Class RotationIntegrator
Defined in File RotationIntegrator.h
Nested Relationships
Nested Types
Class Documentation
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class RotationIntegrator
Integrates gyroscope angular velocity readings.
Bias is assumed to be constant, although the user is free of updating it at any moment by accessing params_.
See IMUIntegrationParams for a list of related papers explaining the methods and parameters.
Usage:
(1) Call initialize() or set the required parameters directly in params_.
(2) Integrate measurements with integrate_measurement()
(3) Repeat (2) N times as needed.
(4) Take the estimation up to this point with current_integration_state() and reset with reset_integration() if you create a new key-frame.
(5) Go to (2).
See also
IMUIntegrator
Note
Initially based in part on GTSAM sources gtsam::PreintegratedRotation.
Main API
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RotationIntegrationParams params_
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void initialize(const mrpt::containers::yaml &cfg)
Initializes the object and reads all parameters from a YAML node.
- Parameters:
cfg – a YAML node with a dictionary of parameters to load from, as expected by RotationIntegrationParams (see its docs).
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void reset_integration()
Resets the integrator state to an initial state.
See also
currentIntegrationState
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inline const IntegrationState ¤t_integration_state() const
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void integrate_measurement(const mrpt::math::TVector3D &w, double dt)
Accumulates a new gyroscope measurement of the angular velocity (ω) into the current preintegration state, integrating it forward in time for a period dt [s].
See also
current_integration_state(), reset_integration()
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struct IntegrationState