Class Imu

Inheritance Relationships

Base Type

Class Documentation

class vi_map::Imu : public aslam::Sensor

Public Functions

Imu()
explicit Imu(const aslam::SensorId &sensor_id)
explicit Imu(const aslam::SensorId &sensor_id, const std::string &topic)
inline void operator=(const Imu &other)
inline virtual Sensor::Ptr cloneAsSensor() const
inline Imu *cloneWithNewIds() const
inline virtual uint8_t getSensorType() const override
inline virtual std::string getSensorTypeString() const override
inline const ImuSigmas &getImuSigmas() const
inline void setImuSigmas(const ImuSigmas &sigmas)
inline double getGravityMagnitudeMps2() const
inline void setGravityMagnitude(const double gravity_magnitude)
inline double getAccelerationSaturationMax() const
inline double getGyroSaturationMaxRadps() const

Public Members

Imu

Public Static Attributes

static constexpr double kMinGravity = 9.0
static constexpr double kMaxGravity = 10.0
static constexpr double kMinSaturationAccelMax = 0.0
static constexpr double kMinSaturationGyroMax = 0.0