Public Member Functions | Private Attributes | List of all members
rtabmap::IMU Class Reference

#include <IMU.h>

Public Member Functions

const cv::Vec3d & angularVelocity () const
 
const cv::MatangularVelocityCovariance () const
 
void convertToBaseFrame ()
 
bool empty () const
 
 IMU ()
 
 IMU (const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())
 
 IMU (const cv::Vec4d &orientation, const cv::Mat &orientationCovariance, const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())
 
const cv::Vec3d linearAcceleration () const
 
const cv::MatlinearAccelerationCovariance () const
 
const TransformlocalTransform () const
 
const cv::Vec4d & orientation () const
 
const cv::MatorientationCovariance () const
 

Private Attributes

cv::Vec3d angularVelocity_
 
cv::Mat angularVelocityCovariance_
 
cv::Vec3d linearAcceleration_
 
cv::Mat linearAccelerationCovariance_
 
Transform localTransform_
 
cv::Vec4d orientation_
 
cv::Mat orientationCovariance_
 

Detailed Description

Definition at line 19 of file IMU.h.

Constructor & Destructor Documentation

◆ IMU() [1/3]

rtabmap::IMU::IMU ( )
inline

Definition at line 22 of file IMU.h.

◆ IMU() [2/3]

rtabmap::IMU::IMU ( const cv::Vec4d &  orientation,
const cv::Mat orientationCovariance,
const cv::Vec3d &  angularVelocity,
const cv::Mat angularVelocityCovariance,
const cv::Vec3d &  linearAcceleration,
const cv::Mat linearAccelerationCovariance,
const Transform localTransform = Transform::getIdentity() 
)
inline

Definition at line 23 of file IMU.h.

◆ IMU() [3/3]

rtabmap::IMU::IMU ( const cv::Vec3d &  angularVelocity,
const cv::Mat angularVelocityCovariance,
const cv::Vec3d &  linearAcceleration,
const cv::Mat linearAccelerationCovariance,
const Transform localTransform = Transform::getIdentity() 
)
inline

Definition at line 39 of file IMU.h.

Member Function Documentation

◆ angularVelocity()

const cv::Vec3d& rtabmap::IMU::angularVelocity ( ) const
inline

Definition at line 56 of file IMU.h.

◆ angularVelocityCovariance()

const cv::Mat& rtabmap::IMU::angularVelocityCovariance ( ) const
inline

Definition at line 57 of file IMU.h.

◆ convertToBaseFrame()

void rtabmap::IMU::convertToBaseFrame ( )

Definition at line 33 of file IMU.cpp.

◆ empty()

bool rtabmap::IMU::empty ( ) const
inline

Definition at line 67 of file IMU.h.

◆ linearAcceleration()

const cv::Vec3d rtabmap::IMU::linearAcceleration ( ) const
inline

Definition at line 59 of file IMU.h.

◆ linearAccelerationCovariance()

const cv::Mat& rtabmap::IMU::linearAccelerationCovariance ( ) const
inline

Definition at line 60 of file IMU.h.

◆ localTransform()

const Transform& rtabmap::IMU::localTransform ( ) const
inline

Definition at line 62 of file IMU.h.

◆ orientation()

const cv::Vec4d& rtabmap::IMU::orientation ( ) const
inline

Definition at line 53 of file IMU.h.

◆ orientationCovariance()

const cv::Mat& rtabmap::IMU::orientationCovariance ( ) const
inline

Definition at line 54 of file IMU.h.

Member Data Documentation

◆ angularVelocity_

cv::Vec3d rtabmap::IMU::angularVelocity_
private

Definition at line 76 of file IMU.h.

◆ angularVelocityCovariance_

cv::Mat rtabmap::IMU::angularVelocityCovariance_
private

Definition at line 77 of file IMU.h.

◆ linearAcceleration_

cv::Vec3d rtabmap::IMU::linearAcceleration_
private

Definition at line 79 of file IMU.h.

◆ linearAccelerationCovariance_

cv::Mat rtabmap::IMU::linearAccelerationCovariance_
private

Definition at line 80 of file IMU.h.

◆ localTransform_

Transform rtabmap::IMU::localTransform_
private

Definition at line 82 of file IMU.h.

◆ orientation_

cv::Vec4d rtabmap::IMU::orientation_
private

Definition at line 73 of file IMU.h.

◆ orientationCovariance_

cv::Mat rtabmap::IMU::orientationCovariance_
private

Definition at line 74 of file IMU.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:27