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