Class ImuIntegratorEigen¶
Defined in File imu-integrator-eigen.h
Class Documentation¶
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class
imu_integrator
::
ImuIntegratorEigen
¶ Public Functions
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ImuIntegratorEigen
(double gyro_noise_sigma, double gyro_bias_sigma, double acc_noise_sigma, double acc_bias_sigma, double gravity_acceleration)¶
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template<typename
ScalarType
>
inline voidintegrateStateOnly
(const Eigen::Matrix<ScalarType, kStateSize, 1> ¤t_state, const Eigen::Matrix<ScalarType, 2 * kImuReadingSize, 1> &debiased_imu_readings, const ScalarType delta_time_seconds, Eigen::Matrix<ScalarType, kStateSize, 1> *next_state) const¶
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template<typename
ScalarType
>
inline voidintegrate
(const Eigen::Matrix<ScalarType, kStateSize, 1, 0, kStateSize, 1> ¤t_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.
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template<typename
ScalarType
>
voidintegrate
(const Eigen::Matrix<ScalarType, kStateSize, 1> ¤t_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¶
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