Class VisualInertialPathGenerator¶
Defined in File visual-inertial-path-generator.h
Inheritance Relationships¶
Derived Type¶
public test_trajectory_gen::GenericPathGenerator
(Class GenericPathGenerator)
Class Documentation¶
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class test_trajectory_gen::VisualInertialPathGenerator¶
Subclassed by test_trajectory_gen::GenericPathGenerator
Public Functions
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explicit VisualInertialPathGenerator(const PathAndLandmarkSettings &settings)¶
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inline virtual ~VisualInertialPathGenerator()¶
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const Eigen::Matrix3Xd &getTruePositions() const¶
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const Eigen::Matrix4Xd &getTrueRotations() const¶
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const Eigen::Matrix3Xd &getTrueVelocities() const¶
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const Eigen::Matrix3Xd &getTrueAccBias() const¶
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const Eigen::Matrix3Xd &getTrueGyroBias() const¶
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const Eigen::Matrix3Xd &getLandmarks() const¶
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const std::vector<uint64_t> getDescriptors() const¶
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const Eigen::Matrix<double, 6, Eigen::Dynamic> &getImuData() const¶
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const Eigen::VectorXd &getTimestampsInSeconds() const¶
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void getGroundTruthTransformations(aslam::TransformationVector *T_G_Bs) const¶
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virtual void generatePath() = 0¶
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virtual void generateLandmarks() = 0¶
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void motionVectorToMavState(const mav_planning_utils::Motion4D<5, 2> &data, mav_planning_utils::MavState *mc_state) const¶
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bool isPathGenerated() const¶
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bool areLandmarksGenerated() const¶
Protected Functions
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void motionVectorToImuData(uint_fast32_t seed)¶
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void getRandomVector3d(std::mt19937 *generator, std::normal_distribution<> *distribution, Eigen::Vector3d *vector)¶
Protected Attributes
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Eigen::VectorXd timestamps_seconds_¶
Sample timestamps in seconds.
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Eigen::Matrix3Xd G_landmarks_¶
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Eigen::Matrix3Xd true_p_G_B_¶
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Eigen::Matrix4Xd true_q_B_G_¶
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Eigen::Matrix3Xd true_G_v_B_¶
Velocity of the body-frame expressed in the global frame.
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Eigen::Matrix3Xd true_acc_bias_¶
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Eigen::Matrix3Xd true_gyro_bias_¶
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Eigen::Matrix<double, 6, Eigen::Dynamic> imu_data_¶
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bool are_landmarks_generated_¶
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bool is_path_generated_¶
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explicit VisualInertialPathGenerator(const PathAndLandmarkSettings &settings)¶