Struct ImuInitialCalibrator::Results

Nested Relationships

This struct is a nested type of Class ImuInitialCalibrator.

Struct Documentation

struct Results

Initial calibration results from getCalibration()

Public Functions

Results() = default
std::string asString() const

Prints to a string a human-readable representation of all values.

Public Members

mrpt::math::TVector3D bias_gyro = {0, 0, 0}

Gyroscope bias.

mrpt::math::TVector3D bias_acc_b = {0, 0, 0}

Accelerometer bias, in base_link frame.

mrpt::math::TVector3D noise_stddev_gyro = {0, 0, 0}

Gyroscope additive noise standard deviation.

mrpt::math::TVector3D noise_stddev_acc = {0, 0, 0}

Accelerometer bias, already in the base_link/body frame.

double pitch = 0

Estimated pitch angle, assuming being at rest during calibration.

double roll = 0

Estimated roll angle, assuming being at rest during calibration.