Struct ILLIXR::data_format::imu_integrator_input

ClassList > ILLIXR > data_format > imu_integrator_input

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• #include <imu.hpp>

Inherits the following classes: ILLIXR::switchboard::event

Public Attributes

Type	Name
Eigen::Vector3d	bias_acc
Eigen::Vector3d	bias_gyro
time_point	last_cam_integration_time
imu_params	params
Eigen::Matrix< double, 3, 1 >	position
Eigen::Quaterniond	quat
duration	t_offset
Eigen::Matrix< double, 3, 1 >	velocity

Public Functions

Type	Name
	imu_integrator_input (time_point last_cam_integration_time_, duration t_offset_, imu_params params_, Eigen::Vector3d biasAcc_, Eigen::Vector3d biasGyro_, Eigen::Matrix< double, 3, 1 > position_, Eigen::Matrix< double, 3, 1 > velocity_, Eigen::Quaterniond quat_)

Public Functions inherited from ILLIXR::switchboard::event

See ILLIXR::switchboard::event

Type	Name
void	serialize (Archive & ar, const unsigned int version)
virtual	~event () = default

Detailed Description

IMU biases, initialization params, and slow pose needed by the IMU integrator

Public Attributes Documentation

variable bias_acc

Eigen::Vector3d ILLIXR::data_format::imu_integrator_input::bias_acc;

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variable bias_gyro

Eigen::Vector3d ILLIXR::data_format::imu_integrator_input::bias_gyro;

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variable last_cam_integration_time

time_point ILLIXR::data_format::imu_integrator_input::last_cam_integration_time;

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variable params

imu_params ILLIXR::data_format::imu_integrator_input::params;

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variable position

Eigen::Matrix<double, 3, 1> ILLIXR::data_format::imu_integrator_input::position;

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variable quat

Eigen::Quaterniond ILLIXR::data_format::imu_integrator_input::quat;

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variable t_offset

duration ILLIXR::data_format::imu_integrator_input::t_offset;

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variable velocity

Eigen::Matrix<double, 3, 1> ILLIXR::data_format::imu_integrator_input::velocity;

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Public Functions Documentation

function imu_integrator_input

inline ILLIXR::data_format::imu_integrator_input::imu_integrator_input (
    time_point last_cam_integration_time_,
    duration t_offset_,
    imu_params params_,
    Eigen::Vector3d biasAcc_,
    Eigen::Vector3d biasGyro_,
    Eigen::Matrix< double, 3, 1 > position_,
    Eigen::Matrix< double, 3, 1 > velocity_,
    Eigen::Quaterniond quat_
) 

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The documentation for this class was generated from the following file /home/friedel/devel/ILLIXR/include/illixr/data_format/imu.hpp