Struct PathAndLandmarkSettings¶
Defined in File visual-inertial-path-generator.h
Struct Documentation¶
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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
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inline PathAndLandmarkSettings()¶
Public Members
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Aligned<std::vector, Eigen::Vector4d> pose_waypoints¶
Vector of waypoints (x,y,z,yaw), can be used to pass user-defined waypoints to ctor.
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double circle_radius_meter¶
Circle radius.
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double distance_to_keypoints_meter¶
Distance to keypoints.
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double gravity_meter_by_second2¶
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double kappa¶
Kappa defining the ellipse shape according to x = (1.0 / kappa) * cos(t).
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double lambda¶
Lambda defining the ellipse shape according to y = (1.0 / lambda) * sin(t).
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double landmark_offset_x_meter¶
Landmark volume offset in x direction.
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double landmark_offset_y_meter¶
Landmark volume offset in y direction.
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double landmark_offset_z_meter¶
Landmark volume offset in z direction.
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double landmark_variance_meter¶
Landmark variance.
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double landmark_volume_x_meter¶
Landmark volume in x direction, centered around offset.
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double landmark_volume_y_meter¶
Landmark volume in y direction, centered around offset.
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double landmark_volume_z_meter¶
Landmark volume in z direction, centered around offset.
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double num_of_rounds¶
Number of rounds. Currently only applies for elliptical mode.
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double sampling_time_second¶
Sampling time in seconds.
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double start_offset_x_meter¶
Offset from the origin in x direction.
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double start_offset_y_meter¶
Offset from the origin in y direction.
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double start_offset_yaw_radians¶
Yaw start offset.
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double start_offset_z_meter¶
Offset from the origin in z direction. This is the constant height.
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double vertical_to_radial_variance_factor¶
Ratio between radial and vertical standard deviation of the keypoint positions.
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size_t imu_noise_bias_seed¶
IMU noise bias seed.
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size_t landmark_seed¶
Landmark seed.
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size_t num_of_path_constraints¶
Number of path constraints.
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size_t num_of_landmarks¶
Number of landmarks.
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std::string filename_waypoints¶
List with waypoints: x y z yaw.
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inline PathAndLandmarkSettings()¶