struct mola::ImuInitialCalibrator::Results

Overview

Initial calibration results from getCalibration()

#include <ImuInitialCalibrator.h>

struct Results
{
    // fields

    mrpt::math::TVector3D bias_gyro {0, 0, 0};
    mrpt::math::TVector3D bias_acc_b {0, 0, 0};
    mrpt::math::TVector3D noise_stddev_gyro {0, 0, 0};
    mrpt::math::TVector3D noise_stddev_acc {0, 0, 0};
    double pitch = 0;
    double roll = 0;

    // methods

    std::string asString() const;
};

Fields

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.

Methods

std::string asString() const

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