class mola::IMUIntegrationPublisher


A MOLA node running an IMUIntegrator inside. More…

#include <IMUIntegrationPublisher.h>

class IMUIntegrationPublisher:
    public mola::RawDataConsumer,
    public mola::ExecutableBase
    // methods

    virtual void onNewObservation(CObservation::Ptr& o);
    virtual void initialize_common(const Yaml& cfg) = 0;
    void initialize_common(] const Yaml& cfg);
    virtual void initialize(const Yaml& cfg);
    virtual void spinOnce();

Detailed Documentation

A MOLA node running an IMUIntegrator inside. Must be configured to subscribe to an IMU source.

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


virtual void onNewObservation(CObservation::Ptr& o)

To be called whenever a new observation arrives. It should return as fast as possible, enqueuing the data for processing in another thread.

virtual void initialize(const Yaml& cfg)

This should be reimplemented to read all the required parameters