Public Member Functions | Private Attributes | List of all members
cartographer::mapping::ImuTracker Class Reference

#include <imu_tracker.h>

Public Member Functions

void AddImuAngularVelocityObservation (const Eigen::Vector3d &imu_angular_velocity)
 
void AddImuLinearAccelerationObservation (const Eigen::Vector3d &imu_linear_acceleration)
 
void Advance (common::Time time)
 
 ImuTracker (double imu_gravity_time_constant, common::Time time)
 
Eigen::Quaterniond orientation () const
 
common::Time time () const
 

Private Attributes

Eigen::Vector3d gravity_vector_
 
Eigen::Vector3d imu_angular_velocity_
 
const double imu_gravity_time_constant_
 
common::Time last_linear_acceleration_time_
 
Eigen::Quaterniond orientation_
 
common::Time time_
 

Detailed Description

Definition at line 30 of file imu_tracker.h.

Constructor & Destructor Documentation

◆ ImuTracker()

cartographer::mapping::ImuTracker::ImuTracker ( double  imu_gravity_time_constant,
common::Time  time 
)

Definition at line 29 of file imu_tracker.cc.

Member Function Documentation

◆ AddImuAngularVelocityObservation()

void cartographer::mapping::ImuTracker::AddImuAngularVelocityObservation ( const Eigen::Vector3d &  imu_angular_velocity)

Definition at line 70 of file imu_tracker.cc.

◆ AddImuLinearAccelerationObservation()

void cartographer::mapping::ImuTracker::AddImuLinearAccelerationObservation ( const Eigen::Vector3d &  imu_linear_acceleration)

Definition at line 49 of file imu_tracker.cc.

◆ Advance()

void cartographer::mapping::ImuTracker::Advance ( common::Time  time)

Definition at line 38 of file imu_tracker.cc.

◆ orientation()

Eigen::Quaterniond cartographer::mapping::ImuTracker::orientation ( ) const
inline

Definition at line 47 of file imu_tracker.h.

◆ time()

common::Time cartographer::mapping::ImuTracker::time ( ) const
inline

Definition at line 44 of file imu_tracker.h.

Member Data Documentation

◆ gravity_vector_

Eigen::Vector3d cartographer::mapping::ImuTracker::gravity_vector_
private

Definition at line 54 of file imu_tracker.h.

◆ imu_angular_velocity_

Eigen::Vector3d cartographer::mapping::ImuTracker::imu_angular_velocity_
private

Definition at line 55 of file imu_tracker.h.

◆ imu_gravity_time_constant_

const double cartographer::mapping::ImuTracker::imu_gravity_time_constant_
private

Definition at line 50 of file imu_tracker.h.

◆ last_linear_acceleration_time_

common::Time cartographer::mapping::ImuTracker::last_linear_acceleration_time_
private

Definition at line 52 of file imu_tracker.h.

◆ orientation_

Eigen::Quaterniond cartographer::mapping::ImuTracker::orientation_
private

Definition at line 53 of file imu_tracker.h.

◆ time_

common::Time cartographer::mapping::ImuTracker::time_
private

Definition at line 51 of file imu_tracker.h.


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


cartographer
Author(s): The Cartographer Authors
autogenerated on Mon Feb 28 2022 22:00:59