Struct PathAndLandmarkSettings¶
Defined in File visual-inertial-path-generator.h
Struct Documentation¶
-
struct
test_trajectory_gen
::
PathAndLandmarkSettings
¶ Parameters used to generate path and landmarks.
Note that not every parameter is active in every mode. Alphabetized first by type, then by variable name.
Public Functions
-
inline
PathAndLandmarkSettings
()¶
Public Members
-
Aligned<std::vector, Eigen::Vector4d>
pose_waypoints
¶ Vector of waypoints (x,y,z,yaw), can be used to pass user-defined waypoints to ctor.
-
double
circle_radius_meter
¶ Circle radius.
-
double
distance_to_keypoints_meter
¶ Distance to keypoints.
-
double
gravity_meter_by_second2
¶
-
double
kappa
¶ Kappa defining the ellipse shape according to x = (1.0 / kappa) * cos(t).
-
double
lambda
¶ Lambda defining the ellipse shape according to y = (1.0 / lambda) * sin(t).
-
double
landmark_offset_x_meter
¶ Landmark volume offset in x direction.
-
double
landmark_offset_y_meter
¶ Landmark volume offset in y direction.
-
double
landmark_offset_z_meter
¶ Landmark volume offset in z direction.
-
double
landmark_variance_meter
¶ Landmark variance.
-
double
landmark_volume_x_meter
¶ Landmark volume in x direction, centered around offset.
-
double
landmark_volume_y_meter
¶ Landmark volume in y direction, centered around offset.
-
double
landmark_volume_z_meter
¶ Landmark volume in z direction, centered around offset.
-
double
num_of_rounds
¶ Number of rounds. Currently only applies for elliptical mode.
-
double
sampling_time_second
¶ Sampling time in seconds.
-
double
start_offset_x_meter
¶ Offset from the origin in x direction.
-
double
start_offset_y_meter
¶ Offset from the origin in y direction.
-
double
start_offset_yaw_radians
¶ Yaw start offset.
-
double
start_offset_z_meter
¶ Offset from the origin in z direction. This is the constant height.
-
double
vertical_to_radial_variance_factor
¶ Ratio between radial and vertical standard deviation of the keypoint positions.
-
size_t
imu_noise_bias_seed
¶ IMU noise bias seed.
-
size_t
landmark_seed
¶ Landmark seed.
-
size_t
num_of_path_constraints
¶ Number of path constraints.
-
size_t
num_of_landmarks
¶ Number of landmarks.
-
std::string
filename_waypoints
¶ List with waypoints: x y z yaw.
-
inline