Program Listing for File IMUIntegrationParams.h

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/*               _
 _ __ ___   ___ | | __ _
| '_ ` _ \ / _ \| |/ _` | Modular Optimization framework for
| | | | | | (_) | | (_| | Localization and mApping (MOLA)
|_| |_| |_|\___/|_|\__,_| https://github.com/MOLAorg/mola

 Copyright (C) 2018-2025 Jose Luis Blanco, University of Almeria,
                         and individual contributors.
 SPDX-License-Identifier: GPL-3.0
 See LICENSE for full license information.
 Closed-source licenses available upon request, for this odometry package
 alone or in combination with the complete SLAM system.
*/

#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;

    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