ImuMeasurement.h
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1 #pragma once
2 
3 #include <tests/Measurement.h>
4 
5 namespace gtsam {
6 
10 class ImuMeasurement : public Measurement {
11  public:
12  enum Name { BODY = 0, RF_FOOT = 1, RH_FOOT = 2 };
13 
15  Eigen::Vector3d I_a_WI;
16  Eigen::Vector3d I_w_WI;
17 
19  : Measurement("ImuMeasurement"), I_a_WI{0, 0, 0}, I_w_WI{0, 0, 0} {}
20 
21  ~ImuMeasurement() override {}
22 
23  friend std::ostream& operator<<(std::ostream& stream,
24  const ImuMeasurement& meas);
25 };
26 
27 std::ostream& operator<<(std::ostream& stream, const ImuMeasurement& meas) {
28  stream << "IMU Measurement at time = " << meas.time << " : \n"
29  << "dt : " << meas.dt << "\n"
30  << "I_a_WI: " << meas.I_a_WI.transpose() << "\n"
31  << "I_w_WI: " << meas.I_w_WI.transpose() << "\n";
32  return stream;
33 }
34 
35 } // namespace gtsam
This is the base class for all measurement types.
Definition: Measurement.h:11
Eigen::Vector3d I_a_WI
Raw acceleration from the IMU (m/s/s)
friend std::ostream & operator<<(std::ostream &stream, const ImuMeasurement &meas)
~ImuMeasurement() override
Name name
Unique string identifier.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW size_t dt
Time since the last message of this type (nanoseconds).
Definition: Measurement.h:14
traits
Definition: chartTesting.h:28
Eigen::Vector3d I_w_WI
Raw angular velocity from the IMU (rad/s)
size_t time
The type of message (to enable dynamic/static casting).
Definition: Measurement.h:15
Contains data from the IMU mesaurements.


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autogenerated on Tue Jul 4 2023 02:34:22