Program Listing for File RotationIntegrationParams.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 <mrpt/containers/yaml.h>
#include <mrpt/math/CMatrixFixed.h>
#include <mrpt/math/TPoint3D.h>
#include <mrpt/poses/CPose3D.h>

#include <optional>

namespace mola
{
class RotationIntegrationParams
{
   public:
    RotationIntegrationParams() = default;

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

    mrpt::math::TVector3D gyroBias = {.0, .0, .0};

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

    std::optional<mrpt::poses::CPose3D> sensorPose;
};

}  // namespace mola