Class IMUMapper

Defined in File imu_mapper.hpp

Class Documentation

class IMUMapper

Public Functions

IMUMapper(const rclcpp::Node::SharedPtr node)

Constructor for class IMUMapper.

Parameters:: private_nh –

~IMUMapper()

bool map_imu_data(std::shared_ptr<GraphSLAM> &graph_slam, const std::unique_ptr<tf2_ros::Buffer> &tf_buffer, std::deque<sensor_msgs::msg::Imu::SharedPtr> &imu_queue, const std::map<int, KeyFrame::Ptr> &keyframes, const std::string base_frame_id)