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.

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

• imu_tracker.h
• imu_tracker.cc