OdometryVINS.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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10  notice, this list of conditions and the following disclaimer in the
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27 
28 #ifndef ODOMETRYVINS_H_
29 #define ODOMETRYVINS_H_
30 
31 #include <rtabmap/core/Odometry.h>
32 
33 namespace rtabmap {
34 
35 class VinsEstimator;
36 
38 {
39 public:
41  virtual ~OdometryVINS();
42 
43  virtual void reset(const Transform & initialPose = Transform::getIdentity());
45  virtual bool canProcessRawImages() const {return true;}
46  virtual bool canProcessAsyncIMU() const {return true;}
47 
48 private:
49  virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
50 
51 private:
52 #ifdef RTABMAP_VINS
53  VinsEstimator * vinsEstimator_;
54  bool initGravity_;
55  Transform previousPose_;
56  Transform previousLocalTransform_;
57  IMU lastImu_;
58 #endif
59 };
60 
61 }
62 
63 #endif /* ODOMETRYVINS_H_ */
static Transform getIdentity()
Definition: Transform.cpp:401
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
virtual Odometry::Type getType()
Definition: OdometryVINS.h:44
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
virtual bool canProcessAsyncIMU() const
Definition: OdometryVINS.h:46
virtual bool canProcessRawImages() const
Definition: OdometryVINS.h:45


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:29