Contains data from the IMU mesaurements. More...

#include <ImuMeasurement.h>

Inheritance diagram for gtsam::ImuMeasurement:

Public Types
enum	Name { BODY = 0, RF_FOOT = 1, RH_FOOT = 2 }

Public Member Functions
	ImuMeasurement ()

	~ImuMeasurement () override

Public Member Functions inherited from gtsam::Measurement
	Measurement ()

	Measurement (std::string _type)

virtual	~Measurement ()

Public Attributes
Eigen::Vector3d	I_a_WI
	Raw acceleration from the IMU (m/s/s) More...

Eigen::Vector3d	I_w_WI
	Raw angular velocity from the IMU (rad/s) More...

Name	name
	Unique string identifier. More...

Public Attributes inherited from gtsam::Measurement
EIGEN_MAKE_ALIGNED_OPERATOR_NEW size_t	dt
	Time since the last message of this type (nanoseconds). More...

size_t	time
	The type of message (to enable dynamic/static casting). More...

std::string	type

Friends
std::ostream &	operator<< (std::ostream &stream, const ImuMeasurement &meas)

Detailed Description

Contains data from the IMU mesaurements.

Definition at line 10 of file ImuMeasurement.h.

Member Enumeration Documentation

◆ Name

enum gtsam::ImuMeasurement::Name

Enumerator
BODY
RF_FOOT
RH_FOOT

Definition at line 12 of file ImuMeasurement.h.

Constructor & Destructor Documentation

◆ ImuMeasurement()

gtsam::ImuMeasurement::ImuMeasurement ( )

inline

Definition at line 18 of file ImuMeasurement.h.

◆ ~ImuMeasurement()

gtsam::ImuMeasurement::~ImuMeasurement ( )

inlineoverride

Definition at line 21 of file ImuMeasurement.h.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	stream,
		const ImuMeasurement &	meas
	)

friend

Definition at line 27 of file ImuMeasurement.h.

Member Data Documentation

◆ I_a_WI

Eigen::Vector3d gtsam::ImuMeasurement::I_a_WI

Raw acceleration from the IMU (m/s/s)

Definition at line 15 of file ImuMeasurement.h.

◆ I_w_WI

Eigen::Vector3d gtsam::ImuMeasurement::I_w_WI

Raw angular velocity from the IMU (rad/s)

Definition at line 16 of file ImuMeasurement.h.

◆ name

Name gtsam::ImuMeasurement::name

Unique string identifier.

Definition at line 14 of file ImuMeasurement.h.

The documentation for this class was generated from the following file:

ImuMeasurement.h

Public Types

Public Member Functions

Public Attributes

Friends