Class VisualInertialPathGenerator

• Defined in File visual-inertial-path-generator.h

Inheritance Relationships

Derived Type

• public test_trajectory_gen::GenericPathGenerator (Class GenericPathGenerator)

Class Documentation

class test_trajectory_gen::VisualInertialPathGenerator

Subclassed by test_trajectory_gen::GenericPathGenerator

Public Functions

explicit VisualInertialPathGenerator(const PathAndLandmarkSettings &settings)

inline virtual ~VisualInertialPathGenerator()

const Eigen::Matrix3Xd &getTruePositions() const

const Eigen::Matrix4Xd &getTrueRotations() const

const Eigen::Matrix3Xd &getTrueVelocities() const

const Eigen::Matrix3Xd &getTrueAccBias() const

const Eigen::Matrix3Xd &getTrueGyroBias() const

const Eigen::Matrix3Xd &getLandmarks() const

const std::vector<uint64_t> getDescriptors() const

const mav_planning_utils::Motion4D<5, 2>::Vector &getPathData() const

const Eigen::Matrix<double, 6, Eigen::Dynamic> &getImuData() const

const Eigen::VectorXd &getTimestampsInSeconds() const

void getGroundTruthTransformations(aslam::TransformationVector *T_G_Bs) const

virtual void generatePath() = 0

virtual void generateLandmarks() = 0

void motionVectorToMavState(const mav_planning_utils::Motion4D<5, 2> &data, mav_planning_utils::MavState *mc_state) const

bool isPathGenerated() const

bool areLandmarksGenerated() const

Protected Functions

void motionVectorToImuData(uint_fast32_t seed)

void getRandomVector3d(std::mt19937 *generator, std::normal_distribution<> *distribution, Eigen::Vector3d *vector)

Protected Attributes

Eigen::VectorXd timestamps_seconds_

Sample timestamps in seconds.

Eigen::Matrix3Xd G_landmarks_

Eigen::Matrix3Xd true_p_G_B_

Eigen::Matrix4Xd true_q_B_G_

Eigen::Matrix3Xd true_G_v_B_

Velocity of the body-frame expressed in the global frame.

Eigen::Matrix3Xd true_acc_bias_

Eigen::Matrix3Xd true_gyro_bias_

Eigen::Matrix<double, 6, Eigen::Dynamic> imu_data_

mav_planning_utils::Motion4D<5, 2>::Vector path_data_

bool are_landmarks_generated_

bool is_path_generated_