class mola::IMUIntegrationPublisher¶
Overview¶
A MOLA node running an IMUIntegrator inside. More…
#include <IMUIntegrationPublisher.h> class IMUIntegrationPublisher: public mola::RawDataConsumer, public mola::ExecutableBase { public: // 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.
Methods¶
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