Class ImuBasedPoseExtrapolator

• Defined in File imu_based_pose_extrapolator.h

Inheritance Relationships

Base Type

• public cartographer::mapping::PoseExtrapolatorInterface (Class PoseExtrapolatorInterface)

Class Documentation

class ImuBasedPoseExtrapolator : public cartographer::mapping::PoseExtrapolatorInterface

Public Functions

explicit ImuBasedPoseExtrapolator(const proto::ImuBasedPoseExtrapolatorOptions &options)

~ImuBasedPoseExtrapolator() override

virtual common::Time GetLastPoseTime() const override

virtual common::Time GetLastExtrapolatedTime() const override

virtual void AddPose(common::Time time, const transform::Rigid3d &pose) override

virtual void AddImuData(const sensor::ImuData &imu_data) override

virtual void AddOdometryData(const sensor::OdometryData &odometry_data) override

virtual transform::Rigid3d ExtrapolatePose(common::Time time) override

virtual ExtrapolationResult ExtrapolatePosesWithGravity(const std::vector<common::Time> &times) override

virtual Eigen::Quaterniond EstimateGravityOrientation(common::Time time) override

Public Static Functions

static std::unique_ptr<PoseExtrapolatorInterface> InitializeWithImu(const proto::ImuBasedPoseExtrapolatorOptions &options, const std::vector<sensor::ImuData> &imu_data, const std::vector<transform::TimestampedTransform> &initial_poses)