{"action":"created","comment":{"url":"https://api.github.com/repos/wavelab/libwave/pulls/comments/197683188","pull_request_review_id":131472064,"id":197683188,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDE5NzY4MzE4OA==","diff_hunk":"@@ -0,0 +1,57 @@\n+#ifndef WAVE_PREINT_IMU_FACTOR_HPP\n+#define WAVE_PREINT_IMU_FACTOR_HPP\n+\n+#include <gtsam/nonlinear/NonlinearFactor.h>\n+#include <gtsam/base/Matrix.h>\n+#include \"wave/gtsam/pose_vel_bias.hpp\"\n+#include \"wave/gtsam/pose_vel.hpp\"\n+#include <gtsam/navigation/CombinedImuFactor.h>\n+#include <gtsam/navigation/NavState.h>\n+\n+namespace wave {\n+\n+/**\n+ * 4-ary factor connecting two combined pose/vel/bias states and two IMU biases.\n+ * Provides the effect of gtsam::CombinedImuFactor (a 6-ary factor).\n+ *\n+ * @tparam StateType either PoseVel or PoseVelBias\n+ */\n+template <typename StateType>\n+class PreintegratedImuFactor\n+  : public gtsam::NoiseModelFactor4<StateType,\n+                                    StateType,\n+                                    gtsam::imuBias::ConstantBias,\n+                                    gtsam::imuBias::ConstantBias> {\n+ private:\n+    gtsam::PreintegratedCombinedMeasurements pim;\n+    using Base = gtsam::NoiseModelFactor4<StateType,","path":"wave_gtsam/include/wave/gtsam/preint_imu_factor.hpp","position":27,"original_position":27,"commit_id":"df4bf66bd463c2850be7e92c296337e020363a89","original_commit_id":"df4bf66bd463c2850be7e92c296337e020363a89","user":{"login":"navganti","id":19216792,"node_id":"MDQ6VXNlcjE5MjE2Nzky","avatar_url":"https://avatars1.githubusercontent.com/u/19216792?v=4","gravatar_id":"","url":"https://api.github.com/users/navganti","html_url":"https://github.com/navganti","followers_url":"https://api.github.com/users/navganti/followers","following_url":"https://api.github.com/users/navganti/following{/other_user}","gists_url":"https://api.github.com/users/navganti/gists{/gist_id}","starred_url":"https://api.github.com/users/navganti/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/navganti/subscriptions","organizations_url":"https://api.github.com/users/navganti/orgs","repos_url":"https://api.github.com/users/navganti/repos","events_url":"https://api.github.com/users/navganti/events{/privacy}","received_events_url":"https://api.github.com/users/navganti/received_events","type":"User","site_admin":false},"body":"Cool. ","created_at":"2018-06-25T05:36:49Z","updated_at":"2018-06-25T05:36:49Z","html_url":"https://github.com/wavelab/libwave/pull/282#discussion_r197683188","pull_request_url":"https://api.github.com/repos/wavelab/libwave/pulls/282","author_association":"MEMBER","_links":{"self":{"href":"https://api.github.com/repos/wavelab/libwave/pulls/comments/197683188"},"html":{"href":"https://github.com/wavelab/libwave/pull/282#discussion_r197683188"},"pull_request":{"href":"https://api.github.com/repos/wavelab/libwave/pulls/282"}},"in_reply_to_id":197675646},"pull_request":{"url":"https://api.github.com/repos/wavelab/libwave/pulls/282","id":195286384,"node_id":"MDExOlB1bGxSZXF1ZXN0MTk1Mjg2Mzg0","html_url":"https://github.com/wavelab/libwave/pull/282","diff_url":"https://github.com/wavelab/libwave/pull/282.diff","patch_url":"https://github.com/wavelab/libwave/pull/282.patch","issue_url":"https://api.github.com/repos/wavelab/libwave/issues/282","number":282,"state":"open","locked":false,"title":"Add PreintegratedImuFactor","user":{"login":"leokoppel","id":3952195,"node_id":"MDQ6VXNlcjM5NTIxOTU=","avatar_url":"https://avatars2.githubusercontent.com/u/3952195?v=4","gravatar_id":"","url":"https://api.github.com/users/leokoppel","html_url":"https://github.com/leokoppel","followers_url":"https://api.github.com/users/leokoppel/followers","following_url":"https://api.github.com/users/leokoppel/following{/other_user}","gists_url":"https://api.github.com/users/leokoppel/gists{/gist_id}","starred_url":"https://api.github.com/users/leokoppel/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/leokoppel/subscriptions","organizations_url":"https://api.github.com/users/leokoppel/orgs","repos_url":"https://api.github.com/users/leokoppel/repos","events_url":"https://api.github.com/users/leokoppel/events{/privacy}","received_events_url":"https://api.github.com/users/leokoppel/received_events","type":"User","site_admin":false},"body":"Adds `PreintegratedImuFactor`, a variant of `gtsam::CombinedImuFactor` that works on our combined states. 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