Struct ImuSigmas

• Defined in File imu.h

Struct Documentation

struct vi_map::ImuSigmas

Public Functions

ImuSigmas()

explicit ImuSigmas(const double _gyro_noise_density, const double _gyro_bias_noise_density, const double _acc_noise_density, const double _acc_bias_noise_density)

inline bool isValid() const

inline void operator=(const ImuSigmas &other)

inline bool operator==(const ImuSigmas &other) const

inline bool isEqual(const ImuSigmas &other, const double precision, const bool verbose = false) const

bool loadFromYaml(const std::string &yaml_path)

bool saveToYaml(const std::string &yaml_path) const

void setRandom()

Public Members

double gyro_noise_density

double gyro_bias_random_walk_noise_density

Gyro bias random walk. [rad/s^2*1/sqrt(Hz)].

double acc_noise_density

double acc_bias_random_walk_noise_density

Accelerometer bias random walk. [m/s^3*1/sqrt(Hz)].