class mola::RotationIntegrator

Overview

Integrates gyroscope angular velocity readings.

Bias is assumed to be constant, although the user is free of updating it at any moment by accessing params_.

See IMUIntegrationParams for a list of related papers explaining the methods and parameters.

Usage:

• 1. Call initialize() or set the required parameters directly in params_.

• 2. Integrate measurements with integrate_measurement()

• 3. Repeat (2) N times as needed.

• 4. Take the estimation up to this point with current_integration_state() and reset with reset_integration() if you create a new key-frame.

• 5. Go to (2).

Initially based in part on GTSAM sources gtsam::PreintegratedRotation.

See also:

IMUIntegrator

#include <RotationIntegrator.h>

class RotationIntegrator
{
public:
    // structs

    struct IntegrationState;

    // fields

    RotationIntegrationParams params_;

    // methods

    void initialize(const mrpt::containers::yaml& cfg);
    void reset_integration();
    const IntegrationState& current_integration_state() const;
    void integrate_measurement(const mrpt::math::TVector3D& w, double dt);
};

Methods

void initialize(const mrpt::containers::yaml& cfg)

Initializes the object and reads all parameters from a YAML node.

Parameters:

cfg	a YAML node with a dictionary of parameters to load from, as expected by RotationIntegrationParams (see its docs).

void reset_integration()

Resets the integrator state to an initial state.

See also:

currentIntegrationState

void integrate_measurement(const mrpt::math::TVector3D& w, double dt)

Accumulates a new gyroscope measurement of the angular velocity (ω) into the current preintegration state, integrating it forward in time for a period dt [s].

See also:

current_integration_state(), reset_integration()