Public Member Functions
void	AddImuAngularVelocityObservation (const Eigen::Vector3d &imu_angular_velocity)

void	AddImuLinearAccelerationObservation (const Eigen::Vector3d &imu_linear_acceleration)

void	Advance (common::Time time)

	ImuTracker (double imu_gravity_time_constant, common::Time time)

Eigen::Quaterniond	orientation () const

Private Attributes
Eigen::Vector3d	gravity_vector_

Eigen::Vector3d	imu_angular_velocity_

const double	imu_gravity_time_constant_

common::Time	last_linear_acceleration_time_

Eigen::Quaterniond	orientation_

common::Time	time_

Detailed Description

Definition at line 30 of file imu_tracker.h.

Constructor & Destructor Documentation

cartographer::mapping::ImuTracker::ImuTracker	(	double	imu_gravity_time_constant,
		common::Time	time
	)

Definition at line 29 of file imu_tracker.cc.

void cartographer::mapping::ImuTracker::AddImuAngularVelocityObservation ( const Eigen::Vector3d & imu_angular_velocity )

Definition at line 70 of file imu_tracker.cc.

void cartographer::mapping::ImuTracker::AddImuLinearAccelerationObservation ( const Eigen::Vector3d & imu_linear_acceleration )

Definition at line 49 of file imu_tracker.cc.

void cartographer::mapping::ImuTracker::Advance ( common::Time time )

Definition at line 38 of file imu_tracker.cc.

Eigen::Quaterniond cartographer::mapping::ImuTracker::orientation ( ) const

inline

Definition at line 44 of file imu_tracker.h.

Eigen::Vector3d cartographer::mapping::ImuTracker::gravity_vector_

private

Definition at line 51 of file imu_tracker.h.

Eigen::Vector3d cartographer::mapping::ImuTracker::imu_angular_velocity_

private

Definition at line 52 of file imu_tracker.h.

const double cartographer::mapping::ImuTracker::imu_gravity_time_constant_

private

Definition at line 47 of file imu_tracker.h.

common::Time cartographer::mapping::ImuTracker::last_linear_acceleration_time_

private

Definition at line 49 of file imu_tracker.h.

Eigen::Quaterniond cartographer::mapping::ImuTracker::orientation_

private

Definition at line 50 of file imu_tracker.h.

common::Time cartographer::mapping::ImuTracker::time_

private

Definition at line 48 of file imu_tracker.h.

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