class mola::ImuTransformer

Overview

Transforms IMU readings from an arbitrary sensor pose to the vehicle reference “base_link”.

This basically rotates the angular velocity vector according to raw_imu.sensorPose and transforms the acceleration vector according to the lever between vehicle “base_link” and the sensor pose. The returned IMU reading object has sensorPose set to the SE(3) identity to reflect its new frame.

Note that bias is not substracted here, it must be done by the caller.

Since this class has a state (the stamp of the last observation), one object must be instantiated for each IMU sensor.

#include <ImuTransformer.h>

class ImuTransformer
{
public:
    // methods

    mrpt::obs::CObservationIMU process(const mrpt::obs::CObservationIMU& raw_imu);
};