Class Imu¶

Defined in File imu.h

Inheritance Relationships¶

Base Type¶

public aslam::Sensor (Class Sensor)

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¶