mola-imu-preintegration

Overview

This repository provides: More…

// classes

class mola::IMUIntegrationParams;
class mola::IMUIntegrationPublisher;
class mola::IMUIntegrator;
class mola::RotationIntegrationParams;
class mola::RotationIntegrator;

// global functions

mrpt::math::CMatrixDouble33 mola::incremental_rotation(
    const mrpt::math::TVector3D& w,
    const RotationIntegrationParams& params,
    double dt,
    const mrpt::optional_ref<mrpt::math::CMatrixDouble33>& D_incrR_integratedOmega = std::nullopt
    );

Detailed Documentation

This repository provides:

• mola::IMUIntegrator and mola::RotationIntegrator : C++ classes to integrate IMU accelerations and angular velocities.
• mola::IMUIntegrationPublisher : A MOLA module to process CObservationIMU readings and emit relative pose updates with respect to the last keyframe.

Global Functions

mrpt::math::CMatrixDouble33 mola::incremental_rotation(
    const mrpt::math::TVector3D& w,
    const RotationIntegrationParams& params,
    double dt,
    const mrpt::optional_ref<mrpt::math::CMatrixDouble33>& D_incrR_integratedOmega = std::nullopt
    )

This takes a gyroscope measurement of the angular velocity (ω) and integrates it forward in time for a period dt [s] as:

Rot = Exp((ω-ω_{bias})·dt)