationCombinedParams::print(const string& s) const {
        << endl;
   cout << "biasOmegaCovariance:\n[\n" << biasOmegaCovariance << "\n]"
        << endl;
-  cout << "biasAccOmegaInt:\n[\n" << biasAccOmegaInt << "\n]"
+  cout << "biasAccOmegaInit:\n[\n" << biasAccOmegaInit << "\n]"
        << endl;
 }
 
@@ -54,7 +54,7 @@ bool PreintegrationCombinedParams::equals(const PreintegratedRotationParams& oth
                             tol) &&
          equal_with_abs_tol(biasOmegaCovariance, e->biasOmegaCovariance,
                             tol) &&
-         equal_with_abs_tol(biasAccOmegaInt, e->biasAccOmegaInt, tol);
+         equal_with_abs_tol(biasAccOmegaInit, e->biasAccOmegaInit, tol);
 }
 
 //------------------------------------------------------------------------------
@@ -84,7 +84,7 @@ void PreintegratedCombinedMeasurements::resetIntegration(
     const gtsam::Matrix6& Q_init) {
   // Base class method to reset the preintegrated measurements
   PreintegrationType::resetIntegration();
-  p().biasAccOmegaInt = Q_init;
+  p().biasAccOmegaInit = Q_init;
   preintMeasCov_.setZero();
 }
 
@@ -147,7 +147,7 @@ void PreintegratedCombinedMeasurements::integrateMeasurement(
   const Matrix3& aCov = p().accelerometerCovariance;
   const Matrix3& wCov = p().gyroscopeCovariance;
   const Matrix3& iCov = p().integrationCovariance;
-  const Matrix6& bInitCov = p().biasAccOmegaInt;
+  const Matrix6& bInitCov = p().biasAccOmegaInit;
 
   // first order uncertainty propagation
   // Optimized matrix mult: (1/dt) * G * measurementCovariance * G.transpose()

gtsam/navigation/PreintegrationCombinedParams.h

@@ -39,22 +39,22 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
                                 ///< accelerometer bias random walk
   Matrix3 biasOmegaCovariance;  ///< continuous-time "Covariance" describing
                                 ///< gyroscope bias random walk
-  Matrix6 biasAccOmegaInt;  ///< covariance of bias used as initial estimate.
+  Matrix6 biasAccOmegaInit;  ///< covariance of bias used as initial estimate.
 
   /// Default constructor makes uninitialized params struct.
   /// Used for serialization.
   PreintegrationCombinedParams()
       : biasAccCovariance(I_3x3),
         biasOmegaCovariance(I_3x3),
-        biasAccOmegaInt(I_6x6) {}
+        biasAccOmegaInit(I_6x6) {}
 
   /// See two named constructors below for good values of n_gravity in body
   /// frame
   PreintegrationCombinedParams(const Vector3& n_gravity_)
       : PreintegrationParams(n_gravity_),
         biasAccCovariance(I_3x3),
         biasOmegaCovariance(I_3x3),
-        biasAccOmegaInt(I_6x6) {}
+        biasAccOmegaInit(I_6x6) {}
 
   // Default Params for a Z-down navigation frame, such as NED: gravity points
   // along positive Z-axis
@@ -78,11 +78,11 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
 
   void setBiasAccCovariance(const Matrix3& cov) { biasAccCovariance = cov; }
   void setBiasOmegaCovariance(const Matrix3& cov) { biasOmegaCovariance = cov; }
-  void setBiasAccOmegaInit(const Matrix6& cov) { biasAccOmegaInt = cov; }
+  void setBiasAccOmegaInit(const Matrix6& cov) { biasAccOmegaInit = cov; }
 
   const Matrix3& getBiasAccCovariance() const { return biasAccCovariance; }
   const Matrix3& getBiasOmegaCovariance() const { return biasOmegaCovariance; }
-  const Matrix6& getBiasAccOmegaInit() const { return biasAccOmegaInt; }
+  const Matrix6& getBiasAccOmegaInit() const { return biasAccOmegaInit; }
 
