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)