struct gtsam::IMUHelperΒΆ
struct IMUHelper { // fields imuBias::ConstantBias priorImuBias; noiseModel::Robust::shared_ptr velocityNoiseModel; noiseModel::Robust::shared_ptr biasNoiseModel; NavState prevState; NavState propState; imuBias::ConstantBias prevBias; PreintegratedCombinedMeasurements* preintegrated; };