  private:
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
@@ -94,7 +94,7 @@ struct GTSAM_EXPORT PreintegrationCombinedParams : PreintegrationParams {
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationParams);
     ar& BOOST_SERIALIZATION_NVP(biasAccCovariance);
     ar& BOOST_SERIALIZATION_NVP(biasOmegaCovariance);
-    ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInt);
+    ar& BOOST_SERIALIZATION_NVP(biasAccOmegaInit);
   }
 #endif
 

gtsam/navigation/tests/testCombinedImuFactor.cpp

@@ -39,14 +39,14 @@ namespace testing {
 static std::shared_ptr<PreintegratedCombinedMeasurements::Params> Params(
     const Matrix3& biasAccCovariance = Matrix3::Zero(),
     const Matrix3& biasOmegaCovariance = Matrix3::Zero(),
-    const Matrix6& biasAccOmegaInt = Matrix6::Zero()) {
+    const Matrix6& biasAccOmegaInit = Matrix6::Zero()) {
   auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(kGravity);
   p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3;
   p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3;
   p->integrationCovariance = 0.0001 * I_3x3;
   p->biasAccCovariance = biasAccCovariance;
   p->biasOmegaCovariance = biasOmegaCovariance;
-  p->biasAccOmegaInt = biasAccOmegaInt;
+  p->biasAccOmegaInit = biasAccOmegaInit;
   return p;
 }
 }  // namespace testing
@@ -349,12 +349,12 @@ TEST(CombinedImuFactor, ResetIntegration) {
   // Test default method
   pim.resetIntegration();
   Matrix6 expected = 0.1 * I_6x6;
-  EXPECT(assert_equal(expected, pim.p().biasAccOmegaInt, 1e-9));
+  EXPECT(assert_equal(expected, pim.p().biasAccOmegaInit, 1e-9));
 
   // Test method where Q_init is provided
   Matrix6 expected_Q_init = I_6x6 * 0.001;
   pim2.resetIntegration(expected_Q_init);
-  EXPECT(assert_equal(expected_Q_init, pim.p().biasAccOmegaInt, 1e-9));
+  EXPECT(assert_equal(expected_Q_init, pim.p().biasAccOmegaInit, 1e-9));
 }
 
 /* ************************************************************************* */

gtsam_unstable/examples/ISAM2_SmartFactorStereo_IMU.cpp

@@ -57,7 +57,7 @@ struct IMUHelper {
     p->biasAccCovariance = I_3x3 * pow(0.00002, 2.0);  // acc bias in continuous
     p->biasOmegaCovariance =
         I_3x3 * pow(0.001, 2.0);  // gyro bias in continuous
-    p->biasAccOmegaInt = Matrix::Identity(6, 6) * 1e-5;
+    p->biasAccOmegaInit = Matrix::Identity(6, 6) * 1e-5;
 
     // body to IMU rotation
     Rot3 iRb(0.036129, -0.998727, 0.035207,

tests/testImuPreintegration.cpp

@@ -43,7 +43,7 @@ TEST(TestImuPreintegration, LoadedSimulationData) {
   double gyrNoiseSigma = 0.000208;
   double gyrBiasRwSigma = 0.000004;
   double integrationCovariance = 1e-8;
-  double biasAccOmegaInt = 1e-5;
+  double biasAccOmegaInit = 1e-5;
 
   double gravity = 9.81;
   double rate = 400.0;  // Hz
@@ -76,7 +76,7 @@ TEST(TestImuPreintegration, LoadedSimulationData) {
   imuPreintegratedParams->gyroscopeCovariance = I_3x3 * pow(gyrNoiseSigma, 2);
   imuPreintegratedParams->biasOmegaCovariance = I_3x3 * pow(gyrBiasRwSigma, 2);
   imuPreintegratedParams->integrationCovariance = I_3x3 * integrationCovariance;
-  imuPreintegratedParams->biasAccOmegaInt = I_6x6 * biasAccOmegaInt;
+  imuPreintegratedParams->biasAccOmegaInit = I_6x6 * biasAccOmegaInit;
 
   // Initial state
   Pose3 priorPose;