29 #ifndef HECTOR_POSE_ESTIMATION_IMU_MODEL_H 30 #define HECTOR_POSE_ESTIMATION_IMU_MODEL_H 79 void getAccelerationJacobian(SystemMatrixBlock& C,
const State& state,
bool init =
true);
80 void getAccelerationNoise(CovarianceBlock Q,
const State& state,
bool init =
true);
99 #endif // HECTOR_POSE_ESTIMATION_IMU_MODEL_H
ColumnVector3 getError() const
void getSystemNoise(NoiseVariance &Q, const State &state, bool init=true)
void getRateNoise(CovarianceBlock Q, const State &state, bool init=true)
System_< GyroModel > Gyro
double acceleration_drift_
ColumnVector3 getError() const
bool init(PoseEstimation &estimator, System &system, State &state)
void getPrior(State &state)
System_< AccelerometerModel > Accelerometer
double acceleration_stddev_
ColumnVector3 getRate(const ImuInput::RateType &imu_rate, const State &state) const
void getRateJacobian(SystemMatrixBlock &C, const State &state, bool init=true)
ColumnVector_< 3 >::type ColumnVector3