Class SmartFactorIMU

Defined in File SmartFactorIMU.h

Inheritance Relationships

Base Type

public mola::FactorBase (Class FactorBase)

Class Documentation

class SmartFactorIMU : public mola::FactorBase 

Smart factor for a set of IMU measurements (acceleration & gyroscope).

Public Types

enum NewState

Values:

enumerator NONE

enumerator MEASURE

enumerator FACTOR

Public Functions

SmartFactorIMU() = default

SmartFactorIMU(BackEndBase *slam_backend)

virtual std::size_t edge_count() const override: Number of entities involved in this factor: 1 for unary factors, 2 for binary, etc.

virtual mola::id_t edge_indices(const std::size_t i) const override: Access entity indices involved in this factor

void integrateMeasurement(double accx, double accy, double accz, double wx, double wy, double wz, double dt)

void createIMUFactor(mola::id_t prev_pose_kf, mola::id_t new_pose_kf)

Public Members

NewState new_state_ = {NewState::NONE}

double ax_

double ay_

double az_

double wx_

double wy_

double wz_

double dt_

mola::id_t prev_pose_kf_

mola::id_t new_pose_kf_