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## Classes

class | gtsam::AttitudeFactor
| Base class for prior on attitude Example: More...
class | gtsam::Rot3AttitudeFactor
| Version of AttitudeFactor for Rot3. More...
class | gtsam::Pose3AttitudeFactor
| Version of AttitudeFactor for Pose3. More...
class | gtsam::BarometricFactor
| Prior on height in a cartesian frame. More...
class | gtsam::PreintegratedCombinedMeasurements
| PreintegratedCombinedMeasurements integrates the IMU measurements (rotation rates and accelerations) and the corresponding covariance matrix. More...
class | gtsam::CombinedImuFactor
| CombinedImuFactor is a 6-ways factor involving previous state (pose and velocity of the vehicle, as well as bias at previous time step), and current state (pose, velocity, bias at current time step). More...
class | gtsam::GPSFactor
| Prior on position in a Cartesian frame. More...
class | gtsam::GPSFactor2
| Version of GPSFactor for NavState. More...
class | gtsam::PreintegratedImuMeasurements
| PreintegratedImuMeasurements accumulates (integrates) the IMU measurements (rotation rates and accelerations) and the corresponding covariance matrix. More...
class | gtsam::ImuFactor
| ImuFactor is a 5-ways factor involving previous state (pose and velocity of the vehicle at previous time step), current state (pose and velocity at current time step), and the bias estimate. More...
class | gtsam::ImuFactor2
| ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity. More...

## Detailed Description