Variable fusioncore::sensors::IMU_RP_DIM

Variable Documentation

constexpr int fusioncore::sensors::IMU_RP_DIM = 2

Build orientation noise matrix from an IMU message covariance array.

Extracts the diagonal variances from a row-major 3×3 covariance matrix published in sensor_msgs::msg::Imu::orientation_covariance. Falls back to the config-supplied noise values when the message covariance is zero or invalid (all-zero covariance is ROS convention for “unknown”).

Param cov:

Row-major 3×3 covariance matrix as a 9-element array. Diagonal elements [0], [4], [8] are roll, pitch, yaw variances (rad²).

Param fallback:

Default ImuOrientationParams used when cov diagonal is non-positive.

Return:

3×3 diagonal orientation noise matrix R.