rtabmap::IMU Class Reference

#include <IMU.h>

Public Member Functions
const cv::Vec3d &	angularVelocity () const
const cv::Mat &	angularVelocityCovariance () 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::Mat &	linearAccelerationCovariance () const
const Transform &	localTransform () const
const cv::Vec4d &	orientation () const
const cv::Mat &	orientationCovariance () 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.

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

• IMU.h
• IMU.cpp