Class ImuIntegratorEigen

Class Documentation

class imu_integrator::ImuIntegratorEigen

Public Functions

ImuIntegratorEigen(double gyro_noise_sigma, double gyro_bias_sigma, double acc_noise_sigma, double acc_bias_sigma, double gravity_acceleration)
template<typename ScalarType>
inline void integrateStateOnly(const Eigen::Matrix<ScalarType, kStateSize, 1> &current_state, const Eigen::Matrix<ScalarType, 2 * kImuReadingSize, 1> &debiased_imu_readings, const ScalarType delta_time_seconds, Eigen::Matrix<ScalarType, kStateSize, 1> *next_state) const
template<typename ScalarType>
inline void integrate(const Eigen::Matrix<ScalarType, kStateSize, 1, 0, kStateSize, 1> &current_state, const Eigen::Matrix<ScalarType, 2 * kImuReadingSize, 1> &debiased_imu_readings, const ScalarType delta_time_seconds, Eigen::Matrix<ScalarType, kStateSize, 1> *next_state, StateJacobian<ScalarType> *next_phi, CovarianceMatrix<ScalarType> *next_cov) const

The (next_phi, next_cov) calculation is optional and can be disabled by passing two nullptr.

template<typename ScalarType>
void integrate(const Eigen::Matrix<ScalarType, kStateSize, 1> &current_state, const Eigen::Matrix<ScalarType, 2 * kImuReadingSize, 1> &debiased_imu_readings, const ScalarType delta_time_seconds, Eigen::Matrix<ScalarType, kStateSize, 1> *next_state, Eigen::Matrix<ScalarType, kErrorStateSize, kErrorStateSize> *next_phi, Eigen::Matrix<ScalarType, kErrorStateSize, kErrorStateSize> *next_cov) const