Program Listing for File IMUIntegrationParams.h

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/* -------------------------------------------------------------------------
 *   A Modular Optimization framework for Localization and mApping  (MOLA)
 *
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * Licensed under the GNU GPL v3 for non-commercial applications.
 *
 * This file is part of MOLA.
 * MOLA is free software: you can redistribute it and/or modify it under the
 * terms of the GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option) any later
 * version.
 *
 * MOLA is distributed in the hope that it will be useful, but WITHOUT ANY
 * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
 * A PARTICULAR PURPOSE. See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along with
 * MOLA. If not, see <https://www.gnu.org/licenses/>.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mola_imu_preintegration/RotationIntegrationParams.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/math/CMatrixFixed.h>
#include <mrpt/math/TPoint3D.h>

namespace mola
{
class IMUIntegrationParams
{
   public:
    IMUIntegrationParams()  = default;
    ~IMUIntegrationParams() = default;

    void loadFrom(const mrpt::containers::yaml& cfg);

    RotationIntegrationParams rotationParams;

    mrpt::math::TVector3D gravityVector = {0, 0, -9.81};

    mrpt::math::CMatrixDouble33 accCov =
        mrpt::math::CMatrixDouble33::Identity();

    mrpt::math::CMatrixDouble33 integrationCov =
        mrpt::math::CMatrixDouble33::Identity();
};

}  // namespace mola