Struct ImuIntegration

Struct Documentation

struct ceres_error_terms::ImuIntegration

Public Functions

inline ImuIntegration()

Public Members

InertialState begin_state
InertialState end_state
InertialStateCovariance phi_accum
InertialStateCovariance Q_accum
Eigen::LLT<InertialStateCovariance> L_cholesky_Q_accum
InertialJacobianType J_end
InertialJacobianType J_begin
bool valid