class mola::ImuInitialCalibrator

Overview

Provides a rough initial calibration and attitude for IMUs without a proper bias calibration.

#include <ImuInitialCalibrator.h>

class ImuInitialCalibrator
{
public:
    // structs

    struct Parameters;
    struct Results;

    // fields

    Parameters parameters;

    // methods

    void add(const mrpt::obs::CObservationIMU::Ptr& obs);
    bool isReady() const;
    std::optional<Results> getCalibration() const;
};

Methods

void add(const mrpt::obs::CObservationIMU::Ptr& obs)

Inserts an IMU observation into the queue.

bool isReady() const

Returns true if there are already samples enough in the buffer to call getCalibration()

std::optional<Results> getCalibration() const

If enough samples are given, it computes the initial rough IMU calibration.