imu_measurement_model_gravity.h
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29 
30 #ifndef MCL_3DL_IMU_MEASUREMENT_MODELS_IMU_MEASUREMENT_MODEL_GRAVITY_H
31 #define MCL_3DL_IMU_MEASUREMENT_MODELS_IMU_MEASUREMENT_MODEL_GRAVITY_H
32 
33 #include <memory>
34 
36 #include <mcl_3dl/nd.h>
37 
38 namespace mcl_3dl
39 {
41 {
42 public:
43  explicit ImuMeasurementModelGravity(const float acc_var)
44  : nd_(acc_var)
45  {
46  }
47 
48  inline void setAccMeasure(const Vec3& acc_measure) final
49  {
50  acc_measure_ = acc_measure;
51  acc_measure_norm_ = acc_measure.norm();
52  }
53 
54  inline float measure(const State6DOF& s) const final
55  {
56  const Vec3 acc_estim = s.rot_.inv() * Vec3(0.0, 0.0, 1.0);
57  const float diff = acosf(
58  acc_estim.dot(acc_measure_) / (acc_measure_norm_ * acc_estim.norm()));
59  return nd_(diff);
60  }
61 
62 private:
66 };
67 
68 } // namespace mcl_3dl
69 
70 #endif // MCL_3DL_IMU_MEASUREMENT_MODELS_IMU_MEASUREMENT_MODEL_GRAVITY_H
XmlRpcServer s
float dot(const Vec3 &q) const
Definition: vec3.h:135
IMETHOD Vector diff(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
float norm() const
Definition: vec3.h:149
void setAccMeasure(const Vec3 &acc_measure) final
float measure(const State6DOF &s) const final


mcl_3dl
Author(s): Atsushi Watanabe
autogenerated on Mon Jul 8 2019 03:32:36